Examples: Vision

This document shows how to use Ned’s vision set

If you want see more about Ned’s vision functions, you can look at API - Vision

Beforehand

To realize the following examples, you need to have create a workspace

As the examples start always the same, there is the code you need to add at the beginning of all of them

#!/usr/bin/env python

# Imports
from niryo_robot_python_ros_wrapper import *
import rospy

# Initializing ROS node
rospy.init_node('niryo_ned_example_python_ros_wrapper')

niryo_robot = NiryoRosWrapper()

# - Constants
workspace_name = "workspace_1"  # Robot's Workspace Name

# The observation pose
observation_pose = (0.18, 0., 0.35, 0., 1.57, -0.2)
# The Place pose
place_pose = (0., -0.25, 0.1, 0., 1.57, -1.57)

# - Main Program
# Calibrate robot if robot needs calibration
niryo_robot.calibrate_auto()
# Changing tool
niryo_robot.update_tool()

Simple Vision Pick

This short example show how to do your first vision pick :

niryo_robot.move_pose(*observation_pose)
# Trying to pick target using camera
ret = niryo_robot.vision_pick(workspace_name,
                              height_offset=0.0,
                              shape=ObjectShape.ANY,
                              color=ObjectColor.ANY)
obj_found, shape_ret, color_ret = ret
if obj_found:
    niryo_robot.place_from_pose(*place_pose)

niryo_robot.set_learning_mode(True)

Multi Reference Conditioning

Conditioning with Conveyor