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 :ref:`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)