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Vision Skill: Using the Shoot Pose skill

The Shoot Pose skill returns the robot pose with the shooting height set via DART-Vision. This skill utilizes the returned pose to move the robot to the shooting position.

The Shoot Pose skill must be used after carrying out hand-eye calibration or auto calibration under the DART-Vision Calibration tab and saving the calibration data in the SVM. If you have not performed calibration, please refer to the DART-Vision manual to do so.

After completing 'Vision Skill: Installing the Vision Skill', move the command scroll bar downward to check whether the Shoot Pose skill is present. If it is, follow the order in the image.

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  1. Click the Shoot Pose button under the Command tab to add the Shoot Pose skill.
    image2021-11-12_10-35-40.png

  2. Open up Required Information in the Property tab and input the IP address and job ID of the shooting pose.
    image2021-11-12_10-36-23.png

  3. Press the Edit & Add button under the Variable tab.
    image2021-11-12_10-37-40.png

  4. Add in System_SVM_Shoot Pose.
    image2021-11-12_10-43-2.png

  5. Because the Shoot Pose is a joint coordinate, press the Joint button.
    image2021-11-12_10-43-52.png

  6. Press Get Pose. Pressing the Add button will add a variable.
    image2021-11-12_10-45-17.png

  7. Close the window, press the Variable List button, then press the Variable.
    image2021-11-12_10-46-1.png

  8. Check the System_SVM_ShootPose checkbox and press Confirm to select the Variable.
    image2021-11-12_10-47-32.png

    image2021-11-12_10-46-29.png

  9. Return to the Property tab, open up Shoot Pose Check, and click the Shoot Pose button.
    image2021-11-12_10-50-49.png
    image2021-11-12_10-52-15.png

  • In order to perform property check testing, the robot must be in Servo On status.

image2021-11-12_10-53-31.png

  • You cannot use this without first adding the system parameter System_SVM_ShootPose.

image2021-11-12_10-54-22.png