Workspace Snapshot Node

Revision as of 10:58, 24 September 2021 by Sdkuser (talk | contribs) (Feature overview)
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Feature overview

Workspacesnapshot 5 1.png

This feature is meant to take a workspace snapshot during the task. The user can decide if the snapshot should only be saved locally or sent over email, too. The snapshot can be taken using the head camera or the arm camera, and will be saved along with some details.

Node explanation

Workspace step 1.jpg

  • TEST
Please see “TEST WINDOW” below.
Set the arm or head pose to the current pose of the robot (either live or sim, depending what mode you're in).If you would like to choose arm pose instead of head pose you should to change the camera to Arm Camera first.

Workspace step 2.jpg

  • UPDATE HEAD POSE / UPDATE ARM POSE (only after pose is set)
Update the head or arm pose to the current pose of the robot
  • ID
Not editable
  • name
Auto generated and user editable
  • camera
This menu gives the option to select which camera will take the snapshot, head camera or arm camera.
  • send email
This toggle gives the option to send the snapshot as an email additionally to save it locally in the gallery snapshot. Please see the “Settings explanation” below if you would like to send the snapshot over an email.
  • email
This field should be filled with an email address in which you would like to receive the snapshot. Please see the “Settings explanation” below if you would like to send the snapshot over an email.

Workspace step 3.jpg

  • attach camera pose
The workspace snapshot lets you record a snapshot for a certain camera pose/orientation. By setting this toggle to true, you can program/train a camera pose/orientation. The head moves to this pose/orientation prior to recording the snapshot. If you untoggle this feature, the snapshot will be recorded for the current pose of the head and the head will not move before a picture is taken.
  • head pose / arm pose
Dropdown menu - choose an arm/head pose used by a different node. If you update the head/arm pose from the referenced node, it will automatically update.
  • lock to (only for the head camera)
If a head pose was chosen user should define what should be it reference (Please note: when switching to a new reference head pose should be updated).
  • Base: The head pose reference will be the base, which means the head will maintain its objective position in the space.
  • Arm-J0: The head pose reference will be J0, which means the head will rotate along with J0 and will keep the same difference from J0 angle.
  • Active Endpoint: The head will turn to the active endpoint regardless of its saved pose.
  • move type (only for arm camera)
Choose Joint or Linear move.
  • Joint: the robot control system plans a motion trajectory by interpolating all of the joint angles to get from Point A to Point B (for example) and completes those motions most efficiently as possible. Joint moves are best used for long trajectories.
  • Linear: Use Linear instead of Joint to move the tool center point in a straight line.
  • motion preset (only for arm camera)
Choose between Slow, Medium, Fast, Express, and Advanced. If Advance is chosen, the three parameters below can be adjusted independently.
  • comments
User editable - add comments about this node.


Workspace step 4.jpg

The selected camera used for this node is highlighted
  • GO TO (only after pose is set)
Move the head / arm to saved pose
Take a snapshot and saved it in the Snapshot Gallery. If send email is activated it will also send an email.


Workspace step 5.jpg

The new snapshots can be found in the snapshot gallery in “Workspace Snapshot” section. You can click on any workspace snapshot to enlarge it and watch its details in the snapshot viewer: node ID, node name, created (time) and snapshot name.
Please note: up to 20 workspace snapshots can be saved in the snapshot gallery, if there are more than 20 the oldest will be removed.

Usage tutorial

Whenever this node will execute during the task it will take a picture and save it locally in the snapshot gallery.

User can choose a few different options for the behavior of this node:

  • Which camera will be used (head/arm camera) to take this picture.
  • Moving the camera to a specific place before taking a picture.
  • Send this picture over an email, in addition, to save it locally in the snapshot gallery.

You can follow these steps to create a task that sending an email when an object is not detected by Vision Inspect node:

  1. Create new task.
  2. Add a user variable “presence” (type: boolean).
  3. Add an Inspector using the snapshot editor.
  4. Add Vision Inspect node.
  5. Vision Inspect: add to it the Inspector you’ve created.
  6. Vision Inspect: toggle failure timeout from infinity to 5 sec.
    Workspace step 6.jpg
  7. Add a Set To node as a child of the vision inspect.
  8. Set To: presence SET TO true.
    Workspace step 7.jpg
  9. Under the Vision Inspect add a Do If node.
  10. Do If: define its condition as “presence == false”
    Workspace step 8.jpg
  11. Add a Workspace Snapshot node as a child of the Do If node.
  12. Workspace Snapshot: toggle send email.
  13. Workspace Snapshot: fill your email.
    Workspace step 9.jpg
  14. Add a Set To node under the Do If node
  15. Set To: presence SET TO false.
    Workspace step 10.jpg
  16. Open Settings menu and fill the respective fields
    Workspace step 11.jpg

Note: If you use a Gmail account as was done in this example, you need to configure it to allow less secure apps, see here.

Please make sure to also enable the required functionality by completing the “Captcha Enable” challenge. Without this, less secure connections probably would not work.

The behavior tree should be like this:

Workspace step 12.jpg

This task takes a picture and sends it over an email when the object wasn’t detected by the Vision Inspect node.