Skip to main content
GET IN TOUCH

Use of PolyScope Script Commands​

Script Commands​

The VIM-303 camera responds to several XML-RPC commands to control its operation. When a PolyScope program is started, the UR Cap creates a proxy (a software connection) to the camera to allow the sending of XML-RPC commands. This proxy variable is called vim303. This prefix is used to access the VIM-303 commands. Script nodes can be used to send commands to the VIM-303 camera and retrieve results in variables that can be used in the program. Below is a list of some of the XML-RPC commands that can be used in PolyScope programs.

boolean vim303.visual_object_present(object)
    detects if objects are within the ROI of the camera
    returns True,False based on whether object(s) are visible
    usage examples:
    vim303.visual_object_present("Brick")                       Single object
    vim303.visual_object_present(["Brick","AnotherObject"])     List of objects
    vim303.visual_object_present("anything")                    Any object (above the surface height)                    
    vim303.visual_object_present("known")                       Any trained object
    vim303.visual_object_present("unknown")                     Any object that wasn’t trained


string vim303.get_visual_pick_result() 
    result of the last visual pick
    "success" 			object was detected and picked
    "object_out_of_bounds"	when picking a moving object that goes beyond the robot’s reach
    "timeout"			if a timeout is selected and no object is detected within that time 


int vim303.get_num_objects_visible()
    returns number of objects within ROI of the camera (of all types)


boolean vim303.set_surface_height(height)
    set the surface height (in meters), representing the surface objects are sitting on
    returns True


boolean vim303.set_setting(module, setting, value)
    set a camera setting
    module and setting must be in upper case with underscores
    setting much match data type (look at setting in installation menu)
    usage example: 
    vim303.set_setting("DEPTH_FINDER","ROI",[0.0, 0.0, 580.0, 399.0])
    returns True

pose vim303.get_visual_pose(object)
    locates an object and returns the location (pose) of it, to be stored in a waypoint variable
    pose will be all zeros, checked by comparing to p[0,0,0,0,0,0] if no object is detected
    useful with pose_add to create offsets from the object’s top center for visual placement or
    offset picking of static objects or other vision guidance tasks