Interface communication command instructions

110, Camera ID (When only 110 is entered, the first camera is used by default)

Capture

Success: 110 (Photo captured, 2D image updated on the running interface)

Failure: Failure code, Camera ID

120

Detection

Success:

Case 1 (normal detection/collision detection): 120, pose type (Cartesian/joint), number of pose points n, number of objects with gripping points, currentSpace, currentPickObject, pickPointIndex, pickPointId, 0, 0, 0, pose

Case 2 (path planning): 120, pose type (Cartesian/joint), number of pose points n, number of objects with gripping points, currentSpace, currentPickObject, pickPointIndex, pickPointId, 0, 0, 0, pose*n

(The only difference between case 1 and case 2 is whether the last pose is single or multiple)

Failure: Refer to xref: status-code [return status code].

130, space ID, grab ID

Switch to grab object in space

Success: 130

Failure: 001

140, camera ID, X, Y, Z, pose (quaternion is parsed in the order of W, X, Y, Z)

Robot photo pose (used in EIH)

Success: 140 (get the current posture of the robot, no change in the interface)

Failure: 012

110, camera ID1, camera ID2…​

Multi-camera capture

Success: 110

Failure: Failure code, camera ID

110, camera ID1, camera ID2…​, 120, or 110, 120 (the first camera is used by default if the camera ID is not included)

Capture + Detection

Return results refer to the table above