浠诲姟
==========================================
璁剧疆瀹岃瑙夊拰杩愬姩閮ㄥ垎涔嬪悗銆佽繍琛屼换鍔℃祦鍥句箣鍓嶏紝闇€瑕佹坊鍔犲伐浠朵唬鍙锋槧灏勫叧绯伙紝浠ヤ究浠诲姟娴佸浘璋冪敤瑙嗚鍜岃繍鍔ㄨ缃殑宸ヤ欢銆佽瑙夋湇鍔＄紪鍙枫€佹姄鍙栧鐞嗘祦绋嬬瓑鍐呭锛屽叿浣撴楠ゅ涓嬨€�
.. |add| image:: img/add.png
:width: 25px
.. |delete2| image:: img/delete2.png
:width: 25px
.. |change| image:: img/change.png
:width: 25px
.. |copy| image:: img/copy.png
:width: 25px
.. |delete3| image:: img/delete3.png
:width: 25px
.. |start| image:: img/start.png
:width: 25px
宸ヤ欢浠ｅ彿鏄犲皠琛�
+++++++++++++++++
1. 鍗曞嚮Max鍙充笂瑙� :guilabel:`鏄犲皠琛ㄤ笌閫氫俊鍗忚`锛屽湪寮瑰嚭鐨� **鏄犲皠琛ㄤ笌閫氫俊鍗忚** 绐楀彛閫夋嫨 鈥滃伐浠朵唬鍙锋槧灏勮〃 > 鍧愭爣绉诲姩鈥濋〉绛俱€�
.. image:: img/task1.png
:align: center
:width: 650px
2. 鍗曞嚮 :guilabel:`娣诲姞鏄犲皠鍏崇郴`锛屽湪寮瑰嚭鐨� **娣诲姞鏄犲皠鍏崇郴** 绐楀彛璁剧疆閿€佸€煎拰鍙傛暟銆�
.. image:: img/task2.png
:align: center
:width: 450px
- 宸ヤ欢浠ｅ彿锛氱敤鎴疯嚜瀹氫箟宸ヤ欢浠ｅ彿锛屼粎鏀寔鑻辨枃瀛楁瘝鍜屾暟瀛楋紝闀垮害涓嶈秴杩�15涓瓧绗︺€傚彲娣诲姞澶氫釜宸ヤ欢銆�
- 瑙嗚鏈嶅姟缂栧彿锛氬湪涓嬫媺鑿滃崟閫夋嫨瑙嗚鏈嶅姟缂栧彿锛岀紪鍙峰拰瑙嗚閮ㄥ垎鐨勮缃繚鎸佷竴鑷淬€�
- 瑙嗚娴佸浘鏂囦欢锛氫笌瑙嗚绌洪棿ID涓嬬殑娴佸浘淇濇寔涓€鑷淬€�
- 澶勭悊娴佺▼锛氬湪涓嬫媺鑿滃崟涓€夋嫨鎶撳彇澶勭悊娴佺▼锛岃繖浜涙姄鍙栧鐞嗘祦绋嬪凡鍦ㄨ繍鍔ㄩ儴鍒嗚缃ソ銆傝繍鍔ㄦ祦绋嬬紪鍙蜂粠0寮€濮嬭嚜鍔ㄥ鍔狅紝鍙崟鍑� |add| 鎴� |delete2| 鏂板缓鎴栧垹闄ゅ鐞嗘祦绋嬨€�
- 缂撳瓨澶氫釜瑙嗚缁撴灉锛氬彲鏍规嵁闇€瑕佹槸鍚﹀嬀閫夈€�
3. 鍗曞嚮 :guilabel:`纭` 瀹屾垚娣诲姞锛屽垪琛ㄤ腑浼氭樉绀哄凡娣诲姞鐨勬槧灏勫叧绯伙紝鐢ㄦ埛鍙鍒楄〃涓殑鏄犲皠鍏崇郴杩涜鎿嶄綔銆�
.. image:: img/task3.png
:align: center
:width: 600px
- |change|锛氫慨鏀规槧灏勫叧绯汇€�
- |copy|锛氬鍒跺苟淇敼鏄犲皠鍏崇郴锛屾敞鎰忛敭鍊间笉鑳介噸澶嶃€�
- |delete3|锛氬垹闄ゆ槧灏勫叧绯汇€�
4. 鍗曞嚮 :guilabel:`纭` 瀹屾垚鏄犲皠琛ㄨ缃€�
.. hint:: 鐢ㄦ埛鍙崟鍑� :guilabel:`鑷姩鐢熸垚鏄犲皠鍏崇郴`锛岀郴缁熻嚜鍔ㄦ牴鎹瑙夊拰杩愬姩鐨勮缃敓鎴愬伐浠朵唬鍙锋槧灏勮〃锛屼絾鏈夊涓姄鍙栧鐞嗘祦绋嬫椂鏃犳硶鑷姩鐢熸垚鏄犲皠鍏崇郴銆�
浠诲姟娴佸浘
+++++++++++++++++
璁剧疆瀹屽伐浠朵唬鍙锋槧灏勮〃涔嬪悗锛屽湪 :guilabel:`浠诲姟` 涓鍏�2D/3D鍧愭爣绉诲姩涓殑鍩虹妯℃澘锛岃鍙傝 :doc:`../../../basic_operation/VP_operation/configuration`銆備换鍔℃祦鍥剧殑璁剧疆鍒嗕负宸ユ帶鏈轰富鎺у拰鏈烘鑷備富鎺т袱绉嶆柟寮忋€�
宸ユ帶鏈轰富鎺�
-------------
娣诲姞濂藉熀纭€妯℃澘涔嬪悗锛岀敤鎴峰彲鏍规嵁闇€姹傛坊鍔犳垨淇敼妯″潡銆備互鎶撳彇鍦嗙幆椤圭洰涓轰緥锛岄厤缃畬鎴愬悗鐨勬祦鍥惧涓嬨€�
.. image:: img/taskflow.png
:align: center
:width: 700px
涓嬮潰璇︾粏浠嬬粛璇ヤ换鍔℃祦鍥剧殑閰嶇疆姝ラ銆�
1. 鍦ㄤ换鍔℃祦鍥炬ā鍧楀綋涓€夋嫨鈥滃姛鑳� > 涓€閿洿鏂拌妭鐐规満姊拌噦灞炴€р€濓紝绯荤粺鑷姩鏍规嵁褰撳墠璁剧疆鏇存柊鏈烘鑷傝矾寰勩€備篃鍙湪妯″潡鐨勫睘鎬т腑璁剧疆鏈烘鑷傝矾寰勩€�
.. image:: img/updaterobot.png
:align: center
:width: 450px
2. 鍦� **鍒囨崲宸ヤ欢** 妯″潡涓缃伐浠朵唬鍙峰拰瑙嗚鏈嶅姟缂栧彿锛屽叾瀹冨弬鏁板彲鏍规嵁闇€姹備慨鏀广€傝宸ヤ欢浠ｅ彿鍦ㄦ槧灏勮〃涓缃紝璇峰弬鑰冩湰椤甸潰寮€澶寸殑鍐呭銆�
.. image:: img/objchange.png
:align: center
:width: 350px
3. 鍦� **绉诲姩鍒扮洰鏍囧叧鑺�** 妯″潡涓缃叧鑺傝搴︺€佷綅缃拰閫熷害绛夊弬鏁帮紝鎸囧畾涓€涓捣濮嬬偣浣嶇疆銆�
.. image:: img/joint.png
:align: center
:width: 350px
4. 鍦� **鍛煎彨瑙嗚涓庤绠楁姄鍙栬鍒掞紙鍧愭爣绉诲姩锛�** 妯″潡涓缃伐浣滅┖闂寸紪鍙枫€佹満姊拌噦璺緞銆佸伐浣滅┖闂村拰鏈烘鑷備綅濮跨瓑鍙傛暟锛屽叾瀹冨弬鏁板彲鏍规嵁闇€姹備慨鏀癸紝璇ユā鍧椾細璁＄畻鍑烘渶缁堢殑鎶撳彇浣嶅Э銆�
5. 璁剧疆鐩爣鍏宠妭鍜屾暟瀛楄緭鍑恒€�
a. 鏍规嵁瀹為檯闇€瑕侊紝璁剧疆棰勬姄鍙栫偣锛坧repick锛夈€佸悗鎶撳彇鐐癸紙postpick锛夌殑浣嶅Э鍋忕Щ锛屽垎鍒〃绀烘姄鍙栧墠鍜屾姄鍙栧悗鏈烘鑷傚仠鐣欑殑浣嶇疆銆備緥濡傚湪鏈」鐩腑锛岃浣嶅Э鏄浉瀵逛簬鎶撳彇浣嶅Э鐨勫亸绉婚噺銆傛ā鍧椾腑鍙傝€冪偣璺緞涓哄疄闄呯幆澧冧腑宸ュ叿鍙傝€冪偣鐨勮矾寰勩€�
.. image:: img/prepick.png
:align: center
:width: 450px
b. 鍦ㄩ鎶撳彇鐐逛箣鍚庢坊鍔犱竴涓� **璁剧疆璁惧鏁板瓧杈撳嚭** 妯″潡銆傚崟鍑昏妯″潡锛屽湪鍙充晶 **灞炴€�** 椤电锛岃缃鍙ｇ紪鍙峰拰鍊硷紝姝ゆ椂鍊煎彉涓�0锛岃〃绀哄伐鍏峰紶寮€銆�
.. image:: img/ioset.png
:align: center
:width: 350px
.. hint:: 鍗曞嚮Max鍙充笂瑙掔殑 :guilabel:`铏氭嫙绀烘暀鍣╜锛屽湪 **I/O鎺у埗** 椤电鏍规嵁鏈烘鑷傚疄闄呮儏鍐佃缃暟瀛楄緭鍑虹鍙ｅ彿銆備緥濡傚湪鏈」鐩腑绔彛3鎺у埗鐨勬槸宸ュ叿鐨勫紑鍚堬紝淇″彿1琛ㄧず宸ュ叿闂悎锛屼俊鍙�0琛ㄧず宸ュ叿寮犲紑銆傜鍙ｅ悕绉板彲鑷瀹氫箟锛岀劧鍚庡崟鍑� :guilabel:`纭`銆傚湪 **璁剧疆璁惧鏁板瓧杈撳嚭** 妯″潡璁剧疆鏃讹紝閫夋嫨I/O鎺у埗閲岀殑绔彛鍗冲彲銆�
.. image:: img/iocontrol.png
:align: center
:width: 550px
c. 鍦ㄦ姄鍙栫偣锛坧ick锛変箣鍚庢坊鍔犱竴涓� **璁剧疆璁惧鏁板瓧杈撳嚭** 妯″潡銆傚崟鍑昏妯″潡锛屽湪鍙充晶 **灞炴€�** 椤电锛屽嬀閫� **鍊�**锛屾鏃跺€煎彉涓�1锛岃〃绀哄伐鍏烽棴鍚堛€�
d. 娣诲姞涓や釜 **绉诲姩鍒扮洰鏍囧叧鑺�** 妯″潡锛屽垎鍒〃绀哄悗鎶撳彇鐐癸紙postpick锛夊拰鏀剧疆鐐癸紙place锛夛紝骞跺湪 **灞炴€�** 椤电涓缃湪杩欎簺鐐圭殑鐩爣鍏宠妭瑙掋€�
e. 鍦ㄦ斁缃偣涔嬪悗娣诲姞涓€涓� **璁剧疆璁惧鏁板瓧杈撳嚭** 妯″潡銆傚崟鍑昏妯″潡锛屽湪鍙充晶 **灞炴€�** 椤电锛屽嬀閫� **鍊�**锛屾鏃跺€煎彉涓�0锛岃〃绀哄伐鍏峰紶寮€銆�
f. 浠庢祦鍥炬湯灏惧紩鍑鸿繛绾胯嚦琛ㄧず璧峰鐐圭殑 **绉诲姩鍒扮洰鏍囧叧鑺�** 妯″潡锛堝垏鎹㈠伐浠舵ā鍧椾箣鍚庯級锛屼互璁剧疆鎶撳彇澶氫釜宸ヤ欢鐨勫姩浣滃惊鐜紝绯荤粺浼氳嚜鍔ㄦ牴鎹瑙夎绠楃粨鏋滃垽鏂槸鍚︽湁寰呮姄鍙栧伐浠躲€�
8. 鍗曞嚮浠诲姟娴佸浘宸︿笂瑙掔殑 |start|锛屽紑濮嬫墽琛屾暣涓姄鍙栨祦绋嬨€�
鏈烘鑷備富鎺�
-------------
1. 鍦� :guilabel:`浠诲姟` 鐣岄潰鍙充晶 :guilabel:`鏈嶅姟缂栬緫` 椤电涓嬶紝鍗曞嚮鏈嶅姟鎸囦护锛岀紪杈戠浉搴旀ā鍧椼€�
鍦�2D/3D鍧愭爣绉诲姩鍦烘櫙涓紝甯歌鐨勬湇鍔″涓嬶細
- switch_item锛氬垏鎹㈠伐浠躲€�
- calculate_grasp_poses锛氳绠楁姄鍙栦綅濮裤€�
.. image:: img/service.png
:align: center
:width: 700px
2. 閫夋嫨 :guilabel:`寮€鍚湇鍔锛屽紑鍚湇鍔°€傚伐鎺ф満鏀跺埌鏈烘鑷傝姹傚悗锛岃皟鐢ㄧ浉搴旀湇鍔°€�
鏈烘鑷備富鎺фā寮忎笅锛孉BB鏈烘鑷傛渚嬪拰绀轰緥浠ｇ爜鍙弬鑰� :doc:`../../../appendix/robot_connection/abb/example`锛屽叾浠栧搧鐗岀殑妗堜緥鍜屼唬鐮佸彲鍦� :doc:`../../../appendix/robot_connection/robot` 涓€夋嫨鐩稿簲鐨勫搧鐗屾煡鐪嬨€�
.. |help| image:: img/help.png
:width: 20px
鍦∕ax涓紝鍗曞嚮鍙充笂鏂� :guilabel:`鏄犲皠琛ㄤ笌閫氫俊鍗忚`锛屽湪寮瑰嚭绐楀彛鐨� :guilabel:`鏈烘鑷傚熀纭€璁剧疆` 椤电涓嬶紝鍕鹃€� **寮€鍚�** 鎵撳紑娴嬭瘯妯″紡銆傛鏃跺彸渚т細鍑虹幇 :guilabel:`鎵撳紑鏂囦欢` 鍜�
|help|銆傚崟鍑� :guilabel:`鎵撳紑鏂囦欢` 鍙煡鐪嬮€氫俊鎸囦护鐨剏ml鏂囦欢锛屽崟鍑� |help| 鍙湪娴忚鍣ㄤ腑鎵撳紑 :doc:`../../../appendix/robot_connection/robot_server_protocol_v2` 椤甸潰锛屽苟鏌ョ湅鏈烘鑷備富鎺ч€氫俊鍗忚銆佹寚浠ょ瓑鐨勫唴瀹广€�
.. image:: img/instruction.png
:align: center
:width: 650px