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How to change visual offset tag reference position ?

Visual offset tag is a function of Robotiq wrist camera used to make relative programming according to a visual reference.

The programming process consist in defining a reference position of the tag in installation menu and then set the relative waypoint to this reference position in the program.

Knowledge

It may happen that after you set all relative position you

want to change the position of the tag relatively to your waypoints. I would like to share with you a method to do that without having to reteach all relative waypoints.

Example:
You teach picking waypoint of a tray with the tag placed at the center and you finally decide to place the tag in a corner of the tray.

Let say that you programmed a Find Visual Offset node with reference position "Tag_1" and would like to change for reference "Tag_2" without having to reteach waypoints.

1/ Use Copy and Past to duplicate the Find Visual Offset node done with "Tag_1"

2/ Suppress the origin Find Visual Offset node to have a backup just in case

 

3/ Insert the following assignment before Find Visual Offset Node:

tag1_from_tag2:=pose_trans(pose_inv(Tag_2),Tag_1)

This calculate the coordinate of "Tag_2" in "Tag_1" frame.

 

4/ Reset Find Visual Offset to work with "Tag_2"

 

5/ Change Apply Visual Offset to work with "Tag_2"

 

6/ Insert the following assignment before relative moves inside Apply Visual Offset:

Tag_1:=pose_trans(Tag_2,tag1_from_tag2)

 

Relative motion will now be done relative to "Tag_2" reference.

Here below is a global view of the program after those modifications: