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initialize_calibration

Skill class for ai.intrinsic.initialize_calibration skill.

The initialize_calibration skill is used to start a new calibration session in the CalibrationService. It takes as input the list of cameras to be calibrated (one to four), the robot involved in the process, and the configuration for the calibration pattern detector. The skill communicates with the CalibrationService to register these entities and set up the session. This step is crucial as it prepares the service for subsequent data collection steps. It decouples the initialization from data collection, allowing users to verify the setup before moving the robot. The skill succeeds if the service successfully initializes the session.

Note that all four camera config inputs must be specified even if this means repeatedly selecting the same camera config(s). In case the selected robot has multiple arms, arm_part specifies which arm to use.

Prerequisites​

This skill does not have any prerequisite.

Usage Example​

This skill does not have any usage example yet.

Parameters​

pose_estimator​

Id of the pose estimator to use for calibration pattern detection.

pattern_detection_config​

Pattern detection configuration.

arm_part​

Name of the ICON arm part to control. If not provided but only a single arm part is present in the ICON instance, that part will be used.

calibration_object​

Unique identifier of the object used for calibration (typically, a calibration pattern).

Capabilities​

robot​

Resource having all of the following capabilities:

  • Icon2Connection

  • Icon2PositionPart

Error Code​

The skill does not have error codes yet