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Overview

Imagine you have a table with 3 apples and 2 oranges. You want Almond Bot to pick up only the apples and place them in a basket. Use Almond Bot’s object detection model to detect the apples and their 6D poses to pick them up. 

apple_poses = await bot.detect_poses("apple")

for apple_pose in apple_poses:

    # Pick up the apple
    await bot.open_tool()
    await bot.set_tool_pose(apple_pose, is_offset=True)
    await bot.close_tool()

    # Move to the basket
    await bot.set_tool_pose(Pose(x=100, y=100, z=50))

    # Place the apple in the basket
    await bot.open_tool()

# Verify the scene

success = await bot.verify_scene("Are all the apples in the basket?")