Pick and place with multiple references conditioning¶
- This tutorial is working from:
- The version v3.0.0 of the ned_ros_stackThe version v3.0.0 of Niryo StudioThe version v3.1.0 of PyNiryo
The goal of this application is to show multiple examples of applications you can do with the Vision Set and Ned but also to have a first approach with industrial processes which can be carried out with Ned. This process consists in picking any type of object from a working area and conditioning them in a packing area according to its color.
Basic knowledge of Python
Being able to use Ned
Having studied the Vision Set’s User Manual
Having looked at PyNiryo library documentation
A Vision Set
PyNiryo library installed on your computer
You can find below a schematics of the application to help you visualizing it.
The script of the application can be found here: Vision conditioning multiple reference
This script shows an example on how to use Ned’s Vision Set in order to make a conditioning according to the objects’ color.
The objects will be conditioned in a grid of dimension grid_dimension. The Y axis corresponds to the ObjectColor: BLUE / RED / GREEN. The X axis corresponds to how many objects can be put on the same line before increasing the conditioning height. Once a line is completed, objects will be packed over the lower level.
The code is well commented so you can easily understand how this application is working.
- Before running the application, you will have to change these variables below:
You can change the variable
grid_dimension below if you want to create your own environment.
- Finally, you may change the variable below to adapt the application the perfect way to your environment: