#############################################################
Pick and place conditioning with two workspaces
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**V.1.1**

.. image:: /images/ConditioningWithTwoWorspaces/pick_and_place_conditionning_two_workspaces.png
                     :alt: Pick and place conditionning with two Workspaces
                     :width: 100%
                     :align: center

Difficulty: ``medium``

Time: ``~30 min``

.. note::
    This tutorial is working from:
        | The version v3.0.0 of the ned_ros_stack 
        | The version v3.0.0 of Niryo Studio 
        | The version v3.1.0 of PyNiryo

Objectives
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Show multiple examples of applications you can do with the Vision Set and Ned/Ned2
- Have a first approach with industrial processes which can be realized with Ned/Ned2

Requirements
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- Basic knowledge of Python
- Being able to use Ned/Ned2
- Having studied the Vision Set's User Manual 
- Having looked at PyNiryo library documentation

.. note::
    | Documentation of Ned: https://docs.niryo.com/product/ned/index.html
    | Documentation of Ned2: https://docs.niryo.com/product/ned2/index.html
    | The Vision Set's User Manual: https://docs.niryo.com/product/vision-set/index.html
    | PyNiryo documentation: https://docs.niryo.com/dev/pyniryo/index.html


What you will need
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

- A Vision Set 
- A Ned (or a Ned2)
- PyNiryo library installed on your computer


Conditioning and packing with two workspaces
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This process consists in picking any type of object from one working area and conditioning them in one packing area. 
Then this packing area will become a working area and we will run the process again to condition 
the objects on a second packing area. 

You can find below a schematics of the application to help you visualizing it.

.. image:: /images/ConditioningWithTwoWorspaces/demonstrator3.png
                     :alt: Ned
                     :width: 800px
                     :align: center


The script of the application can be found here: `Vision conditioning two workspaces <https://github.com/NiryoRobotics/ned_applications/tree/master/examples/Vision_Conditioning_Two_Workspaces>`_

Explanation of the script
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This script shows an example on how to use Ned/Ned2's Vision Set with 2 workspaces: one for picking and one for packing.

The robot will first detect one pack place, then it will take one object from the picking area.
This object will be packed and then, the pack will be placed on the side of the working area.

.. note::
    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:
    - robot_ip_address
    - tool_used
    - workspace_name

Finally, you may change the variable below to adapt the application the perfect way to your environment:
    - observation_pose
    - center_conditioning_pose
    - sleep_pose