########################################################
Pick and Place Conditioning with a Conveyor Belt
########################################################

**V.1.1**

.. image:: /images/ConditioningWithConveyor/pick_and_place_conditionning_conveyor.png
                     :alt: Pick and place conditionning with a Conveyor
                     :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
- Having studied the Vision Set's User Manual 
- Having studied the Conveyor Belt's User Manual
- Having looked at the 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
    | The Conveyor Belt's User Manual: https://docs.niryo.com/product/conveyor-belt/index.html

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

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


Conditioning with a Conveyor Belt and the Vision Set
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

This process consists in picking any type of object from a Conveyor Belt and conditioning them in a packing area.  

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

.. image:: /images/ConditioningWithConveyor/demonstrator4.png
                     :alt: Ned
                     :width: 800px
                     :align: center



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

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

This script shows an example on how to use Ned/Ned2's Vision Set with a Conveyor Belt.

At the beginning, the robot camera is placed over the Conveyor Belt.
When it detects an object, it stops the Conveyor Belt, then, it realizes a pick
and place operation as the one we have in the first example.

.. 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

You can change the variable below if you want to do your own environment:
    - grid_dimension
    - vision_process_on_robot
    - display_stream

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