################################################################# Pick and place with multiple references conditioning ################################################################# **V.1.1** .. image:: /images/MultipleReferencesConditioning/pick_and_place_conditionning_multiple_references.png :alt: Pick and place with multiple reference conditioning :width: 100% :align: center Difficulty: ``easy`` Time: ``~20 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 Introduction -------------------------------------- The goal of this application is to show multiple examples of applications you can do with the Vision Set and Ned/Ned2 but also to have a first approach with industrial processes which can be carried out with Ned/Ned2. This process consists in picking any type of object from a working area and conditioning them in a packing area according to its color. Requirements --------------------------------------- Knowledge: - 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's documentation: https://docs.niryo.com/dev/pyniryo/index.html Hardware: - A Vision Set - A Ned (or a Ned2) - PyNiryo library installed on your computer You can find below a schematics of the application to help you visualizing it. .. image:: /images/MultipleReferencesConditioning/demonstrator2.jpg :alt: Ned :width: 800px :align: center The script of the application can be found here: `Vision conditioning multiple reference `_ Script's operation ------------------------- 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. .. 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 ``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: - observation_pose - center_conditioning_pose - sleep_pose