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Pick and place with simple reference conditioning
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**V.1.1**

.. image:: /images/SimpleReferenceConditioning/pick_and_place_conditionning_simple_reference.png
                     :alt: Pick and place with simple 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 of industrial processes that 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.

Requirements
-----------------------------------

Knowledge:
    - Basic knowledge of Python
    - Being able to use Ned/Ned2
    - Having studied the Vision Set'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
    | 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's library installed on your computer

.. image:: /images/SimpleReferenceConditioning/demonstrator1.jpg
                     :alt: Ned
                     :width: 800px
                     :align: center

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

Script's operation
------------------------------------------------

This script shows an example on how to use Ned/Ned2's Vision Set in order to make a conditioning with any objects supplied.

The script works in 2 ways:
    - One where all the vision processes are made on the robot.
    - The other one where the vision process is made on the computer.

The first one aims to show how easy it is to use Ned/Ned2's Vision Set with PyNiryo.

The second shows a way to do image processing from user's computer. It highlights the
fact that the user can imagine every type of process on his computer. The objects will
be conditioned in a grid of dimension grid_dimension. If the grid is
completed, objects will be packed over the lower level.

.. note::
    The code is commented so you can easily understand how this application is working. 
 
Before running the application, you will have to change the variables below:
    - robot_ip_address
    - tool_used
    - workspace_name


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


Finally, you may change the variables below to perfectly adapt the application to your environment:
    - observation_pose
    - center_conditioning_pose
    - sleep_pose