Setup ========================================= Hardware ---------------- The Vision wrist ########################################### Mounting Niryo One wrist (received before 30/06/2020) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. Warning:: If you own a Niryo One received after 30/06/2020 or a Ned, then you can skip this section and go to the next one :ref:`Wrist ` If you received your Niryo One before the 30/06/2020, please first replace its wrist by the upgraded one provided in the Vision Set: .. list-table:: * - .. figure:: ../images/setup_niryoone/Setup_niryoone_01.png :width: 200px Step 1. Remove the 4 screws of the motor - .. figure:: ../images/setup_niryoone/Setup_niryoone_02.png :width: 200px Step 2. Remove the two screws of the wrist - .. figure:: ../images/setup_niryoone/Setup_niryoone_03.png :width: 200px Step 3. Remove the nut * - .. figure:: ../images/setup_niryoone/Setup_niryoone_04.png :width: 200px Step 4. Take the motor off - .. figure:: ../images/setup_niryoone/Setup_niryoone_05.png :width: 200px Step 5. Remove the screw - .. figure:: ../images/setup_niryoone/Setup_niryoone_06.png :width: 200px Step 6. Disconnect the motor * - .. figure:: ../images/setup_niryoone/Setup_niryoone_07.png :width: 200px Step 7. Remove the two screws - .. figure:: ../images/setup_niryoone/Setup_niryoone_08.png :width: 200px Step 8. Pull the connector to free the motor - .. figure:: ../images/setup_niryoone/Setup_niryoone_09.png :width: 200px Step 9. Remove the two screws * - .. figure:: ../images/setup_niryoone/Setup_niryoone_10.png :width: 200px Step 10. Remove the nut and the screw - .. figure:: ../images/setup_niryoone/Setup_niryoone_11.png :width: 200px Step 11. On the new wrist, put the cable through the hole - .. figure:: ../images/setup_niryoone/Setup_niryoone_12.png :width: 200px Step 12. Put the screw in the wrist * - .. figure:: ../images/setup_niryoone/Setup_niryoone_13.png :width: 200px Step 13. Plug the motor and push the screw into it - .. figure:: ../images/setup_niryoone/Setup_niryoone_14.png :width: 200px Step 14. Align the strokes of the motor. |br| Keep the alignment until the end of the process - .. figure:: ../images/setup_niryoone/Setup_niryoone_15.png :width: 200px Step 15. Add the two screws * - .. figure:: ../images/setup_niryoone/Setup_niryoone_16.png :width: 200px Step 16. Put the two screws on the top of the motor - .. figure:: ../images/setup_niryoone/Setup_niryoone_17.png :width: 200px Step 17. Add the nut, tighten it, and add the washer - .. figure:: ../images/setup_niryoone/Setup_niryoone_18.png :width: 200px Step 18. Screw the connector in until |br| the screw reaches the surface of the other side * - .. figure:: ../images/setup_niryoone/Setup_niryoone_19.png :width: 200px Step 19. Align the connector as shown and |br| unscrew the nut until everything is secured - .. figure:: ../images/setup_niryoone/Setup_niryoone_20.png :width: 200px Step 20. Connect the motor as shown - .. figure:: ../images/setup_niryoone/Setup_niryoone_21.png :width: 200px Step 21. Put the screw in the wrist * - .. figure:: ../images/setup_niryoone/Setup_niryoone_22.png :width: 200px Step 22. Screw the nut - .. figure:: ../images/setup_niryoone/Setup_niryoone_23.png :width: 200px Step 23. Align the strokes of the motor - .. figure:: ../images/setup_niryoone/Setup_niryoone_24.png :width: 200px Step 24. Put the motor on the wrist and |br| add the four screws * - .. figure:: ../images/setup_niryoone/Setup_niryoone_25.png :width: 200px Step 25. Lock the system with two screws - - Common part - Wrist ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Position the camera on the wrist, align the screw holes of the two parts and add the screws. .. list-table:: * - .. figure:: ../images/setup_niryoone/Setup_niryoone_26.png :width: 250px Niryo One - .. figure:: ../images/setup_niryoone/Setup_niryoone_27.png :width: 250px Niryo One * - .. figure:: ../images/ned_wrist.png :width: 250px Ned - Then, connect the camera to one of the USB ports of the robot and attach the cable to the arm with the provided scratches. The Workspace ########################################### We designed for Ned’s Ecosystem a Mechanical Connector composed of an aluminum base for Ned and two bridges to connect a Workspace and a Conveyor Belt. This Mechanical Connector is included in the Vision Set. Assembling this mechanical structure allows the workspace and/or the Conveyor Belt to always keep the same relative position to Ned. .. list-table:: * - .. figure:: ../images/setup_mechanical_connector_align_rail.png Step 1. Align the aluminum rail and the stopper - .. figure:: ../images/setup_mechanical_connector_push_bridge.png Step 2. Push the bridge into the rail - .. figure:: ../images/setup_mechanical_connector_screw.png Step 3. Screw until the stopper turns a quarter turn and blocks into the rail Also, the provided workspace is printed on a specific support which uses a nano-suction technology that makes it repositionable. This workspace can be used on flat, regular, and clean surfaces. Please note that the workspace can be cleaned with few drops of water if needed. Keeping the workspace upside-down for a long time could damage it and reduce its gripping properties. Software ---------------- Please start the robot and connect to it with Niryo Studio. Workspace creation ########################################### Before using the Vision functions, you need to define the workspace(s) you will use. You can save as many workspaces as you want so if you are using an already saved workspace, you do not have to execute the following process. In Niryo Studio’s menu, open the Vision tab and click the button to add a new workspace. You will be guided, step by step, to set a workspace. .. hint:: Be sure to point the markers correctly in the right order! .. ifconfig:: language in ['en'] .. figure:: ../images/niryo_studio_workspace_1.png :alt: Workspaces Tab 1 :width: 750px :align: center Workspaces Tab .. ifconfig:: language in ['fr'] .. figure:: ../images/fr_niryo_studio_workspace_1.png :alt: Workspaces Tab 1 :width: 750px :align: center Workspaces Tab As you can use several workspaces in a same sequence, you can save as many workspaces as you need. .. hint:: You can click on a marker to move the robot to the pose he had when this point has been registered. **Be sure to have no tool attached to avoid collision** .. ifconfig:: language in ['en'] .. figure:: ../images/niryo_studio_workspace_2.png :alt: Workspaces Tab 2 :width: 750px :align: center Display of a registered workspace .. ifconfig:: language in ['fr'] .. figure:: ../images/fr_niryo_studio_workspace_2.png :alt: Workspaces Tab 2 :width: 750px :align: center Display of a registered workspace Camera settings ########################################### You can ajust the several camera settings like : - brightness - contrast - saturation .. figure:: ../images/camera_settings.png :width: 750px :align: center .. |br| raw:: html