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Home > Robotiq Products > Pick & Package with Labels & Weights
Etienne_Samson

For this challenge you need to pick & package parts with labels and weights.

Provided material :

  • 4 blue containers all identified (1 item each)
    zoom
  • 1 black puck of 6oz = 170g
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  • 1 blue puck of 4oz = 113g
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  • 1 Robotiq Box
    zoomzoom
  • 1 UR Box
    zoomzoom
  • 1 Robotiq Sticker
  • 1 UR Sticker
Goal : Place each item in the appropriate container.

Hint 1: The blue and black pucks can only be identified by weight. Maybe try using moments? ;)

Hint 2: The boxes can only be identified by their labels, you will need to proceed in two steps.

Good luck !
Cody_James

Team 1 challenge complete.

https://youtu.be/scZhHsYZktE

Here is the code and program in zip file

Program
   Init Variables
   BeforeStart
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     Script: accessor_capt.script
     Fx≔0.0
     Fy≔0.0
     Fz≔0.0
     Mx≔0.0
     My≔0.0
     Mz≔0.0
     Fz_max≔15
     Fz_tolerance≔2.5
     x_increment≔0.002
     z_increment≔0.0005
   Robot Program
     rq_set_zero()
     Gripper Open
     MoveJ
       home
     Camera Locate
       MoveL
         Robo_Approach
         Robo_Pick
         Gripper Close
         Robo_Exit
       MoveJ
         Waypoint_1
         Gripper Open
         home
     Camera Locate
       MoveL
         UR_Approach
         UR_Pick
         Gripper Close
         UR_Approach
       MoveJ
         Waypoint_2
         Gripper Open
         home
     'Call '
   push_z_axis
     Loop norm(Fz)<Fz_max
       position_increm≔Tool
       position_increm[2] = position_increm[2]-z_increment
       movel(position_increm,1.2,0.01,0,0.0001)
   Thread_1
     Script: sensor_thread.script_bak


Ryan_Weaver

Team 3 complete!
https://youtu.be/alJRF6YnyVE

Here is the code

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     var_1≔get_actual_tcp_pose()
     MoveJ
       var_1
   Robot Program
     Loop
       'Write robot program here.'
       Call Task_3
       Wait: 0.01
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()
   Task_3
     Gripper Open
     MoveJ
       Waypoint_1
     Camera Locate
       MoveL
         Waypoint_2
         Waypoint_3
         Gripper Close
         Waypoint_2
       MoveJ
         Waypoint_4
         Waypoint_5
         Gripper Open
     sync()
     MoveJ
       Waypoint_1
     Camera Locate
       MoveL
         Waypoint_6
         Waypoint_7
         Gripper Close
         Waypoint_6
       MoveJ
         Waypoint_8
         Waypoint_9
         Gripper Open
     sync()
     MoveJ
       Waypoint_1
     Camera Locate
       MoveL
         Waypoint_11
         Waypoint_10
         Gripper Close
         Waypoint_11
       MoveJ
         Waypoint_12
         Wait: 2.0
       If Mx<-.2
         MoveJ
           Waypoint_13
           Waypoint_14
           Gripper Open
       Else
         MoveJ
           Waypoint_15
           Waypoint_16
           Gripper Open



Etienne_Samson

Awesome job guys!
Enric

Team4 @Nicolas @Juanjo @Enric @Adam529dp

Latest solution to auto-focus failure. ;)

zoom

Here is the code 

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     'Gripper Open'
     Maxim≔0.5
     Gripper Open
     rq_set_zero()
   Robot Program
     MoveJ
       Waypoint_6
     Camera Locate
       MoveL
         Waypoint_2
         Waypoint_3
         Gripper Close
       MoveJ
         Waypoint_2
         Waypoint_1
         Wait: 1.0
         var_1≔Mx
         var_2≔Mx
         var_3≔Mx
         If (var_2+var_1+var_3)<-.6
           MoveJ
             Waypoint_4
             Gripper Open
         Else
           MoveJ
             Waypoint_5
             Gripper Open
     'Folder Robotiq'
     Folder Ur
       MoveJ
         Waypoint_70
       Camera Locate
         MoveL
           Waypoint_13
           Waypoint_12
           Gripper Close
           Waypoint_14
         MoveJ
           Waypoint_11
           Gripper Open
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
     sync()
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()


Etienne_Samson

@Enric that object is too tall, you should drink it!
Alexandre_Pare

@Johnson_Liu , @olivertan , @eric
Hey team 5, where is our video and code, you did good on this one!
Johnson_Liu

Team 5. There you go @Alexandre_Pare

https://www.youtube.com/watch?v=5uwvuMpJYuw

https://www.youtube.com/watch?v=1J8epm8f1Ww

https://www.youtube.com/watch?v=f-rygl-qns4

Here is the code

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     rq_activate_and_wait()
   Robot Program
     Call SubP_group5p3su
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_group5p3su
     Gripper Open
     MoveJ
       snapshot_pos_1
     Camera Locate
       MoveL
         prepick1
         pick1
         Gripper Close
         prepick1
       MoveJ
         preplace1
         place1
         Gripper Open
         preplace1
     MoveJ
       snapshot_pos_2
     Camera Locate
       MoveL
         prepick2
         pick2
         Gripper Close
         prepick2
       MoveJ
         preplace2
         place2
         Gripper Open
         preplace2
     MoveJ
       snapshot_pos_3
     Camera Locate
       MoveL
         app3
         pick3
         Gripper Close
         app3
       MoveJ
         preplace
         measure
         Wait: 4.0
         If Mx≥-.28
           MoveL
             app_puck4
             puck4
             Gripper Open
         Else
           MoveL
             app_puck6
             puck6
             Gripper Open
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()


Tyler_Berryman

Here is what team 2 did. However, we did not use vision for this challenge

Code:

 Program
   Init Variables
   BeforeStart
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     Script: accessor_capt.script
     rq_set_zero()
     Fx≔0.0
     Fy≔0.0
     Fz≔0.0
     Mx≔0.0
     My≔0.0
     Mz≔0.0
     Fmax≔30
     Mmax≔0.5
   Robot Program
     MoveJ
       home
     Gripper Open
     Path
     Gripper Close
     Path
     Wait: 30.0
     If norm(Mx)<0.2
       MoveJ
         Waypoint_1
         Waypoint_2
         Gripper Open
     Else
       MoveJ
         Waypoint_3
         Waypoint_4
         Gripper Open
     'textmsg("Force after contact = ", Fz)'
     'Wait: 1.0'
     'textmsg("Force 1 sec later = ", Fz)'
   Thread_1
     Script: sensor_thread.script
   push_z_axis
     Loop norm(Mx)<Mmax
       position_increm≔Tool
       position_increm[1] = position_increm[1]+.001
       movel(position_increm,1.2,0.005,0,0.0001)
Etienne_Samson

Here is how we did it at Robotiq. Note that we decided to put a wait of 5 seconds after picking the pucks to let the robot measure accurately in a stable position the moment caused by the weight of the puck.

https://www.youtube.com/watch?v=OZ64Lrfv8sg&list=PLsu4qiywzR493i4hHR4YIBaZtpAy5Fzko&index=1

Here is the code:

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
   Robot Program
     MoveJ
       Waypoint_1
       Gripper Open
       var_1≔0
       var_2≔0
       var_3≔0
     Loop
       If var_1≟0
         Camera Locate
           MoveL
             Waypoint_2
             Waypoint_3
             Gripper Close
             Waypoint_4
             If rq_is_object_detected()== True 
               MoveJ
                 Waypoint_5
                 Waypoint_6
                 Gripper Open
                 Waypoint_7
                 var_1≔1
             MoveJ
               Waypoint_1
               Gripper Open
       If var_2≟0
         Camera Locate
           MoveL
             Waypoint_8
             Waypoint_9
             Gripper Close
             Waypoint_10
             If rq_is_object_detected()== True 
               MoveJ
                 Waypoint_12
                 Waypoint_11
                 Gripper Open
                 Waypoint_13
                 var_2≔1
         MoveJ
           Waypoint_1
           Gripper Open
       If var_3<2
         Camera Locate
           MoveL
             Waypoint_16
             Waypoint_14
             Gripper Close
             Waypoint_15
             If rq_is_object_detected()== True 
               MoveJ
                 Waypoint_20
                 Wait: 5.0
               If Mx≤-0.25
                 MoveJ
                   Waypoint_18
                   Waypoint_17
                   Gripper Open
                   Waypoint_19
                   var_3≔var_3+1
               Else
                 MoveJ
                   Waypoint_22
                   Waypoint_21
                   Gripper Open
                   Waypoint_23
                   var_3≔var_3+1
             MoveJ
               Waypoint_1
               Gripper Open
       If var_1≟1 and var_2≟1 and var_3≟2
         Halt
       Wait: 0.01
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()