How can i detect if there is a part with the wrist camera True/false

Nicolas_Becue

Is there a possibility to look with the wrist camera if there is a part present (true / false)? I want to perform a task as long as parts are present, when they are no longer there the robot has to move to a rest position. I use the UR5 robot (CB 3) with FT300, wrist camera and 2 point gripper.

Thanks in advance.

David_Gariepy

Hi @Nicolas_Becue,

I Assume you meant CB3.1 as the camera isn't compatible with CB 3
The Camera locate node act as an if statement. If it detects something, it will execute the code inside the camera locate node. Otherwise, it will continue with the next instruction in the program. You can then use a variable and change it's state in the camera locate node. 

The state will then change to true only if the camera detects the part.