Step 4: Create Your First Program in Simulation

Action:

 

  1. Manually pick a circle from the storage area and place it on the vision plate.

     

  2. Open the camera feed by clicking Vision Set (top right).

     

  3. Double-click the vision plate and save the current observation pose using Add position.
    Advice: Be sure to use save mode ‘Joints’.
     

     

  4. Add an If block containing the Vision Pick template, and select the correct workspace: bundle_workspace.

     

  5. Move the robot above the left side of the conveyor, Save this as your place position, and add a Release with Tool block.
    Put the 2 blocks in the “do” of the “if” block

Since you are using the gripper, add a Scan Tool block at the top of your program to ensure the robot detects the tool.