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A modular pick-and-place sorting system for the Niryo Ned2 robot that can sort objects by colour (red, green, blue) into separate zones.

• Modular Design: Easy to add or remove functionalities
• Color-based Sorting: Sorts red, green, and blue objects into separate zones
• Multiple Sorting Modes:
  • Continuous sorting
  • Batch sorting with target counts
  • Single object sorting
• Comprehensive Statistics: Track sorting performance
• Error Handling: Robust error handling and recovery
• Safety Features: Automatic calibration and safe shutdown

You can find more about the project here.

• Niryo Ned2 robot
• Python 3.7 or higher
• PyNiryo library (Documentation)
• Niryo Studio (Download) for workspace configuration and robot monitoring
• Vision workspace configured in Niryo Studio

1. Install PyNiryo Library:

   Follow the official installation guide: PyNiryo Installation

   pip install pyniryo

    

2. Install Project Dependencies:

   pip install -r requirements.txt

    

3. Install Niryo Studio:

   Download and install Niryo Studio from the official download center. This software is essential for:

   • Robot monitoring and control
   • Workspace configuration
   • Vision setup and calibration
   • Real-time robot status monitoring

4. Configure Robot:

   • Update ROBOT_IP_ADDRESS in config.py with your robot's IP
   • Ensure your robot is connected to the same network
   • Create a vision workspace named workspace_1 in Niryo Studio

5. Setup Workspace:

   • Place the 4 ArUco markers to define the workspace
   • Calibrate the workspace in Niryo Studio
   • Test vision detection with objects

Edit config.py to customize:

• Robot IP Address: Update ROBOT_IP_ADDRESS
• Workspace Name: Change WORKSPACE_NAME if needed
• Debug Mode: Set DEBUG_MODE = True to enable debug logging and verbose output
• Robot Poses: Adjust observation and place poses
• Sorting Parameters: Modify failure counts, wait times, etc.
• Color Zones: Configure placement positions for each color