I am currently working on a simulation project using CoppeliaSim, and I would like to inquire about some challenges I am facing.
The final simulation I need to create is very similar to the scenario shown in the following YouTube video, where a Delta robot sorts objects based on their type:
https://www.youtube.com/watch?v=JDhomgo ... kinopoulou
To implement a similar scenario, I have been referring to the PickandPlace - demo.ttt scene and the official tutorial video:
https://www.youtube.com/watch?v=ERD9Qlo ... iaRobotics
However, while attempting to extract and customize models such as Ragnar and GenericFeeder from the demo scene (screenshots attached), I encountered multiple challenges. The interface does not exactly match the video, possibly due to version differences, and I am struggling to make the necessary modifications.
I would really appreciate your guidance on the following points:
Feasibility and Approach:
Given a timeframe of 2 to 3 weeks, is it realistically possible to model a simulation similar to the one in the first video?
If so, what would be the best approach to achieve this efficiently?
Integration with Python:
I need to integrate object recognition via a camera and pass the detected object list to Python.
Based on a custom algorithm in Python, the priority object for picking should be determined and sent back to CoppeliaSim for the Delta robot to execute.
Is this functionality feasible within CoppeliaSim, and what would be the best way to implement it?
Version Compatibility:
If using Ragnar, does it require an older version like V-REP 3.7, or can it be properly implemented in the latest version of CoppeliaSim?
Drop Location Configuration:
In the demo, the drop location is set on a plate.
Would it be possible to create a floating drop location that remains available throughout the simulation?
I apologize for the number of questions, but this is a critical aspect of my research, and I would greatly appreciate any insights or recommendations you could provide.
Thank you in advance for your time and support. I look forward to your response.
Best regards,
Dongha Shin
Inquiry about Pick and Place Robot Simulation
Re: Inquiry about Pick and Place Robot Simulation
Hello,
yes, you should be able to do everything with CoppeliaSim. But it is a more complex task, and if you are a beginner, not sure you can do that within the desired timeframe.
Normally you'd go little by little, following all the tutorials, creating simple scenes, etc.
But the best is to get a close look at the various demo scenes in CoppeliaSim. In your case, have a look at:
Cheers
yes, you should be able to do everything with CoppeliaSim. But it is a more complex task, and if you are a beginner, not sure you can do that within the desired timeframe.
Normally you'd go little by little, following all the tutorials, creating simple scenes, etc.
But the best is to get a close look at the various demo scenes in CoppeliaSim. In your case, have a look at:
- scenes/vision/objectTracking.ttt
- scenes/trajectoryAndMotion/basicTrajectoryGeneration.ttt
- models/robots/non-mobile/ABB IRB 360.ttm
Cheers
Re: Inquiry about Pick and Place Robot Simulation
Thank you very much for your kind support and for providing the previous simulation file.
After further consideration, I realized that the vision sensor part is not necessary for my current implementation. What I actually need to implement is a simpler scenario, as follows:
Small blocks are periodically generated at the beginning of a conveyor.
Each block contains [color, y-position on the conveyor, and a randomly assigned integer value]. The color can be one of up to 4 types, and the value is a random integer within a specific range. These blocks are added to a global list.
As blocks move along the conveyor, a delta robot with a vacuum gripper picks them up and places them into a bin depending on their color. When picked, the block disappears and its value is added to a global counter.
A Python script continuously processes the global list and determines which block the robot should pick (e.g., the closest one).
Any block that reaches the end of the conveyor without being picked is also removed, and its value is added to the global counter.
Of course, I intend to implement this myself, but I would deeply appreciate your help with just one basic element:
a simple simulation where small blocks are generated at one end of a conveyor, and a delta robot picks up the nearest block and moves it to a fixed point using a vacuum gripper.
The file I previously received contains a simulation based on a very old version of V-REP. Unfortunately, the code is extremely complex and inefficient. Even the block generator model doesn't appear in the model browser, and there seems to be no official tutorial on how to implement delta robot pick-and-place logic, which makes it very difficult to proceed.
I would be extremely grateful if you could kindly help me with a minimal example of this basic scenario. Thank you so much for your time and support.
Sincerely,
Dongha Shin
After further consideration, I realized that the vision sensor part is not necessary for my current implementation. What I actually need to implement is a simpler scenario, as follows:
Small blocks are periodically generated at the beginning of a conveyor.
Each block contains [color, y-position on the conveyor, and a randomly assigned integer value]. The color can be one of up to 4 types, and the value is a random integer within a specific range. These blocks are added to a global list.
As blocks move along the conveyor, a delta robot with a vacuum gripper picks them up and places them into a bin depending on their color. When picked, the block disappears and its value is added to a global counter.
A Python script continuously processes the global list and determines which block the robot should pick (e.g., the closest one).
Any block that reaches the end of the conveyor without being picked is also removed, and its value is added to the global counter.
Of course, I intend to implement this myself, but I would deeply appreciate your help with just one basic element:
a simple simulation where small blocks are generated at one end of a conveyor, and a delta robot picks up the nearest block and moves it to a fixed point using a vacuum gripper.
The file I previously received contains a simulation based on a very old version of V-REP. Unfortunately, the code is extremely complex and inefficient. Even the block generator model doesn't appear in the model browser, and there seems to be no official tutorial on how to implement delta robot pick-and-place logic, which makes it very difficult to proceed.
I would be extremely grateful if you could kindly help me with a minimal example of this basic scenario. Thank you so much for your time and support.
Sincerely,
Dongha Shin