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Follow the procedures on how to setup the GettingStartedExampleProject in the Control Panel here until step three.
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2. We will then be using the python script as a Task Manager instead of using the rtr_quick_commander.
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The startup sequence is executed. The deconfliction group is initialized, the controller is set to operation mode and the robots are moved to the ‘staging’ position.
Threads and task parameters are initialized.
The following sequence is executed in a loop until the robots have finished performing pick and place in eight positions listed in the hub_list.
The function AcquireTargets is called to acquire pick positions. It is implemented in such a way that randomized x and y positions with fixed z position positions will be returned as pick positions.
pick_and_place_part is called for each of the robots. Pick and place part involves the following sequence:
the robot moves to the closest roadmap position to the pick position using MoveToPose
the robot moves to the pick position via a BlindMove
the robot moves to the unfinished place position
When pick_and_place_part is executed successfully, the hub_idxs is advanced so that the next part will be placed to the next place position until pick and place to all eight place positions are completed for each robot.
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