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Hello everyone. In this video, we will look at this project that will use pick and place commands. We will also take a closer look at the tool settings that are on the robot. In this case, it's a two-finger gripper.

This project involves replacing the battery on the drone's body. First, we will set up the tool. For this, we need to go to Settings, navigate to the Gripper's Parameters tab, and add a setting using the plus button. In this window, we won't change anything, as this window is needed to set parameters for the robot itself so it can send signals to the tool.

We will have a simpler scenario. We need to go to the linked mechanism address value and set the address to E1 and the opening parameters. And closing of the tool. In this case, we will have these parameters and click the Apply button.

Now our tool will understand when to close and open in the pick and place commands. We have fully optimized the gripper tool on the robot. Also, if needed, you can use the new move external access command that will control the tool. We will add a pick command and show the robot the point it needs to go to and pick up the part.

Now we can see that our tool has taken the gripping position. And the next command will be place where we will tell the robot where to put the part. In this case, we can already see how the robot has opened its fingers and is ready to move away from the battery. The next step will be to add a pick command to take the second battery and a place command to install the battery on the drone's body.

After the robot performs these actions, we can add a move command and tell the robot to go to the home position. Our program is ready. We need to recalculate the project, and after you see the robot's movement trajectory, you can start the simulation and observe the robot's work. In this case, it grabbed the battery, opened its fingers, moved to the next battery, grabbed it, and transferred it to the drone.

It returned to the home position. The next step will be connecting to the real robot and simulating, checking how the real robot will behave. To ensure there are no errors, you need to go to settings, and in the robot settings tab, set the IP address of your robot so you can connect to it. The next step will be connecting to the robot.

You can do this using this button. After you click start and set the simulation speed, you will be able to replay the commands that we prepared for this project. As we can see, our robot fully replicates the movements we programmed for it. Thank you all for watching.