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machine.xml
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<openpnp-machine>
<machine class="org.openpnp.machine.reference.ReferenceMachine" speed="1.0" auto-tool-select="true">
<axes>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS168634bcee1e4314" name="x" type="X" driver-id="DRV168634bced9bfa4c" backlash-compensation-method="None" backlash-speed-factor="0.1" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false">
<home-coordinate value="0.0" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS168634bcee373405" name="y" type="Y" driver-id="DRV168634bced9bfa4c" backlash-compensation-method="None" backlash-speed-factor="0.1" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false">
<home-coordinate value="0.0" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceVirtualAxis" id="AXS168634bcee3fb1e2" name="zTop" type="Z">
<home-coordinate value="0.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceVirtualAxis" id="AXS168634bcee4313f8" name="rotationTop" type="Rotation">
<home-coordinate value="0.0" units="Millimeters"/>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS168634bcee45edb4" name="Z" type="Z" driver-id="DRV168634bced9bfa4c" backlash-compensation-method="None" backlash-speed-factor="0.1" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="true" safe-zone-high-enabled="true">
<home-coordinate value="0.0" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="333.3333333333333" units="Millimeters"/>
<acceleration-per-second-2 value="666.6666666666666" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
<axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS168634bcee48064c" name="C" type="Rotation" driver-id="DRV168634bced9bfa4c" backlash-compensation-method="None" backlash-speed-factor="0.1" limit-rotation="true" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="false" soft-limit-high-enabled="false" safe-zone-low-enabled="false" safe-zone-high-enabled="false">
<home-coordinate value="0.0" units="Millimeters"/>
<backlash-offset value="0.0" units="Millimeters"/>
<soft-limit-low value="0.0" units="Millimeters"/>
<soft-limit-high value="0.0" units="Millimeters"/>
<safe-zone-low value="0.0" units="Millimeters"/>
<safe-zone-high value="0.0" units="Millimeters"/>
<feedrate-per-second value="3333.3333333333335" units="Millimeters"/>
<acceleration-per-second-2 value="6666.666666666667" units="Millimeters"/>
<jerk-per-second-3 value="0.0" units="Millimeters"/>
<resolution>1.0E-4</resolution>
</axis>
</axes>
<heads>
<head class="org.openpnp.machine.reference.ReferenceHead" id="H1" name="H1" visual-homing-method="None" nozzle-solution="Standalone" nozzle-solutions-multiplier="1">
<nozzles>
<nozzle class="org.openpnp.machine.reference.ReferenceNozzle" axis-X-id="AXS168634bcee1e4314" axis-Y-id="AXS168634bcee373405" axis-Z-id="AXS168634bcee45edb4" axis-rotation-id="AXS168634bcee48064c" id="N1" name="N" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" current-nozzle-tip-id="NT1" changer-enabled="false" nozzle-tip-changed-on-manual-feed="false" enable-dynamic-safe-z="false" version="200" limit-rotation="true">
<compatible-nozzle-tip-ids class="java.util.ArrayList">
<string>NT1</string>
</compatible-nozzle-tip-ids>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<manual-nozzle-tip-change-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vacuum-sense-actuator-name>N1VAC</vacuum-sense-actuator-name>
<vacuum-actuator-name>N1VAC</vacuum-actuator-name>
</nozzle>
</nozzles>
<actuators>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT16863531558d13a2" name="H1VAC" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV168634c4d368fd4c" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="1">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT1686354e6afb4dff" name="N1VAC" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV168634c4d368fd4c" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="2">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
<actuator class="org.openpnp.machine.reference.ReferenceActuator" id="ACT1686355474f400a3" name="N2VAC" value-type="Boolean" value-type-confirmed="false" default-on-double="0.0" default-on-string="" default-off-double="0.0" default-off-string="" interlock-actuator="false" driver-id="DRV168634c4d368fd4c" coordinated-before-actuate="true" coordinated-after-actuate="false" coordinated-before-read="true" enabled-actuation="AssumeUnknown" homed-actuation="LeaveAsIs" disabled-actuation="LeaveAsIs" index="3">
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</actuator>
</actuators>
<cameras>
<camera class="org.openpnp.machine.reference.camera.ImageCamera" axis-X-id="AXS168634bcee1e4314" axis-Y-id="AXS168634bcee373405" axis-Z-id="AXS168634bcee3fb1e2" axis-rotation-id="AXS168634bcee4313f8" id="C1" name="Top" looking="Down" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" settle-method="FixedTime" settle-time-ms="250" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="24.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="false" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" deinterlace="false" allow-machine-actuators="false" focus-sensing-method="None" width="640" height="480" pick-location-tolerance-mm="0.1" pick-location-minimum-score="0.87" place-location-tolerance-mm="0.1" place-location-minimum-score="0.58" filter-test-image-vision="true" sub-pixel-rendering="true">
<units-per-pixel units="Millimeters" x="0.04233" y="0.04233" z="0.0" rotation="0.0"/>
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
<head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<calibration enabled="false">
<camera-matrix length="9">5.166271753014981E64, 5.13031919590552E160, 3.7238983488878177E227, 3.8965596151737483E233, 1.0307996334333427E-71, 3.5379062338219525E-57, 1.3130769276708117E-71, 9.338857000148E252, 6.199766049625027E223</camera-matrix>
<distortion-coefficients length="5">0.0, 0.0, 1.821792516414967E151, 3.786872724292465E-270, 9.399114979739564E-62</distortion-coefficients>
</calibration>
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
<focal-resolution value="0.05" units="Millimeters"/>
</focus-provider>
<source-uri>classpath://samples/pnp-test/pnp-test.png</source-uri>
</camera>
</cameras>
<park-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<soft-limits-enabled>false</soft-limits-enabled>
<pump-actuator-name>H1VAC</pump-actuator-name>
<homing-fiducial-location units="Millimeters" x="5.736" y="6.112" z="0.0" rotation="0.0"/>
</head>
</heads>
<signalers/>
<feeders>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F5" name="Upper Strips - 1" enabled="true" part-id="R0805-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="138.715" y="88.244" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="139.057" y="84.226" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F6" name="Upper Strips - 2" enabled="true" part-id="R0805-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="155.055" y="87.275" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="154.713" y="83.314" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F7" name="Upper Strips - 3" enabled="true" part-id="R0805-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="172.679" y="56.242" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="172.251" y="60.289" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F8" name="Upper Strips - 4" enabled="true" part-id="R0805-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="184.199" y="55.074" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="184.456" y="59.035" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F1" name="Lower Strips - 1" enabled="true" part-id="R0805-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="147.347" y="40.285" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="147.433" y="36.238" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F2" name="Lower Strips - 2" enabled="true" part-id="R0603-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="157.385" y="40.199" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="157.328" y="36.267" z="0.0" rotation="0.0"/>
<part-pitch value="4.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F3" name="Lower Strips - 3" enabled="true" part-id="R0402-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="167.366" y="40.256" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="167.366" y="36.295" z="0.0" rotation="0.0"/>
<part-pitch value="2.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
<feeder class="org.openpnp.machine.reference.feeder.ReferenceStripFeeder" version="1.1" id="F4" name="Lower Strips - 4" enabled="true" part-id="R0201-1K" retry-count="3" feed-retry-count="3" pick-retry-count="0" tape-type="WhitePaper" vision-enabled="true" feed-count="0" max-feed-count="0">
<location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<reference-hole-location units="Millimeters" x="177.404" y="40.256" z="0.0" rotation="0.0"/>
<last-hole-location units="Millimeters" x="177.376" y="36.267" z="0.0" rotation="0.0"/>
<part-pitch value="2.0" units="Millimeters"/>
<tape-width value="8.0" units="Millimeters"/>
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="original" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="cleanup-original" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectEdgesCanny" name="find-edges" enabled="true" threshold-1="5.0" threshold-2="15.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="predetect-1" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="predetect-2" enabled="false" kernel-size="7"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectFixedCirclesHough" name="results" enabled="true" dp="1.0" param-1="25.0" param-2="20.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recalled" enabled="true" image-stage-name="original"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="display" enabled="true" circles-stage-name="results" thickness="1">
<color r="255" g="0" b="0" a="255"/>
</cv-stage>
</stages>
</pipeline>
</feeder>
</feeders>
<cameras>
<camera class="org.openpnp.machine.reference.camera.SimulatedUpCamera" id="C2" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" settle-method="FixedTime" settle-time-ms="250" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="5.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="false" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" deinterlace="false" allow-machine-actuators="false" focus-sensing-method="None" width="640" height="480" simulate-focal-blur="false">
<units-per-pixel units="Millimeters" x="0.0134375" y="0.0134375" z="0.0" rotation="0.0"/>
<vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
<head-offsets units="Millimeters" x="118.799" y="7.117" z="0.0" rotation="0.0"/>
<safe-z value="0.0" units="Millimeters"/>
<calibration enabled="false">
<camera-matrix length="9">3.5E-323, 0.0, 2.5E-323, NaN, 6.93224685617292E-310, 6.932247478583E-310, 0.0, 0.0, 0.0</camera-matrix>
<distortion-coefficients length="5">NaN, 0.0, 0.0, 0.0, 0.0</distortion-coefficients>
</calibration>
<focus-provider class="org.openpnp.machine.reference.camera.AutoFocusProvider" averaged-frames="1" focus-speed="0.5" show-diagnostics="true">
<focal-resolution value="0.05" units="Millimeters"/>
</focus-provider>
<error-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
</camera>
</cameras>
<actuators/>
<part-alignments>
<part-alignment class="org.openpnp.machine.reference.vision.ReferenceBottomVision" enabled="true" pre-rotate="false" max-vision-passes="3" max-angular-offset="10.0">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="13" enabled="true" prefix="bv_source_" suffix=".png"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="10" enabled="true" kernel-size="9"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="4" enabled="true" diameter="525"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="1" enabled="true" conversion="Bgr2HsvFull"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskHsv" name="2" enabled="true" auto="false" fraction-to-mask="0.0" hue-min="60" hue-max="130" saturation-min="0" saturation-max="255" value-min="0" value-max="255" invert="false" binary-mask="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="3" enabled="true" conversion="Hsv2BgrFull"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="6" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="12" enabled="true" threshold="100" auto="false" invert="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.FindContours" name="5" enabled="true" retrieval-mode="List" approximation-method="None"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.FilterContours" name="9" enabled="true" contours-stage-name="5" min-area="50.0" max-area="900000.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="11" enabled="true" diameter="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawContours" name="7" enabled="true" contours-stage-name="9" thickness="2" index="-1">
<color r="255" g="255" b="255" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.MinAreaRect" name="results" enabled="true" threshold-min="100" threshold-max="255"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="14" enabled="true" image-stage-name="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawRotatedRects" name="8" enabled="true" rotated-rects-stage-name="results" thickness="2" draw-rect-center="false" rect-center-radius="20" show-orientation="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="15" enabled="true" prefix="bv_result_" suffix=".png"/>
</stages>
</pipeline>
<max-linear-offset value="1.0" units="Millimeters"/>
<part-settings-by-part-id class="java.util.HashMap"/>
</part-alignment>
</part-alignments>
<drivers>
<driver class="org.openpnp.machine.reference.driver.NullDriver" id="DRV168634bced9bfa4c" name="NullDriver" feed-rate-mm-per-minute="0.0"/>
<driver class="org.openpnp.machine.reference.driver.GcodeDriver" id="DRV168634c4d368fd4c" name="VACUUM_PUMP" motion-control-type="ToolpathFeedRate" communications="serial" connection-keep-alive="false" units="Millimeters" max-feed-rate="1000" backlash-offset-x="-1.0" backlash-offset-y="-1.0" backlash-offset-z="0.0" backlash-offset-r="0.0" non-squareness-factor="0.0" backlash-feed-rate-factor="0.1" timeout-milliseconds="5000" connect-wait-time-milliseconds="3000" visual-homing-enabled="true" backslash-escaped-characters-enabled="false" remove-comments="false" compress-gcode="false" logging-gcode="true" supporting-pre-move="false" using-letter-variables="true" infinity-timeout-milliseconds="60000">
<serial line-ending-type="LF" port-name="ttyACM99_vacuum_pump" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" name="SerialPortCommunications"/>
<tcp line-ending-type="LF" ip-address="127.0.0.1" port="23" name="TcpCommunications"/>
<simulated line-ending-type="LF"/>
<homing-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<detected-firmware><![CDATA[FIRMWARE_NAME:vacuum pump]]></detected-firmware>
<command type="COMMAND_CONFIRM_REGEX">
<text><![CDATA[^ok$]]></text>
</command>
<command type="COMMAND_ERROR_REGEX">
<text><![CDATA[^(what\?|how\?)$]]></text>
</command>
<command type="ACTUATE_BOOLEAN_COMMAND">
<text><![CDATA[M8{Index}{True:1}{False:0}]]></text>
</command>
<command type="ACTUATOR_READ_COMMAND">
<text><![CDATA[M8{Index}3]]></text>
</command>
<command type="ACTUATOR_READ_REGEX">
<text><![CDATA[\[read:(?<Value>-?\d+)\]]]></text>
</command>
</driver>
</drivers>
<discard-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<properties>
<entry>
<string>Welcome2_0_Dialog_Shown</string>
<object class="java.lang.Boolean">true</object>
</entry>
</properties>
<nozzle-tips>
<nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="NT1" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="false" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
<changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
<changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-to-mid-2-speed>1.0</changer-mid-to-mid-2-speed>
<changer-mid-location-2 units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<changer-mid-2-to-end-speed>1.0</changer-mid-2-to-end-speed>
<changer-end-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<touch-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
<vision-template-dimension-x value="10.0" units="Millimeters"/>
<vision-template-dimension-y value="10.0" units="Millimeters"/>
<vision-template-tolerance value="4.0" units="Millimeters"/>
<vision-calibration-tolerance value="0.7" units="Millimeters"/>
<max-part-diameter value="20.0" units="Millimeters"/>
<max-part-height value="10.0" units="Millimeters"/>
<calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="false" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChangeInJob" offset-threshold="0.0" detection-threshold-margin="0.4">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="250"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="15" auto="false" invert="false"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="50" min-diameter="40" max-diameter="50" dp="1.0" param-1="120.0" param-2="5.0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
<color r="255" g="0" b="51" a="255"/>
<center-color r="0" g="204" b="255" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
</stages>
</pipeline>
<runout-compensation-lookup class="java.util.HashMap"/>
<offset-threshold-length value="0.5" units="Millimeters"/>
<calibration-Z-offset value="0.0" units="Millimeters"/>
<calibration-tip-diameter value="0.0" units="Millimeters"/>
</calibration>
<method-part-on>None</method-part-on>
<part-on-check-after-pick>true</part-on-check-after-pick>
<part-on-check-align>true</part-on-check-align>
<part-on-check-before-place>true</part-on-check-before-place>
<vacuum-level-part-on-low>0.0</vacuum-level-part-on-low>
<vacuum-level-part-on-high>0.0</vacuum-level-part-on-high>
<vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
<vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
<method-part-off>None</method-part-off>
<part-off-check-after-place>true</part-off-check-after-place>
<part-off-check-before-pick>true</part-off-check-before-pick>
<vacuum-level-part-off-low>0.0</vacuum-level-part-off-low>
<vacuum-level-part-off-high>0.0</vacuum-level-part-off-high>
<vacuum-difference-part-off-low>0.0</vacuum-difference-part-off-low>
<vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
<diameter-low value="0.0" units="Millimeters"/>
</nozzle-tip>
</nozzle-tips>
<pnp-job-processor class="org.openpnp.machine.reference.ReferencePnpJobProcessor" job-order="PartHeight" max-vision-retries="3">
<planner class="org.openpnp.machine.reference.ReferencePnpJobProcessor$SimplePnpJobPlanner"/>
</pnp-job-processor>
<fiducial-locator class="org.openpnp.machine.reference.vision.ReferenceFiducialLocator" enabled-averaging="false" repeat-fiducial-recognition="3">
<pipeline>
<stages>
<cv-stage class="org.openpnp.vision.pipeline.stages.CreateFootprintTemplateImage" name="template" enabled="true" footprint-view="Fiducial" minimal-image-size="false">
<pads-color r="255" g="255" b="255" a="255"/>
<body-color r="0" g="0" b="0" a="255"/>
<background-color r="0" g="0" b="0" a="255"/>
</cv-stage>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_template" enabled="true" prefix="fidloc_template_" suffix=".png"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="template_gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-first="true" count="1"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="image_gray" enabled="true" conversion="Bgr2Gray"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_original" enabled="true" prefix="fidloc_original_" suffix=".png"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.MatchTemplate" name="match_template" enabled="true" template-stage-name="template_gray" threshold="0.699999988079071" corr="0.8500000238418579" normalize="true"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recall_image" enabled="true" image-stage-name="image"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawTemplateMatches" name="draw_matches" enabled="true" template-matches-stage-name="match_template"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="match_template"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.DrawKeyPoints" name="draw_keypoints" enabled="true" key-points-stage-name="results"/>
<cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_results" enabled="true" prefix="fidloc_results_" suffix=".png"/>
</stages>
</pipeline>
<part-settings-by-part-id class="java.util.HashMap"/>
<max-distance value="4.0" units="Millimeters"/>
<tolerances>
<scaling-tolerance>0.05</scaling-tolerance>
<shearing-tolerance>0.05</shearing-tolerance>
<board-location-tolerance value="5.0" units="Millimeters"/>
</tolerances>
</fiducial-locator>
<motion-planner class="org.openpnp.machine.reference.driver.NullMotionPlanner" maximum-plan-history="60.0"/>
<home-after-enabled>false</home-after-enabled>
<solutions target-milestone="Welcome">
<dismissed-solutions class="java.util.HashSet">
<string>4cfccdb6189be00811d0ba64fcb2e25386f1eaac</string>
</dismissed-solutions>
</solutions>
</machine>
</openpnp-machine>