hello everyone! i feel like i didnt really clarify in my last post so i wanted to explain as much of the project as possible in this post. the idea is that the webcam detects the weld joint type (for this model im keeping it simple with just T-welds and edge joints) and the lower plate since the width and height of the lower plate are the x and y axis points that the welding cobot will traverse through with the z axis being the distance from a time-of-flight sensor. now the width and height of the lower plate’s bounding box are not the actual width and height of the physical steel plate so after searching through many papers i found a function that given width and height in pixels of the lower plate, the distance (z axis) and camera’s FOV returns actual plate dimensions which i just tested today and is accurate to an acceptable tolerance, from that i have the full trajectory of the welding the python code then instructs the cobot to move through this trajectory, i also added a class that detects your arm/hand as a saftey kill switch to stop the welding and another class for unknown complex welds for a manual mode option which im currently working on. if anyone has anymore questions or inquiries please feel free to ask. without further delay i give you in this zip file the future of industrial automation!!! (note: this video is just a demo of the t-weld, another video showcasing the other classes will be posted soon)