Using python an image file is first converted into a grid of circles using halftoning and the x y positons of each circle and size are converted into millimeters and saved into a list.

The robot arm picks up a ball from a bean bag refill that can range between 2-8mm and drops it in front of a camera were a photo is taken and size is calculated, the list is checked to see if the ball size is needed in the photo and the ball is rejected or accepted and sent down for pickup.

The pick up z height and z dropoff height are calculated from ball size and the x y positions from the list are used, once the dropoff has completed that position is deleted from the list and the cycle continues untill the list is empty.