Parameter Adjustment in the Cables Scenario
In the cables scenario, the Cable_Seg_RGBGrasp picking configuration folder should be used, and then you can see all related parameters.
Parameter Adjustment Order
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Set a Working Distance first to limit the range for the camera to capture the data.
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Adjust the Pose Processing parameter group to control the upward offset along the Z-axis to avoid damaging the object.
Parameter Description
Working Distance
- Minimum Working Distance
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Description: This parameter is used to specify the minimum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the top edge of the bin. Please set the value according to the actual situation.
Default value: 0 mm
Value range: 0–3000 mm
- Maximum Working Distance
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Description: This parameter is used to specify the maximum distance (in millimeters) between the camera and the object in the scene. If a bin is used, this parameter should be the distance from the camera to the bottom edge of the bin. Please set the value according to the actual situation.
Default value: 3000 mm
Value range: 0–3000 mm
Pose Processing
- Upward Offset along Z-Axis
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Description: This parameter is used to specify the offset distance (in millimeters) along Z-axis above the object to prevent the robot from squeezing the object. The unit is millimeters.
Default value: 0
Value range: 0–10 mm
Tuning recommendation: Please set the parameter according to the actual situation.
Visualization
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The Visualization parameter group is only used for selecting what will be displayed in the Debug Output window and will not affect the adjustment of the above parameters. |
- Enable
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Description: Once this option is selected, you can select the items you want to visualize in the Debug Output window.
Default value: Selected.
- Visualization Type
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Description: This parameter is used to specify the items you want to visualize.
Value list:
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Final Score
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Show Pose Height
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Default value: Final Score