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¶
Set a Working Distance first to limit the range for the camera to capture the data.
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
- 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 mmValue range: 0–3000 mm
- Maximum Working Distance
- 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 mmValue range: 0–3000 mm
Pose Processing
- Max Number of Output Poses
- Description: This parameter is used to specify the maximum number of output poses.Value range: 0–20
- Upward Offset along Z-Axis
- 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.Default value: 0Value range: 0–10 mmTuning recommendation: Please set the parameter according to the actual situation.
Visualization
Note
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
- 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
- Description: This parameter is used to specify the items you want to visualize.Value list:
Final Score
Show Pose Height
Default value: Final Score