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

  1. Set a Working Distance first to limit the range for the camera to capture the data.

  2. 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 mm
Value 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 mm
Value 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: 0
Value range: 0–10 mm
Tuning 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