Parameter Adjustment in the Medicine Boxes Scenario¶

In the medicine boxes scenario, the MedicineBox_Instance_3DSize_RGBSuction picking configuration folder should be used. After the configuration folder is loaded, all parameters will appear.

It is recommended to use a GeForce GTX 10 Series graphics card with a memory of at least or above 4G when you use the model for the medicine boxes scenario. When you run this Step for the first time, the deep learning model will be optimized according to the hardware type and the one-time optimization process takes about 15 to 35 minutes.

Parameter Adjustment Order¶

Select Picking Configuration Folder Path first.
Set a Working Distance to limit the range for the camera to capture the data.
Set parameters in the Bin Settings parameter group.
Adjust the Pose Processing parameter group to control the upward offset along the Z-axis to avoid damaging the object.
Adjust the Point Cloud Downsampling to reduce the number of object point clouds and increase the Step processing speed.
Lastly, set the Plane Segmentation Threshold to segment the object’s planar point cloud.

Parameter Description¶

Picking Configuration

Picking Configuration Folder Path: Description: This parameter is used to select the path where the picking configuration folder is stored.

Tuning recommendation: Click the folder button on the right of the parameter and select the path where the picking configuration folder is stored.

Working Distance

Minimum Working Distance: Description: This parameter is used to specify the minimum distance (mm) 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 (mm) 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

Bin Settings

Length: Description: This parameter is used to set the length (mm) of the bin.
Width: Description: This parameter is used to set the width (mm) of the bin.

Pose Processing

Max Number of Output Poses: Description: This parameter is used to specify the maximum number of output poses.

Default value: 15
Upward Offset along Z-Axis: Description: This parameter is used to specify the offset distance (mm) 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.
Pose Rotation Angle Threshold: Description: If the rotation angle of the object pose’s X-axis or Y-axis exceeds this threshold, the object pose will be filtered out.

Default value: 45.000°

Point Cloud Downsampling

Point Cloud Downsampling: Description: This parameter is used to reduce the number of object point clouds and increase the processing speed of the Step. The larger the value, the fewer object point clouds, and the faster the Step processing speed.

Default value: 0.0010

Plane Segmentation

Plane Segmentation Threshold: Description: This parameter is used to segment the planar point cloud of the object. The smaller the value, the fewer planar point clouds after the segmentation, and the higher the segmentation precision. The larger the value, the more planar point clouds after the segmentation, and the lower the segmentation precision.

Default value: 0.0020

Visualization

Enable: Description: This parameter is used to select whether to visualize the output result of this Step.

Default value: Selected