After selecting the function option Collision Detection, a new task configuration item — Scene Object — is added for configuring containers (including multiple containers with non-fixed sizes) to perform collision detection with the gripper. When using one-click connected training of the vision model or the binocular imaging model, you need to upload the mesh file of the container to generate container data.

I. Add, Modify, and Delete Scene Objects

Click the Scene Object column, as shown below.

• Left-click +Add Scene Object to create a new Scene Object;

• Left-click a specific Scene Object to open the Scene Object interface and modify its information;

• Right-click a specific Scene Object to choose to delete the corresponding Scene Object.

II. Configure Scene Objects

• Object Type: the type of Scene Object. Currently, there is only one type: Container

• Container Name: used to identify the current container

• Container Shape: currently, there is only one shape, cuboid

• Mesh File: optional. If incoming materials include containers, you can upload the mesh file of the container. When using one-click connected training of the vision model or binocular imaging model, the system generates container data in the simulation environment to simulate the incoming material method, which can enhance the recognition of containers and workpieces inside containers.

Only random picking scenes require uploading a mesh file

• Object Size Configuration: configure the size priors of the container. During container detection, the system fits a quadrilateral according to the size priors to obtain the template Point Cloud of the container, and then performs fine matching with the scene Point Cloud of the container to obtain the final pose; if multiple container sizes exist in the scene, you can set different size priors for the same Scene Object. Click "＋""-" to add or delete size priors, as shown below.

  

  • Size ID: used to identify the current size prior configuration. When the Robot outputs the container size ID the current size id will be used

  • Outer Wall Length: the outer wall length of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the first value

  • Outer Wall Width: the outer wall width of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the second value

  • Outer Wall Height: the outer wall height of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the third value

  • Long-side Wall Thickness: the wall thickness of the long side of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the fourth value

  • Short-side Wall Thickness: the wall thickness of the short side of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the fifth value

  • Bottom Thickness: the bottom wall thickness of the container, in mm. When the Robot outputs the container size (length, width, height, long-side thickness, short-side thickness, bottom thickness) this configuration will be used as the sixth value

III. Select a Scene Object

After configuring the Scene Object, select the Scene Object bound to the current task in the Scene Object drop-down box of the task information.

IV. Robot-Related Commands

In Commands Sent from PickWiz to Robot, when matching succeeds and no abnormality is detected, you can configure obtaining container matching information

Information	Placeholder	Function
Scene Object Size ID	so_size_id	Matched container size prior ID (consistent with the configuration), length 1, unmatched value is -1
Scene Object Size	so_size	Matched container size prior (consistent with the configuration), length 6 [outer wall length, outer wall width, outer wall height, long-side thickness, short-side thickness, bottom thickness], unmatched value is [0,0,0,0,0,0]
Scene Object Pose	so_pose	Matched Scene Object pose, length 6[x,y,z,a,b,c], unmatched value is [0,0,0,0,0,0]

Previous pageEssentials, Principles, and Cases for Point Cloud Template Creation

Next pageReal-Time Vision Thermal Drift Correction Guide