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Configuration Instructions for Count Calculation and Sending in PickWiz

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Description

Function NameLocationPurposeExample
Robot Configuration
  • Number of Instances to Send
  • Number of Pick Points to Send
Robot Configuration - Custom Message FormatControls the number of instances sent from the vision system to the Robot and the number of Pick Points for each instance.

  • If you want to send 1 Pick Point for 1 instance to the Robot each time, then set:

    • Number of Instances to Send: 1
    • Number of Pick Points to Send: 1

  • If you want to send 2 instances to the Robot each time, with 1 Pick Point for each instance, then set:

    • Number of Instances to Send: 2
    • Number of Pick Points to Send: 1

    In this case, if only 1 instance remains at the end, 1 Pick Point for 1 instance will be sent

  • If you want to send 1 instance to the Robot each time, with 2 Pick Points for each instance, then set:

    • Number of Instances to Send: 1
    • Number of Pick Points to Send: 2

    At least 2 Pick Points must be configured for this Target Object;

  • If you want to send 2 instances to the Robot each time, with 2 Pick Points for each instance, then set:

    • Number of Instances to Send: 2
    • Number of Pick Points to Send: 2
Pose Calculation CountVisualization Window - Vision Calculation Configuration:After 2D recognition, sorting, and filtering, this is the number of instances whose poses will actually be calculated. The larger the value, the longer the processing time. Recommendations for each scenario are as follows:
  • Depalletizing: It is recommended to set it to the quantity in 1 layer;
  • Ordered: It is generally the same as the value set in “Keep the first n instances”;
  • Unordered: It is generally set to 5-20; the larger the value, the longer the processing time;
  • Positioning and assembly: It is generally set to 1 (there is only a single target in the Scene);
Keep the First n Instancesgrasping strategy - Instance FilteringOnly the first N instances are retained, and any excess instances will be filtered out, this function is currently not recommended and will be deprecated later.