Settings

A solution provides several settings that can be configured to better suit the needs of the particular application. This page explains how the settings are organized and lists every setting of Bin Picking Studio 1.12 and Locator Studio 1.5 with its description and default value.

Inside the solution setup, the settings are located in two different places:

• Settings page

  The Settings page provides all solution settings. These settings are split into two main categories:
  • Global Vision system settings

    These settings are applied to all Vision systems unless overridden. Every Vision system can override any of these settings with custom values.
  • Solution settings

    These settings are applied to all Vision systems.
• Vision system page

  The Vision system page contains those solution settings that can be configured for each Vision system independently.

  By default, these settings are disabled, which means the Global Vision system settings are applied. However, to a large extent, each Vision system is an independent unit that often requires unique values for different settings. In that case, it is possible to enable the specific setting and override the global value.

The Settings page of a Layer Localization solution. Red frames: the Global Vision system settings and Solution settings groups and the Reset to defaults button.

Settings sections

Settings are organized into smaller logical segments - Settings sections. Each Settings section has a name and contains closely related settings.

Each setting has a default value. When the value is changed to a custom one, the value field is highlighted with a yellow color. To reset the setting to its default value, the reset button can be used.

A setting changed from its default value (50) to 30. The field is yellow; the reset button (red frame) sets the default value back.

Click the info icon next to a setting to show its help text. The descriptions and default values in the tables on this page are the same help texts.

The help text of Max. allowed points above layer (red frame), shown after clicking the info icon next to the setting

Overview of settings sections

Which settings sections are shown depends on the solution type. Click a section name to go to its settings.

Settings section	CAD Picking	AI Picking	CAD Localization	AI Localization	Layer Localization
Global Vision system settings
Gripper collision checking	✓	✓
Object collision checking	✓
Point cloud collision checking	✓	✓
Fast scan	✓		✓
Object symmetry axis	✓
Binpicking memory	✓	✓
Path planning	✓	✓
Picking priority	✓	✓
Gripper angle	✓	✓
Processing	✓
Initialization request actions	✓
Advanced settings			✓		✓
Sorter - Angle			✓	✓
Sorter - Direction			✓	✓
Sorter - Localization score			✓	✓
Constraint - Angle			✓	✓
Constraint - Object dimensions				✓	✓
Constraint - Layer depth				✓
Constraint - Points above localized layer					✓
Solution settings
Path planning	✓	✓
IK Solver	✓	✓
Robot communication	✓	✓
Advanced settings	✓	✓	✓	✓	✓
Automatic saving of scans	✓	✓	✓	✓	✓
Elastic gripping point		✓
Processing			✓

Settings marked Can be overridden per vision system in the tables below are also shown on the Settings tab of each vision system.

Overriding the Global Vision system settings

The settings sections on the Vision system page correspond with the settings sections of the Global Vision system settings on the Settings page of the solution.

When a specific setting needs to have a custom value for a particular Vision system, the whole settings section it belongs to must be overridden. All settings from that settings section will use the values defined on the Vision system page in the enabled settings section.

A settings section inside a specific Vision system is enabled/disabled by clicking anywhere inside its title field. A disabled settings section has an empty checkbox in the right corner, and its individual settings are not displayed. An enabled settings section has its checkbox checked, and the individual settings are displayed.

Enabled settings section “Gripper and Object collision checking” inside the Vision system’s settings page, overriding the Global Vision system settings on the solution’s Settings page

When a settings section is disabled, the values of its individual settings are remembered (they are not reset to defaults).

On the solution’s Settings page, the settings sections of the Global Vision system settings that are overridden inside a specific Vision system show the ID of the Vision system in the top right corner. Clicking on the ID redirects you directly to the Vision system’s settings.

Indicators of the overridden settings section “Gripper and Object collision checking” inside the Vision systems with IDs “1” and “2”

Global Vision system settings

Gripper collision checking

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
Gripper collision checking type	“Volumetric” collision checking takes into account the value of the “Gripper collision sensitivity” setting used in each vision system when testing for collisions of the gripper both with the point cloud from the PhoXi Scanner and with any localized picked objects. “Model” collision checking avoids any contact between the gripper and both the point cloud and any localized picked objects, regardless of the “Gripper collision sensitivity” setting. “Picked object collision checking” may not be set to “Volumetric” in case the gripper uses “Model” collision checking. In all cases, all collisions of the gripper with scene objects or with the robot will be strictly avoided with zero tolerance. Options: Volumetric, Model. Can be overridden per vision system.	Volumetric
Gripper collision sensitivity [%]	This value defines the sensitivity level of the collision checking algorithm. It applies to collisions between the gripper model and the point cloud acquired by the PhoXi sensor, and also to collisions between the gripper model and localized objects. It is the threshold percentage value of gripper model volume allowed to be in collision. A higher number means that a higher proportion of the gripper model may be in collision. The lower the number, the higher the sensitivity. A setting too sensitive may degrade path planning performance due to frequent path rejections. A setting too lenient may cause collisions. Can be overridden per vision system.	5.0

Object collision checking

Solution types: CAD Picking

Setting	Description	Default
Pick only unoccluded objects	Pick only localized objects which are directly visible by the camera. There must be nothing in the scan which would obscure the view of the object in any way (except shadows) from the perspective of the camera. Can be overridden per vision system.	Off
Collision checking with the picked object attached to the gripper	When checking for collisions, consider the picked object attached to the gripper model. The picked object is calculated as attached in a particular gripping point (invariance). Therefore, its position and orientation reflect the reality. Please note that collisions with the picked object attached are checked starting from the Deapproach path stage. Can be overridden per vision system.	On
Collision checking type for localized objects	“Volumetric” collision checking takes into account the value of “Gripper collision sensitivity” when testing for collisions of the gripper with any localized picked objects. “Model” collision checking avoids any contact between the gripper and localized picked objects. The object being picked is, however, not checked for collisions. “No checking” means that the gripper will not be checked for collisions with any localized picked objects. Options: Volumetric, Model, No checking. Can be overridden per vision system.	Volumetric

Point cloud collision checking

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
Resolution of the point cloud volumetric model [m]	Specify the resolution (size of one voxel) of the volumetric model of the scene. The volumetric model is generated from the point cloud of the scene at the given resolution. Can be overridden per vision system.	0.01
Minimum required size of a volumetric model segment	The volumetric model of the scene generated out of the point cloud goes through segmentation filtering. Very small segments are filtered out of the scene. Set the minimum required amount of voxels per segment. Segments with a lower amount of voxels than the threshold value specified here will be filtered out. Can be overridden per vision system.	20

Fast scan

Solution types: CAD Picking, CAD Localization

Setting	Description	Default
Use fast scan	Fast scanning is a mode of the sensor that limits the acquisition to the texture frame only. The positions of objects are recalled from system memory and only the presence of an object is validated using the texture frame. Full scans still need to be triggered regularly. It is recommended to start by alternating each full scan with one fast scan. Try increasing the ratio up to five fast scans per one full scan. Can be overridden per vision system.	Off
Full scan frequency	When using fast scan, this parameter specifies how many fast scans may be performed between full scans. A value of 3 means, for example, that at least every third scan will be a full scan, followed by a maximum of two fast scans. Can be overridden per vision system.	3
Fast scan minimum objects found	Defines the minimum number of objects required to be stored in memory after a fast scan. If the available stored number of object is smaller after a fast scan acquisition, the system will trigger a full scan. Can be overridden per vision system.	3
Is-change threshold	Threshold for the relative difference in texture image. The value of each texture pixel changes with a new scan. We define this threshold to consider the same texture pixel as unchanged between the texture image captured during the last full scan and the texture image captured during the current fast scan. Can be overridden per vision system.	0.5
Changed pixels fraction threshold [%]	The relative number of texture pixels associated with the object that must appear changed to cause the object to be rejected. Can be overridden per vision system.	5.0
Minimum ready-to-pick objects	Defines the minimum number of ready-to-pick (green) objects expected after a fast scan. If fewer objects are ready-to-pick, a full scan is triggered in the next run. Only in: CAD Picking. Can be overridden per vision system.	1

Object symmetry axis

Solution types: CAD Picking

Setting	Description	Default
Symmetry axis X	In some scenarios, it is necessary to indicate that a picked object has rotational symmetry, i.e. it looks the same from different angles. The rotational symmetry of the object can be specified by an axis of symmetry defined as a directional vector [x, y, z] in the coordinate space of the picked object’s origin. Setting the vector to [0, 0, 0] means that the object has no rotational symmetry. Can be overridden per vision system.	0.0
Symmetry axis Y	In some scenarios, it is necessary to indicate that a picked object has rotational symmetry, i.e. it looks the same from different angles. The rotational symmetry of the object can be specified by an axis of symmetry defined as a directional vector [x, y, z] in the coordinate space of the picked object’s origin. Setting the vector to [0, 0, 0] means that the object has no rotational symmetry. Can be overridden per vision system.	0.0
Symmetry axis Z	In some scenarios, it is necessary to indicate that a picked object has rotational symmetry, i.e. it looks the same from different angles. The rotational symmetry of the object can be specified by an axis of symmetry defined as a directional vector [x, y, z] in the coordinate space of the picked object’s origin. Setting the vector to [0, 0, 0] means that the object has no rotational symmetry. Can be overridden per vision system.	0.0

Binpicking memory

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Between two runs, Bin Picking Studio remembers the objects it localized before. When an object is localized again, its new pose is compared with the remembered one:

• If the object moved less than the Preserve path plan thresholds, it keeps its ID, its pick-failed counter and its path plan.

• If it moved more, but less than the Same object thresholds, it keeps its ID and pick-failed counter, but its path plan is computed again.

Both settings have a translation threshold [mm] and a rotation threshold [°].

Translation	Rotation

Same object

Setting	Description	Default
Translation threshold [mm]	Extension of the translation threshold of the setting Preserve path plan . When the translation change is within this threshold, the object still keeps its ID and the pick-failed counter but the the path plan is recomputed (if the translation threshold of the setting Preserve path plan is exceeded). Can be overridden per vision system.	2.0
Rotation threshold [°]	Extension of the rotation threshold of the setting Preserve path plan . When the rotation change is within this threshold, the object still keeps its ID and the pick-failed counter but the the path plan is recomputed (if the rotation threshold of the setting Preserve path plan is exceeded) Can be overridden per vision system.	1.0

Preserve path plan

Setting	Description	Default
Translation threshold [mm]	Remember the object from the previous run if the translation change is within this threshold. The object keeps its ID, pick-failed counter and the path plan. To remember only the object’s ID and the pick-failed counter but recompute the path plan from scratch, the translation threshold of the setting Same object is used to extend this threshold. Can be overridden per vision system.	2.0
Rotation threshold [°]	Remember the object from the previous run if the rotation change is within this threshold. The object keeps its ID, pick-failed counter and the path plan. To remember only the object’s ID and the pick-failed counter but recompute the path plan from scratch, the rotation threshold of the setting Same object is used to extend this threshold. Can be overridden per vision system.	1.0

Path planning

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
Path planning type	Plan joint and linear trajectories: Use this option to plan bin picking trajectories together with collision avoidance. Plan only linear trajectories: Use this option to plan only those trajectories with the “Plan linear trajectory” option (in the “Picking path stages” section). Note that collision avoidance will be checked only in linear trajectories and waypoints (not in joint trajectories) defined in the path stages. Using this setting can decrease the computation time. Use it carefully! Path planning off: Use this option to disable path planning. It will decrease the computation time at the expense of collision avoidance. Bin Picking Studio only checks collisions in waypoints defined in the path stages. These waypoints will be sent to the robot controller without trajectory computation. Warning : The option “Plan linear trajectory” (in the “Picking path stages” section) is not functional and the movement is performed in joint space. Use it carefully! Options: Plan joint and linear trajectories, Plan only linear trajectories, Path planning off. Can be overridden per vision system.	Plan joint and linear trajectories
Path planning timeout [s]	Defines the maximum time for the processor to plan the next path. Small values are better for quick picking of easily accessible objects. Larger values may help in tighter areas with a lot of time available per cycle. Can be overridden per vision system.	3.0
Path planning attempts	The number of permitted path planning attempts. Can be overridden per vision system.	3
Linear trajectory sampling step [m]	The step for sampling of points on a cartesian trajectory. For huge robots with long cartesian paths, this step has to be larger because trajectory length is limited to 100 points on the robot side. Can be overridden per vision system.	0.01
Prefer linear trajectory	Prefer linear trajectories over joint path plans. If the planner is able to find a collision-free linear trajectory between two waypoints (path stages), it uses that linear trajectory. Otherwise, the planner computes a joint-based path plan. Can be overridden per vision system.	Off

Picking priority

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

With the default method, the localized objects are ordered along the picking direction vector, in the same way as shown for Sorter - Direction.

Setting	Description	Default
Picking priority method	Determines the priority of localized objects in the bin picking pipeline. Options: Closest point of localized object in given direction (default), Centroid coordinate of localized object in given direction, Score of localized object with model - reported by localization, Number of collisions with gripper, Gripping Point Priority. Can be overridden per vision system.	Closest point of localized object in given direction (default)
Picking direction vector X	Specify the direction in which localized objects will be ordered for processing through the bin picking pipeline. The direction is specified as a vector defined in the coordinate space of the Robot base. For example, vector [0,0,-1] means the algorithm will encounter objects from top to bottom. Can be overridden per vision system.	0.0
Picking direction vector Y	Specify the direction in which localized objects will be ordered for processing through the bin picking pipeline. The direction is specified as a vector defined in the coordinate space of the Robot base. For example, vector [0,0,-1] means the algorithm will encounter objects from top to bottom. Can be overridden per vision system.	0.0
Picking direction vector Z	Specify the direction in which localized objects will be ordered for processing through the bin picking pipeline. The direction is specified as a vector defined in the coordinate space of the Robot base. For example, vector [0,0,-1] means the algorithm will encounter objects from top to bottom. Can be overridden per vision system.	-1.0

Gripper angle

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

The Angular threshold between the tool point and the reference vector limits how much the tool can tilt in the grasp waypoint. The angle is measured between the Z-axis of the tool and the reference vector, which is the Z-axis of the robot base ([0, 0, 1]) by default. For a robot mounted upside down, set the reference vector to [0, 0, -1].

The gripper angle: the angle between the Z-axis of the tool and the reference vector (here the Z-axis of the robot base)

Setting	Description	Default
Angular threshold between the tool point and the reference vector [°]	The allowed angle between the Z-axis of the tool and the gripper angle reference vector (configurable in the Gripper angle section). Please note that the gripper angle reference vector portrayed in the image above is the same as the robot’s z-axis, i.e. [0,0,1]. Can be overridden per vision system.	50
Reference vector X	Define the reference direction vector for gripper angle calculation. The default value is [0,0,1] when the robot z-axis points upward. This is used e.g. in the calculation of gripper angle, rejecting objects when gripper angle exceeds the defined threshold. When the robot hangs upside down from the ceiling, the up vector should be defined as [0,0,-1]. Can be overridden per vision system.	0.0
Reference vector Y	Define the reference direction vector for gripper angle calculation. The default value is [0,0,1] when the robot z-axis points upward. This is used e.g. in the calculation of gripper angle, rejecting objects when gripper angle exceeds the defined threshold. When the robot hangs upside down from the ceiling, the up vector should be defined as [0,0,-1]. Can be overridden per vision system.	0.0
Reference vector Z	Define the reference direction vector for gripper angle calculation. The default value is [0,0,1] when the robot z-axis points upward. This is used e.g. in the calculation of gripper angle, rejecting objects when gripper angle exceeds the defined threshold. When the robot hangs upside down from the ceiling, the up vector should be defined as [0,0,-1]. Can be overridden per vision system.	1.0

Processing

Solution types: CAD Picking

Setting	Description	Default
Wait time after first object localization [ms]	When the first object is found, a timer starts counting down to this timeout. During this grace period, other objects may be found. When this timeout elapses, the most appropriate of the found objects (according to the chosen ordering preferences) is pushed to the path planning pipeline. If this timeout is set to 0 ms, the first localized object is immediately pushed to the path planning pipeline. Can be overridden per vision system.	500
Do not force Smart Memory	Smart Memory of localization will not be automatically force-enabled when the solution is deployed. Can be overridden per vision system.	Off

Initialization request actions

Solution types: CAD Picking

Setting	Description	Default
Clear binpicking memory	When this setting is enabled , an initialization request will clear all data from the bin picking memory (including IDs, pick-failed counters, and path plans for all objects). When this setting is disabled and an initialization request is received, the path plans of the objects in the bin picking memory are: kept , if the difference of the previous and the new joint state of the start and the end initialization pose is within 0.001 rad (for each joint) cleared , the difference of the previous and the new joint state of the start and the end initialization pose exceeds 0.001 rad (in at least one joint value) Can be overridden per vision system.	On
Clear smart memory & Force full scan	When this setting is enabled , an initialization request will clear the localization smart memory (for CAD-based localization only) and consequentially force the next scan to be a full scan. Can be overridden per vision system.	On

Advanced settings

Solution types: CAD Localization, Layer Localization

Setting	Description	Default
Get objects request timeout [s]	The maximum time allowed between the Get Objects request and its response. If no suitable object is found within this time window, an error code is sent to the robotic controller instead. Can be overridden per vision system.	4000
Block Get objects request until localization finish	When turned on the Get objects request will be blocked until localization is finished. In that case Get objects request timeout parameter is not relevant - the response will be sent immediately after localization finishes. Only in: CAD Localization. Can be overridden per vision system.	Off
Do not force Smart Memory	Smart Memory of localization will not be automatically force-enabled when the solution is deployed. Only in: CAD Localization. Can be overridden per vision system.	Off

Sorter - Angle

Solution types: CAD Localization, AI Localization

Setting	Description	Default
Weight	Specifies the axis for sorting so that the localized objects are ordered in such a manner, that the object with the lowest angle between this axis and the object’s Z-axis is the best candidate. The axis is specified as a directional vector defined in the base coordinate space. For example, vector [0,0,1] means the object whose Z-axis points upwards is the best candidate. The weight defines the amount of influence of this sorter on the final result of sorting. The higher the weight, the higher the influence. Can be overridden per vision system.	0
X	The X component of the sorter axis. Can be overridden per vision system.	0.0
Y	The Y component of the sorter axis. Can be overridden per vision system.	0.0
Z	The Z component of the sorter axis. Can be overridden per vision system.	-1.0

Sorter - Direction

Solution types: CAD Localization, AI Localization

The localized objects are ordered along the direction vector: the first object in that direction is the best candidate.

The same objects ordered with the direction [0, 0, -1] (top to bottom) and [1, 0, 0] (left to right)

Setting	Description	Default
Weight	Specifies the direction in which localized objects are ordered. The direction is specified as a directional vector defined in the base coordinate space. For example, vector [0,0,-1] means the most upper object is the best candidate (ordering in the direction from top to bottom). The weight defines the amount of influence of this sorter on the final result of sorting. The higher the weight, the higher the influence. Can be overridden per vision system.	1.0
X	The X component of the sorter direction. Can be overridden per vision system.	0.0
Y	The Y component of the sorter direction. Can be overridden per vision system.	0.0
Z	The Z component of the sorter direction. Can be overridden per vision system.	-1.0

Sorter - Localization score

Solution types: CAD Localization, AI Localization

Setting	Description	Default
Weight	The amount of influence of this sorter on the final result of sorting. The higher the weight, the higher the influence. Can be overridden per vision system.	0.0

Constraint - Angle

Solution types: CAD Localization, AI Localization

An object is rejected when its Z-axis is tilted from the axis by more than the set angle. For an example with the reported pose of an object, see Pose constraint.

With the default values (25°, axis [0, 0, -1]), the object is accepted while its Z-axis stays within 25° of the axis

Setting	Description	Default
Angle [°]	The allowed angle between the Z-axis of the reported object origin and the reference axis defined below. Both axes are specified as directional vectors - beware of their direction. Can be overridden per vision system.	25
Axis X	The X component of the angle constraint. Can be overridden per vision system.	0.0
Axis Y	The Y component of the angle constraint. Can be overridden per vision system.	0.0
Axis Z	The Z component of the angle constraint. Can be overridden per vision system.	-1.0
Exclude rejected objects from the Localized objects counter	When true, the objects rejected by this constraint will not be counted to localized objects reported in Get vision system status request. Can be overridden per vision system.	Off

Constraint - Object dimensions

Solution types: AI Localization, Layer Localization

Setting	Description	Default
Min. dimension X [mm]	Minimum size of the X dimension of the bounding box of the found object. Note: Always the larger of the dimensions is chosen as the X dimension. Can be overridden per vision system.	0
Max. dimension X [mm]	Maximum size of the X dimension of the bounding box of the found object. Note: Always the larger of the dimensions is chosen as the X dimension. Can be overridden per vision system.	1000
Min. dimension Y [mm]	Minimum size of the Y dimension of the bounding box of the found object. Note: Always the larger of the dimensions is chosen as the X dimension. Can be overridden per vision system.	0
Max. dimension Y [mm]	Maximum size of the Y dimension of the bounding box of the found object. Note: Always the larger of the dimensions is chosen as the X dimension. Can be overridden per vision system.	1000
Exclude rejected objects from the Localized objects counter	When true, the objects rejected by this constraint will not be counted to localized objects reported in Get vision system status request. Can be overridden per vision system.	Off

Constraint - Layer depth

Solution types: AI Localization

Only the objects close to the first found object along the axis are accepted, for example to pick only the top layer of a pallet.

Objects farther from the first found object along the axis than the layer depth are rejected (red)

Setting	Description	Default
Layer depth [mm]	The maximum allowed distanced from the first found object along defined direction. Can be overridden per vision system.	1000
Axis X	The X component of the direction of layer. Can be overridden per vision system.	0.0
Axis Y	The Y component of the direction of layer. Can be overridden per vision system.	0.0
Axis Z	The Z component of the direction of layer. Can be overridden per vision system.	-1.0
Exclude rejected objects from the Localized objects counter	When true, the objects rejected by this constraint will not be counted to localized objects reported in Get vision system status request. Can be overridden per vision system.	Off

Constraint - Points above localized layer

Solution types: Layer Localization

Setting	Description	Default
Max. allowed points above layer	Maximum number of points that can be above the localized layer. If there are more points above the layer, it is rejected. Can be overridden per vision system.	3000000
Exclude rejected objects from the Localized objects counter	When true, the objects rejected by this constraint will not be counted to localized objects reported in Get vision system status request. Can be overridden per vision system.	Off

Solution settings

Path planning

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
Number of waypoints	The number of waypoints in the resulting joint trajectory between two path stage waypoints.	10
Iterations	The number of iterations that the planner may undertake to find a good solution during optimization. A good solution means a collision-free trajectory between two path stage waypoints. In each iteration, the planner generates a number (defined by the values of the Rollouts and Max rollouts parameters) of noisy trajectory candidates. Each candidate is verified for collisions and rated by a cost function. This is repeated until a good enough collision-free trajectory is found.	5
Rollouts	The number of trajectory candidates generated by the path planner between two path stage waypoints.	5
Longest valid joint move [rad]	Half of the maximal allowed joint movement between two consecutive trajectory points. If a joint needs to move more than double this value, an additional point is created for collision checking in between the trajectory points. This additional point will not be a part of the final trajectory sent to the robotic controller. The smaller the value, the denser the collision checking is. Denser collision checking, however, prolongs path planning time. The path planing time also increases during large joint motions because more additional points for collision checking are generated. Because of that, it is recommended to keep the joint-type trajectories as short as possible by defining suitable start/end positions that are just above the center of the bin.	0.03
Trajectory polynomial order	The order of the polynomial function used for smoothing trajectories. Lower values will produce smoother trajectories but can cause the planner to fail to plan a trajectory more often, especially when planning a trajectory in a complex environment that requires avoiding multiple obstacles.	6
Stddev [rad]	Each value in this array is the amplitude of the noise applied to the joint at that position in the array. For instance, the leftmost value in the array will be the value used to set the noise of the first joint of the robot. The number of elements in this array must be equal to the number of robot’s joints. Larger ‘stddev’ values correspond to larger motions of the joints.	0.04||0.04||0.05||0.07||0.06||0.1

IK Solver

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
IK solver computation timeout [s]	Defines the maximum time for the computation of inverse kinematics.	0.03
IK Solver	For most of robots, Bin Picking Studio supports ultra-fast computation of inverse kinematics with the RapidIK solver. This solver will be pre-selected automatically if the selected robot supports it. For other robots and for situations where RapidIK solver might be inappropriate, we also provide the original IK solver implementation. It is recommended that users don’t change this value on their own. Options: Rapid IK (Analytical), Standard (Iterative).	Standard (Iterative)

Robot communication

Solution types: Bin Picking Studio solutions (CAD Picking, AI Picking)

Setting	Description	Default
Trajectory request timeout [ms]	The maximum time allowed between a request from the robotic controller and a response with a successfully computed trajectory plan. If no successful trajectory plan has been available within this window, an error code is sent to the robotic controller instead.	10000

Advanced settings

Solution types: All solution types

Setting	Description	Default
Share the calibration among vision systems	When enabled, the calibration matrix of all vision systems using the same 3D sensor and Calibration space and sensor position will be updated after calibration of any of those vision systems. The parameters of the Automatic calibration are also applied across all these vision systems when a change is made in one of them.	Off
Prioritize objects from previous run	When disabled, the objects are sorted for computation and reported to the robot strictly according to the current picking priority method. When enabled, objects from the previous run that have computed trajectories are prioritized over objects without trajectories, even if the current picking priority method would otherwise consider an object without a trajectory a better candidate. Enabling this setting optimizes the computation pipeline by allowing the collision checking algorithm to quickly verify previously computed trajectories of objects from the previous run, making them directly available for picking if they pass. However, this means that when an object is requested while the computation of other objects is still in progress, an object might be reported to the robot that is not the best choice based on the current picking priority method. Only in: AI Picking.	Off

Automatic saving of scans

Solution types: All solution types

Setting	Description	Default
Maximal scan folder size	Defines the maximum storage capacity (in GB) for the AutoSave folder. Once the limit is reached, older scans will be deleted.	3
Save scans on internal issues	When enabled, the last triggered set of scans will be automatically saved if fatal internal error occurs.	On
Save scans on Picked failed request called	When enabled, the last triggered set of scans will be automatically saved on each Pick failed request. Only in: Bin Picking Studio solutions (CAD Picking, AI Picking).	Off
Save scans on Path planning failed	When enabled, the last triggered set of scans will be automatically saved if Path planning failed occurs. Only in: Bin Picking Studio solutions (CAD Picking, AI Picking).	Off
Save scans on No object found	When enabled, the last triggered set of scans will be automatically saved if No object found occurs. Only in: Bin Picking Studio solutions (CAD Picking, AI Picking).	Off
Save scans on Insufficient number of parts found	When enabled, the last triggered set of scans will be automatically saved if Localization finds fewer parts than the value specified in this setting.	0
Save scans on No object found, Detection running	When enabled, the last triggered set of scans will be automatically saved if No object found, Detection running occurs. Only in: Locator Studio solutions (CAD Localization, AI Localization, Layer Localization).	Off
Save scans on No object found, Detection stopped	When enabled, the last triggered set of scans will be automatically saved if No object found, Detection stopped occurs Only in: Locator Studio solutions (CAD Localization, AI Localization, Layer Localization).	Off
Save scans on All objects rejected, Detection running	When enabled, the last triggered set of scans will be automatically saved if All objects rejected, Detection running occurs Only in: Locator Studio solutions (CAD Localization, AI Localization, Layer Localization).	Off
Save scans on All objects rejected, Detection stopped	When enabled, the last triggered set of scans will be automatically saved if All objects rejected, Detection stopped occurs Only in: Locator Studio solutions (CAD Localization, AI Localization, Layer Localization).	Off

Elastic gripping point

Solution types: AI Picking

A suction cup can usually hold an object even when it is not exactly perpendicular to the surface. With Use Elastic gripping point enabled, each found gripping point is also tried in tilted positions:

• Alpha [°] is the maximum tilt from the Z-axis of the found gripping point.

• Rotation step is the number of directions around the Z-axis in which the gripping point is tilted, spread evenly over 360°.

• Ring count is the number of tilt angles between 0 and Alpha. Each ring is shown as a yellow cone in the preview.

The preview below the settings shows the gripper in every position. Use the Preview all positions slider to step through them.

The gripper from the Elastic gripping point preview, moving through all positions with Alpha 20°, Rotation step 6 and Ring count 2: the straight position, then 6 positions tilted by 10° and 6 tilted by 20°, 13 in total. The values are larger than the defaults to make the tilt easy to see.

Setting	Description	Default
Use Elastic gripping point	Enable/disable elastic gripping point.	Off
Alpha [°]	Maximum angular deviation from the Z-axis of a found gripping point.	5.0
Rotation step	The number of directions around the Z-axis in which the gripping point is tilted (see above).	3
Ring count	The number of tilt angles between 0 and Alpha (see above).	1

Processing

Solution types: CAD Localization

Setting	Description	Default
Enable parallel run of multiple localizations	Only relevant when using multiple Vision systems. When disabled, only a single localization can run simultaneously - a new scan request will interrupt the currently running localization. When enabled, localization for multiple Vision systems can run parallelly - a new scan request only interrupts the currently running localization for the same Vision system.	Off