警告

You are reading an old version of this documentation. If you want up-to-date information, please have a look at 5.0 .

6.3 Results

../../../../_images/picking_conditions_results.png — 図 97 Picking Conditions - Results

The results of this step present all the final pickable parts. Coordinates of parts in green will be sent to the robot if a get_part command is called.

../../../../_images/picking_conditions_results_zoom.png — 図 98 Picking Conditions - Results zoom on one part

All parts in red are rejected parts for picking. The table shows the rejection status of each part, i.e. in which step the parts have been rejected:

Candidate selection: if the part is in the wrong orientation.
Pick point teaching: if the pick point cannot be positioned on the part with a score higher than the defined threshold.
Pick angle teaching: if the pick angle cannot be positioned on the part with a score higher than the defined threshold.
Picking conditions: if the picking area of the part is in contact with an object or the picking limits.

注釈

If a part is not surrounded by a green or red rectangle it means it has already been filtered by the candidate detection step. In this case you may modify the parameters of this step.