Grasping Configuration Guide

First, create a new project and space in the project management interface, and open the project configuration interface. After completing the Scene Configuration, click Grasping Configuration. In this configuration interface, you can complete the following configurations.

General process of grasping configuration:

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Camera parameters and algorithm parameters are required items in grasping configuration, while motion planning is generally only needed in unordered grasping scenarios.

Create New Grasping Configuration

Click New, enter the grasping configuration name in the popup window, and click Confirm to create a new grasping configuration.

Additionally, after clicking …​ on the right side of the grasping configuration name, you can edit the ID, rename, or delete the grasping configuration.

Set Camera Parameters

The camera parameters set here are for the workpiece camera.

  1. Click the enter icon icon on the right side of the corresponding camera parameter project to enter Epic Eye;

  2. Complete the Parameter Settings in Epic Eye. For more information, please refer to Parameter Details. After completing parameter adjustment, click Save and Exit;

  3. Select the parameter project in the parameter project dropdown.

Set Algorithm Parameters

Introduction

Algorithm parameters refer to the visual algorithms configured in ATOM, which are mainly used to calculate the grasping points of target objects.

Configuration Guide

  1. Click ATOM on the right side of the algorithm diagram;

  2. First-time opening of ATOM requires login verification. After completing login, configure the algorithm diagram in ATOM. For detailed information, please refer to ATOM Software Manual;

  3. After configuration is complete, click Save and Return to return to grasping configuration;

  4. Select the corresponding algorithm diagram in the dropdown on the right side of the algorithm diagram;

    For operator parameters checked in ATOM, they will be mapped in the algorithm parameters of Epic Pro.

    For example: If you check the mapping matching model during ATOM configuration, you can select it in the model-related entries in the Epic Pro algorithm parameters section:

    1. Click Select.

    2. Create a new matching template, import a matching template, take a photo to create a template, or select an existing template in the popup.

    3. Click Confirm in the popup or double-click to select an existing template.

    Photo template creation is only supported in single-camera scenarios.

  5. After configuration is complete, you can click Take Photo to complete detection operations according to your project scenario:

    • Single Camera Scenario

      After taking a photo, click the Detect button, and the system will begin processing the image. After detection is complete, you can view the detection results in the point cloud view. Additionally, you can perform multiple detections using the same set of camera data to optimize and verify algorithm performance.

    • Multi-Camera Scenario

      Click the corresponding camera below the view to take photos in sequence. After taking photos, click the Detect button, and the system will begin processing the image. You can view the detection results in the point cloud view. Additionally, you can perform multiple detections using the same set of camera data to optimize and verify algorithm performance.

When configuring the algorithm diagram by launching the ATOM program separately, you need to click the refresh icon icon on the right side of the algorithm diagram in the Epic Pro frontend to recreate the association.

Motion Planning (Optional)

Introduction

Motion planning refers to planning the approach path and retraction path for the robot to ensure it can successfully grasp the target object and complete the task. Choosing an appropriate motion planning mode depends on the actual project requirements and constraints.

The following are specific descriptions and application scenarios for three optional modes:

Mode

Description

Algorithm Detection Only (-)

The software only calculates and outputs grasping points without considering robot motion paths and collision situations.

This mode is suitable for scenarios where the task is not complex and only requires determining grasping points, such as in a fixed and obstacle-free environment.

Collision Detection

The software not only calculates grasping points but also detects whether collisions occur between configured collision detection pairs at the grasping point position. If no collision is detected, valid grasping points will be output.

This mode is suitable for scenarios where ensuring the robot does not collide during the grasping process is necessary, guaranteeing operation safety and stability.

Path Planning

Grasping Path: Add a grasping path starting point, plan the motion path from this point to the pre-grasp point, then to the grasping point, and detect collision situations.

Retraction Path (Optional): Add a retraction path endpoint, plan the motion path from the grasping point to the pre-retraction point, then to the retraction path endpoint, and detect collision situations.

Suitable for complex path planning tasks, ensuring the robot can safely and accurately reach the grasping point.

Select Motion Planning Mode

Based on project requirements, you can select the following motion planning modes:

  • If no motion planning is needed, no settings are required.

  • If you need motion planning, the system will automatically display the corresponding available planning modes based on your robot type: