| Sample |
An object and its variations that the K-Pick model can be trained on |
Feeds the K‑Pick training pipeline so the model “knows” each item |
| View / Texture |
One camera snapshot of a sample, either depth+color (view) or high‑res RGB (texture) |
Builds accurate 2.5D and texture models |
| Point Cloud |
A collection of 3D points captured by the camera |
The raw depth data used to generate 3D object models and identify them during execution |
| Instance Segmentation Model |
Neural network that detects and outlines each object instance in the scene |
Core of both U‑Pick (pre‑trained) and K‑Pick (user‑trained) flows |
| Pick Box |
User‑defined 3D container in the robot's workspace |
Restricts detection area and enables collision checks |
| Environment |
Active set of one or more pick boxes |
Defines safe work‑cell limits for planning |
| Tool Collision Box |
3D envelope around the gripper/end‑effector |
Prevents crashes during approach and retraction |
| Tool Center Point (TCP) |
The reference point on the end‑effector from which all robot motions are computed |
Ensures consistent, accurate pick & place movements |
| Calibration |
Computation of the transform that maps camera coordinates into robot coordinates (eye‑in‑hand or hand‑eye) |
Guarantees that visual data aligns with robot motions |
| Alignment |
Method to match sample models to scene data: none, texture‑based, or geometry‑based |
Determines how pick points orient to the actual objects |
| Picking Point |
Exact 3D coordinate on a model where the robot grips |
Directs the robot to the precise grasp location |
| Pose |
A 6‑DOF description (position + orientation) of the robot's end‑effector |
Specifies the coordinates and orientations of a point in space |
| Revolution Points |
Evenly spaced pick points around a symmetric object |
Automates point placement for objects like cylinders or rings |
| Category |
Logical group of samples sharing the same place action |
Simplifies segmentation classes and downstream application logic |
| Negative Category |
Category of samples meant to be ignored by the segmentation model |
Improves model robustness by teaching it what not to pick |
| Application (U‑Pick / K‑Pick) |
A complete workflow: environment, calibration, categories, models, pick points & trained model |
Encapsulates everything needed to train and run a pick‑place task |
| URCap |
Robot‑controller plugin package (e.g., for Universal Robots) |
Bridges Pick[+] server with the robot's real‑time control system |
| Digital Output (DO) |
Robot I/O line used to control peripherals (e.g., lighting) |
Lets the robot trigger lights or other hardware |
| Logs |
Runtime records from the client and server |
Crucial for debugging errors or unexpected behavior |