Skip to content

Segmentation works, but no pick point is generated


If objects are correctly segmented but no pick point is selected, check the following:

Robot Constraints

  • Pick point out of robot reach: The calculated pick point may be outside the robot's workspace.
  • Pick angle threshold is too strict: Increase the angle threshold parameter (MAX_PICK_ANGLE) to permit steeper approaches.

Hardware Configuration

  • Vacuum cup is too large: Consider reducing suction cup size if it's not fitting within detected object areas in System Settings.
  • Configure exposure: Adjust the camera exposure settings to obtain a stable depth image. See Camera Profiles for detailed guidance on optimizing exposure and troubleshooting common depth image issues.

Camera Position

  • Camera distance too short: Increase the distance between the camera and the scene to at least 30 cm.

Environment Setup

  • Pick box definition is too tight or inaccurate: Make sure the Pick Box of the Environment fully contains the object and leaves margin for placement error. And check that the correct TRIGGER_BOX_ID and OUTPUT_BOX_ID are used in the PLC program.
  • Direct sunlight: Avoid direct sunlight or bright reflections onto the work area. Sunlight floods depth sensors and creates glare, which degrades depth/point-cloud quality.