Pick Points

The Pick Points Editor allows you to create and edit pick points for the 3D models generated for your objects. A pick point defines a pose (position X/Y/Z in mm + orientation rX/rY/rZ in degrees) that Pick[+] uses as a grasp candidate.

Best practices

• If the application allows it, it's recommended to define multiple pick points per object to ensure at least one feasible grasp is available despite occlusions
• For circular parts (washers, caps, cylinders), use revolution points to create evenly-spaced grasps around a circumference

The interface is divided into three main areas:

Panel	Contents
Left	Model list and pick points list with action buttons
Center	3D viewer displaying the model point cloud and pick points
Right	Properties panel for the selected pick point: name, ID, coordinates, and transform controls

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Viewer Toolbar

The toolbar at the bottom controls visualization settings only, it does not modify the model or its pick points. Select a setting to see what it does.

Point RadiusNormalsColorPerspectiveGridAxis SizeReset View

Point Radius

Adjusts the visual size of the point cloud dots. Useful for fine-tuning visibility on sparse or dense clouds.

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Select a 3D Model

In the left panel under Models, select the 3D model you want to work with.

When you select a model, the 3D viewer loads its point cloud representation and the Pick Points panel displays any existing points.

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Add a Pick Point

Two methods are available for creating pick points:

• 

  Add at Center

  Creates a new pick point at the model's centroid. This is the quickest starting point.

• 

  Add by Click

  Creates a pick point by clicking directly on the model surface in the 3D viewer.

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Modify a Pick Point

Select a point from the Pick Points list to view and edit its properties in the right panel.

Name and ID

• Name: Editable label for the point (useful for identifying grasp strategy, side, tool, etc.)
• ID: Numeric identifier for the point. After a pick, Pick[+] reports which point was selected through this ID: the PP_PICK_ID variable in the robot program and the PICK_ID register in the PLC.

Coordinates

Controls

The transform widget provides precise control over pick point positioning with move and rotate controls.

• Move Controls: The left widget handles translation along each axis: +X, -X, +Y, -Y, +Z, -Z

• Rotate Controls: The right widget handles rotation around each axis: +rX, -rX, +rY, -rY, +rZ, -rZ

Values

Define the pick point pose using six values:

Parameter	Unit	Description
X, Y, Z	mm	Position in 3D space
rX, rY, rZ	°	Rotation angles

You can edit coordinates by:

• Typing values directly in the numeric fields
• Using the Transform widget

Advanced options

Step Size, Frame Reference and Origin / Pivot are advanced transform settings. Open them with the gear icon to the right of Coordinates.

Step Size

Set the increment applied by each move and rotate control:

• Translation step: in mm (e.g., 1.00 mm)
• Rotation step: in degrees (e.g., 5.0°)

Frame Reference

Determines which coordinate system is used for transformations:

Frame	Behavior
Individual Frames	Uses the local axis of the pick point (respects current orientation)
World Frame	Uses the global scene axis

Origin / Pivot

Defines the pivot point for transformations:

Origin	Behavior
Individual Origins	The pivot is the pick point itself
Model Centroid	The pivot is the center of the model (useful for radial rotations around circular parts)

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Revolution Points

For circular parts (washers, caps, cylinders), you create evenly-spaced pick points around a circumference using this workflow:

1. Create and adjust a point on the center of the circumference

2. Duplicate the point until you have N total points

3. For each duplicated point:

   • Set Frame = Individual frames and Origin = Individual frames
   • Apply rotation in using increments of x=360º/N , so each point is rotated x, 2x, 3x, etc.

   

4. Select all the points in the pick points list and move them (using Individual frames)

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