Bins¶

A bin is the container that holds the objects you want to pick. Its main job is to delimit and filter the pick region: on every camera trigger, Pick[+] only searches for and plans picks on the objects that fall inside the selected bin. This keeps detections focused on the relevant volume and avoids picking outside the working area.

A bin can also be configured as a physical box so that its walls are considered by the collision handling system, preventing the tool from colliding with the container during the pick trajectory.

Bins live in the reusable library on the Environments screen. Once created, a bin can be added to any scene.

Picking bins library on the Environments screen

Creating a bin¶

From the Environments screen, click New bin in the Picking bins panel. The bin configuration screen opens with a live 3D preview in the center and the geometry controls on the right.

Bin configuration screen

Configuration¶

Name: a descriptive label used to reference this bin in the robot programs.
Bin ID: the numeric identifier used to reference this bin in the PLC programs.

See Selecting a bin from the robot program for details.

Geometry¶

Under Bin geometry, define the box dimensions:

Interior width, Interior length and Interior height: the inner usable volume of the container.
Wall thickness: the thickness of the bin walls, added around the interior volume.

The preview updates as you edit the values, so you can confirm the shape before saving.

Bin geometry: interior width, interior length, interior height and wall thickness

Solid: physical box or pick region only¶

The Solid toggle decides whether the bin is only a pick region or also a physical obstacle.

Solid enabled: the bin walls are treated as a physical box and included in collision checking. Use this when the real container can be hit by the tool.
Solid disabled: the bin is used only as a pick region to filter detections. No walls are considered for collisions.

Bin with Solid enabled, shown with physical walls

Bin with Solid disabled, shown as a pick region only

Which one to use

Enable Solid when the container is tall or rigid enough to be a collision risk. Leave it disabled when you only need to restrict the search area, for example a flat pick zone marked on a table.

Solid mode use cases

Selecting a bin from the robot program¶

The pick region is chosen per trigger from the robot program, not fixed to a single bin. On each trigger, reference the bin or list of bins so Pick[+] filters detections to that bin:

Universal Robots: use the environments parameter of pick_plus_config_trigger with the Bin Name.
ABB: use the environments parameter of PP_ConfigTrigger with the Bin Name.
PLC: write the bin's Bin ID to the TRIGGER_BOX_ID register (and OUTPUT_BOX_ID when requesting the pick output).

This lets the application pick from different bins during the same routine by triggering against a different bin each time.