Content Comparison

Gripper rotation

The value can be either None, Two way or Four way. Representing the different ways a robot can pick the box.

None: forward (the gripper direction at the calibrated pick position)

2-Way: forward and backward

4-Way: forward, backward, left, right

Max grip

Currently not in use.

Min grip quality

The minimum grip quality for calculating number of boxes to pick relative to gripper size.

When the estimated grip quality drops below the minimum threshold, the program can decide to pick fewer boxes, use another gripper rotation at pickup, or even reduce the maximum allowed acceleration to guarantee box transport stability between the pick and drop position.

Floating value from 0 and up.

Foam height

Gripper foam (suction cup) squeezing length in meters. Default value 0.02.

Length coverage

Minimum required fraction of the total  length of each box covered by the gripper in multi-pick

Grip rotation cost

Additional cost of each specific gripper rotation 

(0, 180, -90, +90)

Default: [0, 30, 10, 10]

Align to edges

Gripper-to-box edge alignment.

Default: True

Setting the value to False can be relevant for some custom grippers e.g. pinch grippers. Setting the value to False may cause accidental multipick of small boxes with large vacuum gripper.