You are reading the documentation for an older Pickit release (2.4). Documentation for the latest release (3.3) can be found here.
The Pickit Flex engine easily finds geometric shapes in 3D (cylinders and spheres) and 2D (squares, rectangles, circles and ellipses), and can handle a variety of sizes with a single configuration.
In the image below, an example Flex detection is shown. Here Pickit finds all cylindrical shapes in the bin.
For applications with cylindrical objects of known dimensions, Teach with Cylinder model is the recommended engine.