Pose Step Editor

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Function

It is used to improve the usability of pose adjustment, the visualization of poses while editing, and reduce the learning cost of pose adjustment.

There are two modes of the pose editor:

  1. Preset Edit Mode: Can edit poses quickly by common functions such as reference frame transformation, adjustment, and sorting.

  2. Customized Edit Mode: Adjust poses by adding corresponding Steps and the edited poses can be seen.

Introduction to Interface

The interface of the pose editor, as shown below, consists of four parts:

pose editor pose editor interface introduction 1
Interface Description

Menu Bar

Edit IO ports, set dragger type, etc.

Toolbar

Edit and adjust poses.

Scene View (visualization area)

View edited poses for further adjustments.

Editing Area

Adjust poses and switch edit modes (the editing area differs with the different mode selected).

Mode

Preset Edit Mode

There are three types of functions:

Transform Type: Two transform types, which can transform the reference frame of the pose by selecting **camera to robot** or **robot to camera**.

pose editor coordinate translate poseeditor

Adjustment Type: Three adjustment types: 1. Align; 2. outwards; 3. point to.

Sorting Type: Five sorting types: 1. Sort by custom direction; 2. sort by dist to point; 3. sort by dist to point on XY plane; 4. sort by position XYZ; 5. sort by row or column.

Customized Edit Mode

First, click Customized Edit Options on the toolbar and click Step List. Then, select the corresponding Step from the Step List and click Add.

pose editor custommode addpose poseeditor

Usage

The following section introduces how to use the Pose Step Editor.

Step 1: Add the Step Adjust Poses in the project, as shown in the figure below.

pose editor add step poseeditor

Step 2: Run the project to get the input pose and click pose editor icon 11 to enter the editor, as shown below.

pose editor clickinto poseeditor

Step 3: Select and set an edit mode. In Preset Edit Mode, please set Transform Type, Adjustment Type, and Sorting Type. Then click Run to preview the results. The result is shown in the figure below.

pose editor preset editpose poseeditor

Step 4: In Customized Edit Mode, please add output quantity limit: 1. Click the Customized Edit Options. 2. Click Step List. 3. Select the number of displayed outputs. 4. Click Add. 5. Fill in the limit number. 6. Run and preview the results. The result is shown in the figure below.

pose editor custom editpose poseeditor

Step 5: After finishing the pose editing, click the exit button to save the edited pose.

pose editor savepose poseeditor

Step 6: Run the project to review the results.

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