Acquire Trajectory Information
Function Description
During project execution, this step automatically retrieves trajectory information related to trajectory-type workpieces from the object library based on object center points and object names output by preceding steps, for subsequent steps to use.
Usage Scenario
This step is suitable for trajectory-type scenarios, such as gluing, welding, and grinding. It retrieves detailed information of trajectory-type workpieces in the object library within vision projects, improving efficiency and flexibility of workpiece-data acquisition. It is typically used with steps such as 3D Matching and Adjust Poses V2.
Input and Output
Input
| Port | Data Type | Description |
|---|---|---|
Object Center Point |
Pose[] |
List of object center points. |
Object Name |
String[] |
Object names. |
Output
| Port | Data Type | Description |
|---|---|---|
Trajectory Points |
Pose[] |
Workpiece trajectory points generated based on object center points. |
Trajectory Point Information |
JsonValue |
Information related to trajectory points, including trajectory point tags, trajectory names, and names of corresponding workpieces. |
Trajectory Name |
String[] |
Names of workpiece trajectories in the object library. |
Trajectory Point Tag |
String[] |
Tags of workpiece trajectory points in the object library, typically used for tag communication with host systems in standard-interface communication. |
Parameter Description
| Parameter | Description |
|---|---|
Additional Ports |
Description: Select additional output-port data required by this step. Value list: Trajectory Name, Trajectory Point Tag Default value: Not selected. Adjustment instruction: Set this parameter according to actual requirements. |