Generate Spiral Path

Object Point Cloud

PointCloud/XYZNormal

The surface of the object in the point cloud input to this port will have a spiral path generated.

Depth Map

Image/Depth

Depth map corresponding to the point cloud.

Flange Pose

Pose[]

Robot tool center point in the flange reference frame.

All Contour Trajectory Points

Pose[]

Outside-to-in targets of generated path (except for the end target).

Innermost Contour Trajectory Poses

Pose[]

End target of generated path.

Contour Mask

Image/Color

Orthographic projection 2D image of the path.

Outermost Contour Dilate Size

Parameter description: This parameter is used to set the dilation size of the outermost contour.
Default value: 11

Outermost Contour Erode Size

Parameter description: This parameter is used to set the erosion size of the outermost contour.
Default value: 15

Clockwise Type

Parameter description: This parameter is used to control the clockwise/counterclockwise direction of the path.
Value list: Clockwise, CounterClockwise.
Default value: CounterClockwise

Is Last Joint Angle Increasing When Clockwise

Parameter description: This parameter is used to control whether the end joint angle increases in clockwise direction.
Default value: Selected

Prior Move Last Joint Angle

Parameter description: This parameter is used to set whether to prioritize adjusting the end joint angle.
Default value: 0.0000°

Robot Type

Parameter description: This parameter is used to set the robot type to use.
Default value: FANUC M10iD_12

Inner Contour Erode Size

Parameter description: This parameter is used to set the erosion size of the inner contour.
Default value: 21

Middle Contour Slide Offset

Parameter description: This parameter is used to set the sliding offset of the middle contour.
Default value: 3

Innermost Contour Slide Offset

Parameter description: This parameter is used to set the sliding offset of the innermost contour.
Default value: 50

Innermost Points Num

Parameter description: This parameter is used to set the number of path points of the innermost contour.
Default value: 3

Innermost Start Point Move Dis

Parameter description: This parameter is used to set the movement distance of the innermost contour start point.
Default value: 0.000 mm

Innermost End Point Move Dis

Parameter description: This parameter is used to set the movement distance of the innermost contour end point.
Default value: 0.000 mm

Contour Retrieval Mode

Parameter description: This parameter is used to set the contour retrieval method.
Value list: CV_RETR_EXTERNAL (retrieve only outer contour), CV_RETR_LIST (retrieve all contours).
Default value: CV_RETR_EXTERNAL

Stop Pix Area Thre

Parameter description: This parameter is used to set the stop pixel area threshold for spiral trajectory generation.
Default value: 100.0000

Nearest Dist Threshold

Parameter description: This parameter is used to set the nearest distance threshold in the search.
Default value: 0.1000

Search Kernel Size

Parameter description: This parameter is used to set the kernel size for depth search.
Default value: 30

Sample Dis

Parameter description: This parameter is used to set the distance interval for trajectory sampling.
Default value: 20 px

Rot Angle Around Track Direction

Parameter description: This parameter is used to set the rotation angle around the trajectory direction.
Default value: 0.0000°

Move Dis Along Z Axis

Parameter description: This parameter is used to set the movement distance along the Z-axis.
Default value: 0.0000 mm

Less Rot Around Z Axis

Parameter description: This parameter is used to control whether to reduce the rotation amplitude around the Z-axis.
Default setting: Unselected

Is Only Generate Outermost Traj

Parameter description: This parameter is used to control whether to generate only the outermost contour trajectory without generating inner contour trajectories.
Default setting: Unselected