Acquire Trajectory Information
Function
This Step gets the trajectory information of the target object for trajectory from the target object editor when the project is running based on the object center point and the target object name output by the prior Steps for use in subsequent Steps.
Usage Scenario
This Step is suitable for trajectory task scenarios, such as gluing, welding, and grinding. It is used in vision projects to get detailed information of target objects for trajectory from the target object editor, improving the efficiency and flexibility of object data access. This Step is typically used together with 3D Matching and Adjust Pose V2 Steps.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Object Center Point |
Pose[] |
List of the object center points. |
Target Object Names |
String[] |
Names of the target objects. |
Output
| Output port | Data type | Description |
|---|---|---|
Trajectory Points |
Pose[] |
The trajectory points generated based on the object center points. |
Trajectory Point Info |
JsonValue |
Information related to the trajectory points, including trajectory point labels, trajectory names, and the names of their corresponding target object. |
Trajectory Names |
String[] |
Trajectory names of the target object in the target object editor. |
Trajectory Point Labels |
String[] |
Labels for trajectory points set in the target object editor, typically used for Standard Interface communication with the host computer. |
Parameter Description
| Parameter | Description |
|---|---|
Other Ports |
Parameter description: Select extra port data to be output by this Step. Value list: Trajectory Names, Trajectory Point Labels Default value: Unselected. Instruction: Set this parameter based on actual requirements. |