Acquire Target Object Information
Function
This Step acquires data for picking target objects and positioning bins from the target object editor based on the target object’s name and center point provided by the previous Step. The acquired data will be provided to subsequent Steps for further processing.
Usage Scenario
This Step is suitable for target object picking scenarios. It can acquire detailed data for picking target objects and positioning bins from the Target Object Editor in a vision project, improving the efficiency and flexibility of acquiring target object information. 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. When the target object is saved using the “No point cloud model required” workflow in the target object editor, the pick point should be input directly, and the Step will output the same pick point as the one input. |
Target Object Names |
String[] |
Names of the target objects. |
Output
| Output port | Data type | Description |
|---|---|---|
Pick Points |
Pose[] |
The pick points generated based on the object center point. |
Pick Point Info |
JsonValue |
Pick point related information, including target object names, pick point names, and pick point labels. |
Pick Point Labels |
String[] |
Labels for pick points set in the target object editor, typically used for Standard Interface communication with the host computer. |
Pick Point Offset |
Pose[] |
The offset of the pick point on the target object relative to the object center point. |
Original Teach Points |
Pose[] |
Available only when the target object’s point cloud model is generated using the teaching method. This port outputs the original pose of the taught pick point in the robot reference frame. |
Original Object Center Points |
Pose[] |
The center point of the target object in its own reference frame, as defined in the target object editor. |
Bin Dimensions |
Size3D[] |
The dimensions of the bin. |
Bin Thickness |
Number[] |
The thickness of the bin. |
Parameter Description
| Parameter | Description |
|---|---|
Method to Convert Data |
Parameter description: Select a data conversion method to transform the recognition result into the required pick or bin information. Value list: Generate pick point based on object center point, Generate bin information based on object name |
Target Object without Point Cloud Model |
Parameter description: Select a target object that does not require a point cloud model, and this Step can output pick point information for the target object. If the “Target Object Names” input port of the Step is not connected, or is connected but no target object name obtained, the Step will obtain it according to the “Target Object without Point Cloud Model” parameter. |
Other Ports |
Parameter description: Select extra port data to be output by this Step. Value list: Pick Point Labels, Pick Point Offsets, Original Teach Points, Original Object Center Points Default value: Unselected. Instruction: Set this parameter based on actual requirements. |