Multidimensional Pose Sorting (Height and Angle)

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Function Description

This step combination sorts workpiece poses in multiple dimensions by workpiece height and angle to optimize picking order and improve picking stability and success rate.

Usage Scenario

This step combination is typically applicable to random-picking scenarios.

Input and Output

Input

Input Port Data Type Description

Unnamed

Pose[]

List of workpiece poses to be sorted.

Output

Output Port Data Type Description

Unnamed

Pose[]

Workpiece pose list sorted by height and angle.

Parameter Description

Parameter Description

Layer Interval

Description: Defines the interval between layers for height-based sorting, in millimeters (mm). Workpieces are assigned to different layers based on their heights, and this interval determines the height range of each layer.

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