Filter Poses by Predefined Options

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This section introduces how to filter poses with the provided pose filtering options.

provides three pose filtering methods, Filter by angle, Filter out poses out of ROI, and Get highest layer poses. You can click the button on the right+ to add them.

Up to three pose filtering options can be added. At most one “Filter out poses out of ROI” option or one “Get highest layer poses” option can be added.

Filter by angle

Function

This option calculates the angle between the specified axis of the pose and the reference pose, and the poses with an angle less than the set Max angle difference will be retained.

Usage Instructions

Axis to be specified

This parameter specifies an axis of the pose, and the angle between this specified axis and the target direction will be calculated.

Set target direction

This parameter is used to set the target direction.

No.

Method

Description

Instruction

Illustration

1

Robot frame

Use the robot frame as the reference pose.

2

Drag with pose manipulator

Set the reference pose with the pose manipulator.

  1. Click Set.

  2. Press and hold the Ctrl key, click the left mouse button and drag the manipulator to adjust its position and orientation.

  3. Click Save after you finish adjusting the pose manipulator.

set reference pose by dragger

Orientation

This parameter is used to select the direction of an axis in the reference pose, e.g., Positive X-direction.

Max angle difference

This parameter is used to specify the maximum angle between the specified axis of the pose and the reference direction, and the poses with an angle less than the Max angle difference will be retained.

Filter out poses out of ROI

Function

This option determines if the pose is within the 3D ROI, and retain the poses within the 3D ROI.

Usage Instructions

  1. Click Set.

  2. Set 3D ROI.

  3. After you finish setting the 3D ROI, click Save and apply.

Get highest layer poses

Function

This option keeps only the highest-layer poses along the specified reference direction.

Usage Instructions

Reference direction

This parameter is used to set the reference direction for obtaining highest-layer poses. You can select it from the drop-down list, for example, Positive Z-axis direction.

Only get highest one

This parameter is used to set whether to output only one highest-layer pose.

Layer height

This parameter is used to set the layer height. You can enter a value manually or adjust it by the up/down controls.

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