Sort Poses by Predefined Options

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This section introduces how to sort poses with the provided pose sorting options.

You can select one of the seven pose sorting types in the drop-down list.

Do not sort

Function

Do not sort poses.

Sort by S shape on plane

Function

Sort the poses in rows and columns based on the given reference pose (with priority given to sorting poses according to “Row Direction”). This type is usually used for unloading neatly arranged workpieces or depalletizing.

pose adjustment collection v2 process s

Usage Instructions

Reference pose

There are two methods to set the reference pose, namely, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Drag with pose manipulator

Adjust the position and orientation of the manipulator to set the reference pose.

  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 start point by dragger

2

Input from external Step

Input a reference pose from other Steps.

  1. Connect the port that outputs poses to the new input port of the “Adjust Poses V2” Step.

  2. Click Get data to receive the input reference pose.

set start point by other step

Row direction

This parameter is used to specify the row direction when the poses are sorted by S shape on plane.

Column direction

This parameter is used to specify the column direction when the poses are sorted by S shape on plane.

Row interval

This parameter is used to specify the interval between the rows when the poses are sorted by S shape on the plane.

Sort by Z shape on plane

Function

Sort the poses in rows and columns based on the given reference pose (with priority given to sorting poses according to “Row Direction”). This type is usually used for unloading neatly arranged workpieces or depalletizing.

pose adjustment collection v2 process z

Usage Instructions

Reference pose

There are two methods to set the reference pose, namely, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Drag with pose manipulator

Adjust the position and orientation of the manipulator to set the reference pose.

  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 start point by dragger

2

Input from external Step

Input a reference pose from other Steps.

  1. Connect the port that outputs poses to the new input port of the “Adjust Poses V2” Step.

  2. Click Get data to receive the input reference pose.

set start point by other step

Row direction

This parameter is used to specify the row direction when the poses are sorted by Z shape on plane.

Column direction

This parameter is used to specify the column direction when the poses are sorted by Z shape on plane.

Row interval

This parameter is used to specify the interval between the rows when the poses are sorted by Z shape on the plane.

Sort by X/Y/Z value of pose

Function

Sort all poses by the specified coordinate value of the pose. You can switch between ascending and descending order.

pose adjustment collection v2 process xyz

Usage Instructions

Specified value of the pose

Select the coordinate value of the pose when the poses are sorted by X/Y/Z value.

Order

Select Ascending or Descending order when the poses are sorted by X/Y/Z value.

Sort by distance from pose to reference pose

Function

This sorting type calculates distances from all poses to be sorted to the reference pose and sort the poses according to the distance.

pose adjustment collection v2 process distance pose to point

Usage Instructions

Reference pose

There are two methods to set the reference pose, namely, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Drag with pose manipulator

Adjust the position and orientation of the manipulator to set the reference pose.

  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 start point by dragger

2

Input from external Step

Input a reference pose from other Steps.

  1. Connect the port that outputs poses to the new input port of the “Adjust Poses V2” Step.

  2. Click Get data to receive the input reference pose.

set start point by other step

Order

Select Ascending or Descending order when the poses are sorted by the distance to the reference pose.

Sort by distance from pose to reference pose on XOY plane

Function

Project poses to be sorted and the specified reference pose onto the XOY plane, calculate the distances from poses to the reference pose on the plane, and then sort the poses according to the distance.

pose adjustment collection v2 process xoy plane

Usage Instructions

Reference pose

There are two methods to set the reference pose, namely, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Drag with pose manipulator

Adjust the position and orientation of the manipulator to set the reference pose.

  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 start point by dragger

2

Input from external Step

Input a reference pose from other Steps.

  1. Connect the port that outputs poses to the new input port of the “Adjust Poses V2” Step.

  2. Click Get data to receive the input reference pose.

set start point by other step

Order

Select Ascending or Descending order when the poses are sorted by the distance to the reference pose on XOY plane.

Sort by pose confidence

Function

This sorting type sorts poses according to the corresponding confidence. You can switch between ascending and descending order.

pose adjustment collection v2 process confidence

Usage Instructions

Once this sorting type is selected, a new “NumberList” input port will be added to the “Adjust Poses V2” Step for inputting the pose confidence. You should connect other Steps that output values to the new input port of the “Adjust Poses V2” Step. Then click Get data to receive the pose confidence.

Order

Select Ascending or Descending order when the poses are sorted by the pose confidence.

Sort by two dimensions

Function

This sorting method sorts poses according to the information of the two dimensions. Poses are first sorted according to the primary dimension, then grouped into layers based on the interval you set. Within each layer, poses are further sorted by the secondary dimension. You can switch between ascending and descending order. The dimension values can be any numeric attributes, such as object height or angle.

pose adjustment collection v2 process two dimension

Once this sorting method is selected, two new input ports will be added to the Adjust Poses V2 Step:

  • Primary Sorting Values: Values input by this port will be used for the primary sorting dimension.

  • Secondary Sorting Values: Values input by this port will be used for the secondary sorting dimension.

Connect the output port of another Step that outputs numeric values to the newly added input port of the “Adjust Poses V2” Step, then click Get data to receive the input data to be sorted.

Usage Instructions

Primary dimension

This parameter is used to set the sorting order of the primary dimension. You can choose between ascending and descending order.

Layer interval

This parameter is used to set the interval used for grouping into layers. You can enter the value manually or use the up and down buttons to adjust the value.

Secondary dimension

This parameter is used to set the sorting order of the secondary dimension within each layer. You can choose between ascending and descending order.

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