Adjust Poses with Pose Adjustment Options (Custom Mode)

This section introduces how to adjust poses with pose adjustment options in the Custom mode.

Only one pose adjustment option can be added at one time. However, you can add duplicated pose adjustment options.

Flip pose and minimize the angle between the flip axis and target direction

Function

This option attempts to rotate the pose by 180° around the fixed axis, and calculate the angles between the flip axis and the target direction. The result of the attempt with the minimum angle will be selected. This option is usually used for processing match results.

Usage Instructions

Axis to be fixed

When flipping the pose, this parameter is used to set the axis that needs to be fixed. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Axis to be flipped

When flipping the pose, this parameter is used to set the axis that needs to be flipped. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Set target direction

There are three methods to set the target direction, namely, Use robot reference frame, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Use robot reference frame

Specify the direction of an axis in the robot reference frame as the target direction.

  1. Select Use robot reference frame.

  2. Select the direction of an axis in the robot reference frame, e.g., Positive X-direction.

2

Drag with pose manipulator

Adjust the position and orientation of the manipulator to specify the target direction.

  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.

  4. Select the direction of an axis of the pose manipulator, e.g., Positive X-direction.

set target direction by dragger

3

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.

  3. Select the direction of an axis in the reference pose, e.g., Positive X-direction.

set target direction by other step

Rotate pose and minimize the angle between the rotation axis and target direction

Function

According to the set rotational symmetry, this option attempts to rotate the pose around the fixed axis, and calculate the angles between the rotation axis and the target direction. The result of the attempt with the minimum angle will be selected.

Usage Instructions

Axis to be fixed

When rotating the pose, this parameter is used to set the axis that needs to be fixed. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Axis to be rotated

When rotating the pose, this parameter is used to set the axis that needs to be rotated. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Symmetry angle

This parameter is used to specify the symmetry angle when rotating the poses. The software will attempt to rotate the poses in the Symmetry angle increments.

Set target direction

There are three methods to set the target direction, namely, Use robot reference frame, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Use robot reference frame

Specify the direction of an axis in the robot reference frame as the target direction.

  1. Select Use robot reference frame.

  2. Select the direction of an axis in the robot reference frame, e.g., Positive X-direction.

2

Drag with pose manipulator

Adjust the position and orientation of the manipulator to specify the target direction.

  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.

  4. Select the direction of an axis of the pose manipulator, e.g., Positive X-direction.

set target direction by dragger

3

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.

  3. Select the direction of an axis in the reference pose, e.g., Positive X-direction.

set target direction by other step

Rotate pose axis to target direction

Function

When there is no restraint from symmetry, this option rotates the rotation axis of the pose to the target direction. This option is usually used to make the Z-axis of the pose coincide with the Z-axis of the robot reference frame.

Usage Instructions

Axis to be fixed

When rotating the pose, this parameter is used to set the axis that needs to be fixed. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Axis to be rotated

When rotating the pose, this parameter is used to set the axis that needs to be rotated. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Set target direction

There are three methods to set the target direction, namely, Use robot reference frame, Drag with pose manipulator and Input from external Step, as explained in the table below.

No.

Method

Description

Instruction

Illustration

1

Use robot reference frame

Specify the direction of an axis in the robot reference frame as the target direction.

  1. Select Use robot reference frame.

  2. Select the direction of an axis in the robot reference frame, e.g., Positive X-direction.

2

Drag with pose manipulator

Adjust the position and orientation of the manipulator to specify the target direction.

  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.

  4. Select the direction of an axis of the pose manipulator, e.g., Positive X-direction.

set target direction by dragger

3

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.

  3. Select the direction of an axis in the reference pose, e.g., Positive X-direction.

set target direction by other step

Point pose axis to reference pose

Function

Once the fixed axis and pointing axis are specified, the pointing axis of the current pose can point to the reference pose. If the fixed axis is set to “None,” the pointing axis can point anywhere.

Usage Instructions

Set 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 target direction 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 target direction by other step

Pointing axis

This parameter is used to specify the axis that needs to point to the reference pose. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Axis to be fixed

This parameter is used to set the axis that needs to be fixed. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Symmetry angle

This parameter is used to specify the symmetry angle when rotating the poses. The software will attempt to rotate the poses in the Symmetry angle increments.

Align the pose orientation with the target pose orientation

Function

This option replaces the current pose orientation with the target pose orientation.

Usage Instructions

Set target pose

There are two methods to set the target 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 target direction 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 target direction by other step

Rotate pose around specified axis

Function

This option rotates the pose around a specified axis by certain degrees.

Usage Instructions

Specify rotation axis

This parameter is used to specify the rotation axis. You can choose between X-axis, Y-axis, and Z-axis according to the actual requirements.

Rotation angle

This parameter is used to select the method for inputting the angle of the pose rotation, as explained in the following table.

No.

Method

Description

Instruction

1

Enter manually

Manually enter the angle of the pose rotation.

Enter the angle of the pose rotation according to the actual requirements.

2

Input from external Step

Input the rotation angle from other Steps.

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

  2. Click Get data to receive the input rotation angle.

Translate pose along specified direction

Function

This option translates the pose according to the specified direction and distance.

Usage Instructions

Translate pose in/along

No.

Reference frame

Axis

1

Robot reference frame

Positive X-direction, Negative X-direction, Positive Y-direction, Negative Y-direction, Positive Z-direction, Negative Z-direction

2

Object reference frame

X-axis, Y-axis, Z-axis

Translation distance

This parameter is used to select the method for inputting the translation distance of the pose, as explained in the following table.

No.

Method

Description

Instruction

1

Enter manually

Enter the distance of the pose translation manually.

Enter the distance of the pose translation according to the actual requirements.

2

Input from external Step

Input the translation distance from other Steps.

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

  2. Click Get data to receive the input distance.

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