Adjust Grasp Pose

Functional Description

This operator is used to translate and/or rotate an input list of poses. It offers two adjustment methods:

Translate Rotate Transform: Applies a fixed translation (X, Y, Z offset) and rotation (specified angles around X, Y, Z axes) to each pose in the list. This transformation can be based on the world coordinate system or the pose’s own local coordinate system. Each input pose produces one adjusted output pose. [cite: 1]
Pose Mirror: For each pose in the list, it first applies a base translation offset, then generates multiple new poses with symmetrical rotation relationships based on user-defined symmetry parameters (generating multiple discrete angles within a specified range around X, Y, Z axes). This method generates multiple output poses for each input pose, similar to the symmetry function of the "Generate Pick Points (Parameter Generation)" operator. [cite: 1]

Use Cases

Pick Point Fine-tuning: After calculating initial pick poses, make minor position adjustments (e.g., raising the Z value) or orientation adjustments (e.g., rotating the Z-axis angle) as needed. [cite: 1]
Coordinate System Calibration: Manually compensate for pose translation or rotation in the coordinate system. [cite: 1]
Generate Symmetrical Pick Points: For objects or picking strategies with symmetry, quickly generate multiple equivalent or symmetrical pick poses using the "Pose Mirror" method. [cite: 1]
Test Different Poses: Generate a series of poses with different rotation angles from a base pose for testing or planning. [cite: 1]

Inputs and Outputs

Input Items

Grab Positional Information: The input list of poses. [cite: 1]

Draw Scene: Scene point cloud, mainly used for overlaying and displaying adjusted poses in the visualization interface, not directly involved in calculations. [cite: 1]

Output Items

Grab Positional Information: The list of poses after adjustment or mirror generation. If "Translate Rotate Transform" is used, the output list length is the same as the input; if "Pose Mirror" is used, the output list length will typically be a multiple of the input. [cite: 1]

Parameter Descriptions

Method Selection: "Translate Rotate Transform" produces only one output pose for each input pose; "Pose Mirror" generates multiple output poses for each input pose based on symmetry settings. [cite: 1]
Output UUID: For new poses generated through transformation or mirroring, the operator will assign them new UUIDs. [cite: 1]

Coordinate system [cite: 1]

Parameter Description

Selects the coordinate system upon which subsequent translation and rotation operations are based. [cite: 1]

Tuning Description

Based on its own coordinate system (default): Translation and rotation are relative to the input pose’s own coordinate system. For example, Z-axis translation moves along the pose’s own Z-axis direction. [cite: 1]
Based on world coordinate system: Translation and rotation are relative to the world coordinate system. For example, Z-axis translation moves along the world coordinate system’s Z-axis direction. [cite: 1]
Note: If translation and rotation need to be based on different coordinate systems, two instances of this node can be connected in series. [cite: 1]

Adjustment Method

Parameter Description

Selects the core method for adjusting poses. Different methods correspond to different subsequent parameters. [cite: 1]

Tuning Description

Translate Rotate Transform (default): Applies a single fixed translation and rotation. [cite: 1]
Pose Mirror: Generates multiple poses based on translation and axial symmetry rules. [cite: 1]

Overlay X-axis translation [cite: 1] / Overlay Y-axis translation [cite: 1] / Overlay Z-axis translation [cite: 1]

Parameter Description

The translation amount applied in the X, Y, and Z axis directions, respectively, under the selected coordinate system. For the "Translate Rotate Transform" method, this is the main translation operation; for the "Pose Mirror" method, this is the base offset applied before symmetrical rotation. [cite: 1]

Tuning Description

Set the desired distance for pose movement. Positive values indicate movement along the positive axis direction, and negative values indicate movement along the negative direction. [cite: 1]

Parameter Range

[-10000, 10000], Default: 0, Unit: mm [cite: 1]

Rotate around X axis [cite: 1] / Rotate around Y axis [cite: 1] / Rotate around Z axis [cite: 1]

Parameter Description

Effective only when the adjustment method is set to "Translate Rotate Transform". The rotation angles applied around the X, Y, and Z axes, respectively, under the selected coordinate system. [cite: 1]

Tuning Description

Set the desired additional rotation angle for the pose. The rotation order is typically X, then Y, then Z. [cite: 1]

Parameter Range

[0, 360], Default: 0, Unit: degrees [cite: 1]

Symmetrical along X axis (number of angular discretes) [cite: 1] / Symmetrical along Y axis (number of angular discretes) [cite: 1] / Symmetrical along Z axis (number of angular discretes) [cite: 1]

Parameter Description

Effective only when the adjustment method is set to "Pose Mirror". Sets whether and how to generate symmetrical pick points around the pose’s own X, Y, and Z axes. The value indicates the number of discrete angles to be generated in the symmetrical rotation around that axis. [cite: 1]

Tuning Description

0 (default): No symmetrical generation along this axis. [cite: 1]
Greater than 0: Enables symmetrical generation along this axis. For example, setting Y-axis symmetry to 4 means that in addition to the pose after applying the offset, 3 additional symmetrical poses will be generated around its own Z-axis, resulting in a total of 4 poses whose Z-axis rotation angles are evenly distributed within the minimum and maximum angle range. [cite: 1]

Parameter Range

[0, 360], Default: 0, Unit: degrees [cite: 1]

Min angle [cite: 1]

Parameter Description

Effective only when the adjustment method is set to "Pose Mirror". When axial symmetry generation is enabled, this is the starting rotation angle of the generated symmetrical poses. [cite: 1]

Tuning Description

Defines the lower limit of the angle range for symmetrical generation. [cite: 1]

Parameter Range

[0, 360.1], Default: 0, Unit: degrees [cite: 1]

Max angle [cite: 1]

Parameter Description

Effective only when the adjustment method is set to "Pose Mirror". When axial symmetry generation is enabled, this is the ending rotation angle of the generated symmetrical poses. [cite: 1]

Tuning Description

Defines the upper limit of the angle range for symmetrical generation. [cite: 1]

Parameter Range

[0, 360.1], Default: 360, Unit: degrees [cite: 1]

Enable node [cite: 1]

Parameter Description

Controls whether this operator performs calculations. [cite: 1]

Tuning Description

Enabled (default): The operator functions normally. [cite: 1]
Disabled: The operator performs no operations and directly outputs the input data. [cite: 1]