🔷Adjust Pick Object Pose

Function Description

This operator is used to apply translation and/or rotation adjustments to input pose lists, providing two adjustment methods:

  • Translation Rotation Transform : Apply a fixed translation (X, Y, Z offset) and rotation (rotation by 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 local coordinate system of the pose itself. Each input pose generates one adjusted output pose.

  • Posture Mirroring : For each pose in the list, first apply a basic translation offset, then generate multiple new poses with symmetric rotation relationships based on user-set symmetry parameters (generating multiple discrete angles around X, Y, Z axes within specified angle ranges). This method generates multiple output poses for each input pose, similar to the symmetry function of the "Generate Pick Points (Parameter Generation)" operator.

Usage Scenarios

  • Pick Point Fine-tuning : After calculating initial pick poses, make fine position adjustments (e.g., lifting Z value upward) or attitude adjustments (e.g., rotating Z-axis angle) as needed.

  • Coordinate System Calibration : Apply manual coordinate system compensation translation or rotation to poses.

  • Generate Symmetric Pick Points : For objects or gripping strategies with symmetry, quickly generate multiple equivalent or symmetric pick poses through the "Posture Mirroring" method.

  • Test Different Attitudes : Generate a series of poses with different rotation angles from a base pose for testing or planning.

Input/Output

Input

Pick Object Pose Information： Input pose list.

Drawing Scene： Scene point cloud, mainly used for overlaying adjusted poses in the visualization interface, not directly involved in calculations.

AdjustPose input

Output

Pick Object Pose Information： Pose list after adjustment or mirror generation. If using "Translation Rotation Transform", the output list length is the same as the input; if using "Posture Mirroring", the output list length is typically a multiple of the input.

AdjustPose output

Parameter Description

  • Method Selection : "Translation Rotation Transform" produces only one output for each input pose; "Posture Mirroring" generates multiple output poses for each input pose based on symmetry settings.

  • Output UUID : For poses newly generated through transformation or mirroring, the operator assigns them new UUIDs.

Coordinate System

Parameter Description

Select which coordinate system the subsequent translation and rotation operations are based on.

Parameter Adjustment

  • Based on its own coordinate system (Default)： Translation and rotation are performed relative to the input pose’s own coordinate system. For example, Z-axis translation moves along the pose’s own Z-axis direction.

  • Based on world coordinate system： Translation and rotation are performed relative to the world coordinate system. For example, Z-axis translation moves along the world coordinate system’s Z-axis direction.

Note ：If translation and rotation need to be based on different coordinate systems, two of these nodes can be connected in series.

Adjustment Method

Parameter Description

Select the core method for adjusting poses. Different methods correspond to different subsequent parameters.

Parameter Adjustment

  • Translation Rotation Transform (Default)： Apply a fixed translation and rotation.

  • Posture Mirroring： Generate multiple poses based on translation and axis symmetry rules.

Superimpose X/Y/Z Axis Translation

Parameter Description

Translation amounts applied in the X, Y, Z axis directions respectively under the selected coordinate system. For the "Translation Rotation Transform" method, this is the main translation operation; for the "Posture Mirroring" method, this is the basic offset applied before symmetric rotation.

Parameter Adjustment

Set the distance you want the pose to move. Positive values indicate movement in the positive axis direction, negative values indicate movement in the negative direction.

Parameter Range

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

AdjustPose 1

AdjustPose output

AdjustPose 2

Superimpose X Axis Translation=-100mm

Superimpose X Axis Translation=0mm

Superimpose X Axis Translation=100mm

Rotate Around X/Y/Z Axis

Parameter Description

Only effective when the adjustment method is set to "Translation Rotation Transform". Rotation angles applied around the X, Y, Z axes respectively under the selected coordinate system.

Parameter Adjustment

Set the additional rotation angle desired for the pose, rotation order is typically X first, then Y, then Z.

Parameter Range

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

AdjustPose 3

AdjustPose 4

AdjustPose 5

Rotate Around X Axis=0 degrees

Rotate Around X Axis=30 degrees

Rotate Around X Axis=60 degrees

Symmetry Along X/Y/Z Axis (Number of Angle Discretizations)

Parameter Description

Only effective when adjustment method is set to "Posture Mirroring". Set whether and how to generate symmetric pick points around the pose’s own X, Y, Z axes, with the value representing the number of discrete angles to be generated in the symmetric rotation around that axis.

Parameter Adjustment

  • As 0 (Default) : Indicates no symmetric generation along that axis.

  • Greater than 0 : Indicates enabling symmetric generation along that axis. For example, setting Y-axis symmetry to 4 means that in addition to the pose after applying offset, 3 additional symmetric poses will be generated around its own Z-axis, totaling 4 poses with Z-axis rotation angles evenly distributed within the minimum and maximum angle range.

Parameter Range

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

AdjustPose output

AdjustPose 8

AdjustPose 7

Symmetry Along X Axis=0 degrees

Symmetry Along X Axis=10 degrees

Symmetry Along X Axis=30 degrees

Minimum Angle

Parameter Description

Only effective when adjustment method is set to "Posture Mirroring". When axis symmetry generation is enabled, this is the starting rotation angle of the generated symmetric poses.

Parameter Adjustment

Define the lower limit of the angle range for symmetric generation.

Parameter Range

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

AdjustPose output

AdjustPose 10

AdjustPose 11

Minimum Angle=0 degrees

Minimum Angle=30 degrees

Minimum Angle=60 degrees

Maximum Angle

Parameter Description

Only effective when adjustment method is set to "Posture Mirroring". When axis symmetry generation is enabled, this is the ending rotation angle of the generated symmetric poses.

Parameter Adjustment

Define the upper limit of the angle range for symmetric generation.

Parameter Range

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

AdjustPose 14

AdjustPose 15

AdjustPose output

Maximum Angle=300 degrees

Maximum Angle=330 degrees

Maximum Angle=360 degrees

Enable Node

Parameter Description

Controls whether this operator performs calculations.

Parameter Adjustment

  • Enabled (Default)：Normal operation of the operator function.

  • Disabled：The operator performs no operations and directly outputs the input data.