Grasp Pose Transform / Pick Point Transform
Functional Description
This operator is used to transform input poses (pick poses or pick points calculated in the camera coordinate system) to the robot’s base coordinate system using a "Hand-eye calibration matrix".
Use Cases
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Coordinate System Unification: In robot visual picking processes, poses identified by the camera are typically in the camera coordinate system, while robot execution requires poses in the base coordinate system. This operator is used to convert pick poses from the camera coordinate system to the robot’s base coordinate system.
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Pose Transmission: Transmit and convert pose information between different coordinate systems.
Inputs and Outputs
Grasp Pose Transform: |
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Input Items |
Grab Positional Information: Input list of poses, typically in the camera coordinate system. Hand-eye calibration matrix: Homogeneous transformation matrix representing the transformation from the camera coordinate system to the robot coordinate system. |
Output Items |
Grab Positional Information: List of poses after transformation to the target coordinate system. |
Pick Point Transform: |
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Input Items |
Pick Points Position: Input list of pick points, typically in the camera coordinate system. Rotation matrix: Same as above, 4x4 homogeneous transformation matrix. |
Output Items |
Pick Points Position: List of pick points after transformation to the target coordinate system. |
Parameter Descriptions
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The functionality of [Grasp Pose Transform] and [Pick Point Transform] operators is the same, only the input and output data types differ:
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