Toolbox Interface

Click Toolbox in the main interface to enter the Toolbox interface. In this interface, you can access "Geometric Point Cloud Generation", "3D Rotation Transformation Calculator" and "TCP Inverse Calculator".

Geometry Point Cloud Generation Interface

The geometry point cloud generation tool is used to create point cloud models of regular geometric bodies (such as spheres, cylinders, trapezoids, and cubes). These models can be used to make point cloud matching templates for workpieces.

In the tool library interface, click Geometry point cloud generation to enter the geometry point cloud generation tool interface, which consists of the following three parts:

Serial number	Region	Description
1	Model Type Selection Area	In this area, you can select the geometry type. Available types include: sphere, cylinder, torus, trapezoid, and cube. For torus generation, it supports generating a circle with an inner diameter of 0. For cube generation, it supports generating a rectangular plane with a height of 0.
2	Model display area	View the generated point cloud model in this area, download and export the model.
3	Model parameter setting area	Set parameters of the geometry in this area.

Serial number

Region

Description

Model Type Selection Area

In this area, you can select the geometry type. Available types include: sphere, cylinder, torus, trapezoid, and cube. For torus generation, it supports generating a circle with an inner diameter of 0. For cube generation, it supports generating a rectangular plane with a height of 0.

Model display area

View the generated point cloud model in this area, download and export the model.

Model parameter setting area

Set parameters of the geometry in this area.

3D Rotation Transformation Calculation Interface

The 3D rotation transformation calculation tool is used to view the representation of pose rotation and conversion pose rotation in three-dimensional space.

In the tool library interface, click 3D rotation transformation calculation to enter the 3D rotation transformation tool interface, which consists of the following three parts:

Serial number	Area name	Description
1	Pose input area	Enter the pose in this area.
2	Pose output area	View the transformed pose in this area.
3	3D space pose viewing area	View the pose rotation changes in this area.

Serial number

Area name

Description

Pose input area

Enter the pose in this area.

Pose output area

View the transformed pose in this area.

3D space pose viewing area

View the pose rotation changes in this area.

Invers Calculation of TCP

The TCP reverse calculation tool calculates the tool coordinate values of the current robot based on the visual computation of the grasp pose and the taught robot pose.

In the toolbox interface, click the button: [TCP Reverse Calculation Tool] to enter the TCP reverse calculation tool interface, which consists of the following three parts:

No.	Description
1	Input the grasping pose from visual computation
2	Input the teaching robot pose
3	View the solved TCP