Reported pose

Note: Definition of a picked object is only available for the CAD localization module.

Localization detects objects in the point cloud based on the provided 3D CAD model (STL or PLY format). The object to be localized is configured in the Picked object step of the solution. A solution can have up to 12 picked objects.

3D model origin

Once the model of the object is uploaded, it is displayed in the visualizer.

Besides the object also the position and orientation of its origin are shown. The red, green, and blue arrows represent the X, Y, and Z axes.

Model of the object with its origin shown in the visualizer

By default, the origin of the model of the object is reported to the robotic controller.

Example:

The model in the figure above has its origin outside of the model.

Offset of the model origin

If it is required to report different point and/or orientation, it is possible to enable the model origin offset. The custom point can be defined by filling in the translation/rotation values in the form or by dragging the arrows/wheels of the interactive marker in the visualizer.

This defined transformation is applied to the model origin and this offset point is reported to the robotic controller.

Model origin offset settings and the offset origin in the visualizer

Example:

By enabling the model origin offset feature and setting the translation and rotation values, it is possible to move the reported point to the middle of the top face of the object. Its orientation was also changed so that the Z-axis points downwards. Since the Z-axis of the robotic tool point also points out of the tool, it is possible to pick the object by executing movement directly to the reported pose of the object where the coordinate systems of the object and the tool point will overlay.

Pose constraint

A localized object can be rejected if it does not satisfy the angle constraint defined in the settings.

Default settings of the angle constraint

The angle is measured between the Z-axis of the object’s origin and the vector defined in the angle constraint settings. The default maximal allowed angle is set to 25 degrees and the vector is [0,0,-1] defined in the world coordinate system - it points downwards.

Example:

Since the orientation of the origin of the object in the figures above was changed so that its Z-axis points downwards, the angle measured between this axis and the default vector of angle constraint [0,0,-1] will be 0 degrees (if the object was lying on a flat surface).

With the maximal allowed angle set to 25 degrees, this object would be accepted.

If the orientation of the origin of the object in the figures above were not changed so that its Z-axis points downwards, the angle measured between this axis and the default vector of angle constraint [0,0,-1] would be 180 degrees (if the object was lying on a flat surface).

With the maximal allowed angle set to 25 degrees, this object would be rejected.