How to unify the orientation of poses?

Q&A
1

The product is a cylinder, and I’m using Step “Calc Poses and Dimensions from Planar Point Clouds” to get the poses. However, the rz (rotation around the Z-axis) value rotates randomly before grabbing, causing interference with the robot. How can I solve this problem?

Software version: 1.7.1

Camera: PRO S
Robot model: KUKA

2

Option 1: Utilize the “Point Axes of Poses to Given Direction” step.

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Option 2: Employ the “Adjust Poses” component, and select the adjustment type as [Align].

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