Three-dimensional measurement data is obtained (step S1). The poses of bulk parts are calculated (step S2). The gripping poses of a hand relative to the bulk parts are calculated (step S3). Individual evaluation indices are calculated (step S4). Overall evaluation indices are calculated (step S5). The gripping poses are sorted using the overall evaluation indices (step S6). The calculated gripping poses appear on a screen (step S7). The gripping poses are sorted by a user in an intended order (step S8). Determination is performed as to whether the difference between the results of the sorting in step S6 and in step S8 is small (step S9). In response to the difference being sufficiently small, parameters used in the calculation of the overall evaluation indices are stored (step S11). In response to the difference not being sufficiently small, the parameters are updated (step S10) and the processing returns to step S5.