🟧 Pick Point Convert to Grasp Object Pose

Function Description

This operator is used for data type conversion, i.e., converting "pick point list" data type to "grasp object pose list" data type.

Mainly used for data type conversion and adaptation.

Input

Pick Point Poses: Input pick point list, each pick point contains pose, score, ID and other information.

Output

Grasp Object Pose Information: Converted output grasp object pose list.

Parameter Description

Control which source’s pose data each pose in the output pose list specifically uses.

Parameter Adjustment

Pick Point Pose: Output will be the final pose of the pick point itself.
Grasp Object Pose that Generated Pick Point: Output will be the pose of the original matching object that generated this pick point.