Update Grasp Pose Normal
Function: Updates the rotation of the pick object pose based on the point cloud normal. The input normal needs to be the point cloud normal in the robot coordinate system.
Input Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Grab Positional Information |
PosesList |
None |
[] |
Grab Positional Information. |
Normal |
List |
None |
None |
Point cloud normal in robot coordinate system, can be obtained by point cloud fitting or normal estimation, or by calculating the bounding box after point cloud segmentation. Format is Nx3, N represents multiple normals, 3 represents the x, y, z directions of the normal. |
Point cloud center point |
List |
None |
None |
Point cloud center point in robot coordinate system, can be obtained by point cloud fitting, or by calculating the bounding box after point cloud segmentation. Format is Nx3, N represents multiple center points, each containing xyz values. |
Output Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Grab Positional Information |
PosesList |
None |
[] |
Grab Positional Information. |
Parameter Settings:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Update pose Z value |
Bool |
None |
False |
Whether to use the z-value of the input point cloud center point to update the pose in the results. |
Enable node |
Bool |
None |
True |
Turn on node functionality. |