🟧 Update Grasp Object Pose Normal
Function Description
Based on input point cloud surface normal vectors, update the rotation part of grasp object poses. It will align the main orientation of the pose (usually Z-axis) to the specified normal direction, and can optionally use the point cloud center to update the Z value (height) of the pose.
Usage Scenarios
For objects with obvious planes, the normal of that plane can be obtained to correct the grasping pose.
Input Output
Input |
Grasp Object Pose Information: Original pose list that needs to be updated. Normal: Normal vector list corresponding to each pose in the grasp object pose list, must be in robot base coordinate system. Point Cloud Center Points: Point cloud center point coordinates corresponding to each pose in the grasp object pose list, only needed when the update pose Z value parameter is enabled. |
Output |
Grasp Object Pose Information: Updated pose list. |
Parameter Description
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The input "Grasp Object Pose Information", "Normal" list lengths must be consistent. If "Update Pose Z Value" is enabled, the "Point Cloud Center Points" list length must also be consistent, otherwise the operator will not perform updates. |
Update Pose Z Value
Parameter Description |
Control whether to use the z value of input point cloud center points to update the z value coordinate of result poses. |
Parameter Adjustment |
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