🟧 Point Cloud Bounding Box Update Grasp Object Pose

Function Description

This operator uses input 3D point cloud bounding box information to update or correct an existing grasp object pose list. It can update only the rotation part of the poses, or simultaneously update the position part of the poses.

Usage Scenarios

  • Pose correction: Based on an initial rough pose, perform segmentation on target point clouds and calculate their 3D bounding boxes, then use this operator to correct the initial pose with the bounding box orientation and center, obtaining a precise grasping pose that better matches the actual pose and position of the object.

  • Pose alignment: Force the grasping pose direction to align with the object’s natural principal axis direction.

Input Output

Input

Grasp Object Pose Information: Original pose list that needs to be updated.

Point Cloud Bounding Box: 3D bounding box list containing center, size, and transformation matrix, must be in robot base coordinate system.

Output

Grasp Object Pose Information: Updated pose list.

Parameter Description

Use Only Rz Rotation

Parameter Description

Control how to use bounding box information to calculate new rotation.

Parameter Adjustment

  • On: Ignore the complete orientation of the bounding box in 3D space, only calculate a rotation around Z-axis (Rz) based on its long side direction in the XY plane. Suitable for those that only need to determine "orientation" without considering whether tilted or other complex angle adjustments.

  • Off (Default): Use the complete 3x3 rotation matrix of the bounding box to update pose rotation, making the pose coordinate axes completely align with the three principal axes of the bounding box.

Update X/Y/Z Coordinates

Parameter Description

Control whether to replace the original pose X/Y/Z coordinates with the X/Y/Z coordinates of the bounding box center.

Parameter Adjustment

After enabling, the X/Y/Z position of the pose will be updated to the center X/Y/Z coordinates of the 3D bounding box.

Enable Node

Parameter Description

Control whether this operator executes operations.

Parameter Adjustment

  • On (Default): Normally run the operator function.

  • Off: The operator does not perform any operations and directly outputs the input data.