Update Grasp Pose with Point Cloud Bounding Box
Function: Updates the rotation of the pick object pose based on the point cloud bounding box. Input needs to be the point cloud bounding box in the robot coordinate system.
Input Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Grab Positional Information |
PosesList |
None |
[] |
Grab Positional Information. |
Point Cloud Bounding Box |
Box3D |
None |
None |
Point cloud bounding box under robot coordinate system, format is [{'center': [center_x, center_y, center_z], 'size': [size_x, size_y , size_z], 'transform': [3*3]}]. |
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 |
|---|---|---|---|---|
Rotate with Rz only |
Bool |
None |
False |
If open, the rotation of the long side of the bounding box XY plane is used to calculate the pose. If closed, the rotation of the bounding box is used to calculate the pose. |
Enable node |
Bool |
None |
True |
Turn on node functionality. |