🟧 Grasp Object Pose Analysis / Pick Point Analysis

Function Description

This operator is used to compare two sets of pose (or pick point) lists and output their differences in position and pose, and can filter out matching pairs with too small differences by setting thresholds.

Usage Scenarios

Compare results from two calculations, filter or analyze targets that have moved or changed pose.

Input Output

Input

First Group Input

Second Group Input

Output

Analysis Results: Output a dictionary list containing difference information, in format {"index1": i, "index2": j, "distance": d, "angle": a}. Where index1 and index2 are respectively the indices of the difference pair in the first and second group lists. Only when a pair of poses has distance difference > distance ignore threshold, or angle difference > angle ignore threshold, will this record be output.

Parameter Description

'Grasp Object Pose Analysis' and 'Pick Point Analysis' operators have identical functionality, only processing different data types:

  • Grasp Object Pose Analysis: Processes generic pose lists.

  • Pick Point Analysis: Processes specific pick point lists.

Calculation Method

Parameter Description

Select the method for matching poses from two groups.

Parameter Adjustment

  • Element-wise Calculation: Compare elements with the same index in the two lists. This method requires the two input lists to have equal length.

  • Nearest Distance Calculation: For each pose in the first group list, find the pose with the closest position distance in the second group list for comparison. This method does not require equal list lengths.

Distance Ignore Threshold

Parameter Description

When the calculated distance difference is less than or equal to this value, the difference may be ignored.

Parameter Adjustment

Increasing this value can filter out more result pairs with small position differences, making results focus more on targets with significant position deviations.

Parameter Range

[0,5000], Default value: 1, Unit: mm

Angle Ignore Threshold

Parameter Description

When the calculated angle difference is less than or equal to this value, the difference may be ignored.

Parameter Adjustment

Increasing this value can filter out more result pairs with small pose differences, making results focus more on targets with significant pose deviations.

Parameter Range

[0,360], Default value: 1, Unit: °