Find Correspondence between Poses and Offsets

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Function

This Step finds the correspondence between object poses and pick points, and calculates the offsets between them. The object poses can be adjusted by the offset in the parameter.

Usage Scenario

This Step is a custom Step for special scenarios.

Input and Output

  • Input:

    1. Original object poses

    2. Pick points corresponding to objects

    3. Object dimensions

  • Output:

    1. Object poses

    2. Offsets from original object poses to pick points

    3. Object dimensions

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