Multidimensional Pose Sorting (Height, Angle)

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Function

This Procedure sorts target object poses based on height and angle to optimize pick order, thereby enhancing picking stability and success rate.

Usage Scenario

This Procedure is suitable for picking randomly stacked objects.

Input and Output

Input

Input port	Data type	Description
Unnamed	Pose[]	List of target object poses to be sorted.

Input port

Data type

Description

Unnamed

Pose[]

List of target object poses to be sorted.

Output

Output port	Data type	Description
Unnamed	Pose[]	List of target object poses sorted by height and angle.

Output port

Data type

Description

Unnamed

Pose[]

List of target object poses sorted by height and angle.

Parameter Description

Parameter	Description
Layer Interval	Description: This parameter defines the layer interval for height-based sorting, in millimeters (mm). Target objects are assigned to different layers based on height, and the layer interval determines the height range of each layer.

Parameter

Description

Layer Interval

Description: This parameter defines the layer interval for height-based sorting, in millimeters (mm). Target objects are assigned to different layers based on height, and the layer interval determines the height range of each layer.

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Multidimensional Pose Sorting (Height, Angle)

Function

Usage Scenario

Input and Output

Input

Output

Parameter Description

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