Overview

Input

• Dimensions: a vector of box dimensions from the output of box volume estimation node

• Original Poses: a vector of poses representing the pick pose of each box

• Pose Order (optional): a vector representing the order of the original poses from the pick sort node

Output

• newPoses: valid poses where the vacuum could suck up the original box

Parameters

• Plate X: width of the picking plate, default is 300mm

• Plate Y: height of the picking plate, default is 300mm

• Threshold low: how much of the box should be covered to be picked up, default is 0.5

• Threshold high: the upper bound of box coverage to be picked up, default is 1

• Pre Sort Poses: sort poses in a back-and-force moving pattern, as shown in the below image, the ordering of the pose follows a z-shape pattern.