3D Pose Sorting

Step Description

Sorts 3D poses according to specified rules.

Use Cases

General-purpose pose sorting step. Sorted poses can be used for subsequent processing or as grasping poses.

Inputs

  • Poses: Poses to be sorted.

Outputs

  • Sorted Poses: Poses sorted according to specified rules.

  • Mapping Index: Index list reflecting the pose sorting order.

Parameters

Sorting Method

  • No Sorting

    Does not sort input poses.

  • “S” Shaped Planar Sorting

    Sorts poses in rows and columns according to specified reference poses, row direction, and column direction (prioritizing “row direction” sorting). The sorting direction of adjacent rows alternates, the end of a row directly connects to the next row, and the overall trajectory forms an “S” shaped serpentine. Commonly used in scenarios of orderly stack feeding or depalletizing.

  • “Z” Shaped Planar Sorting

    Sorts poses in rows and columns according to specified reference poses, row direction, and column direction (prioritizing “row direction” sorting). Each row is sorted in the same direction, the end of a row switches to the starting point of the next row, and the overall trajectory forms a “Z” shaped zigzag. Commonly used in scenarios of orderly stack feeding or depalletizing.

  • Sort by Pose X Value

    Sorts all poses by the X value of poses.

  • Sort by Pose Y Value

    Sorts all poses by the Y value of poses.

  • Sort by Pose Z Value

    Sorts all poses by the Z value of poses.

  • Sort by Distance Between Poses and Reference Poses

    Calculates the distance from all input poses to reference poses and sorts by distance.

  • Sort by Distance Between Poses and Reference Poses on XY Plane

    Calculates the distance between input poses and reference poses after projection on the XY plane, and sorts by distance.

  • Sort by Pose Confidence

    Sorts poses according to input confidence values.

  • Sort by Coordinate Axis Projection Distance Between Poses and Reference Poses

    Projects poses onto the coordinate axes of reference poses, calculates the projection distance, and sorts by distance.

  • Sort by Cuboid Diagonal Length

    Calculates the diagonal length of the cuboid corresponding to each pose and sorts by length. This sorting method is commonly used in carton depalletizing scenarios.

Row Direction/Column Direction/Row Spacing

Only applicable to “S” shaped planar sorting and “Z” shaped planar sorting.

  • Row Direction: Sets the “row” direction during sorting. Default value: Positive X-axis direction.

  • Column Direction: Sets the “column” direction during sorting. Default value: Positive Y-axis direction.

  • Row Spacing: Sets the spacing between rows, in millimeters (mm). Default value: 100.000 mm.

Sort in Ascending Order

Applicable to all sorting methods except “No Sorting”/”S” Shaped Planar Sorting”/”Z” Shaped Planar Sorting”.

Checked to sort from small to large; unchecked to sort from large to small. Default value: checked.

Reference Direction

Only applicable to “Sort by Coordinate Axis Projection Distance Between Poses and Reference Poses”.

Select the coordinate axis and direction of reference poses. Default value: Positive X-axis direction.

Display Point Cloud in Selected Coordinate System

Select to display point clouds in robot or camera coordinate system.