Orientation flips for Symmetry objects

[mathanprasannakumar]

Hi @wenbowen123 , Thanks for giving this amazing work.

When estimating pose for symmetric objects, FoundationPose frequently produces orientation flips between consecutive frames. This happens because multiple rotational configurations are equally valid for the object’s geometry, and the pose registration step does not enforce a stable canonical orientation.

As a result, the predicted pose oscillates between symmetric solutions (e.g., 0° vs 180° around the vertical axis).
This causes large frame-to-frame jumps, which makes the output unsuitable for applications that require temporal stability (robot grasping, tracking, control loops, etc.).

Is there any way to handle such cases ?