Translate Poses along Given Direction¶
Sample Scenario¶
Translate poses according to the direction and distance set by the user.
Input and Output¶
![../../../../../_images/input_output_16.png](../../../../../_images/input_output_16.png)
Parameter Descriptions¶
Parameter |
Description |
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Visualization Settings |
Show Cloud Under Chosen Coordinate |
Robot Coordinate |
Display point clouds in the robot reference frame |
Camera Coordinate |
Display point clouds in the camera reference frame |
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Pose Visuals Setting |
After |
Display the output translated poses |
|
Before |
Display the input original poses |
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All |
Display both the input and output poses |
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Translation Direction Settings |
Translation Distance |
The translation distance along the customized direction |
|
Translation Direction Source |
CustomizedDirection |
Translate the pose along a customized direction |
|
ObjectAxis |
Translate the pose along a specified axis of the object reference frame |
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Customized Direction |
X |
X value of the reference direction |
|
Y |
Y value of the reference direction |
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Z |
Z value of the reference direction |
Parameter Tuning¶
Visualization Settings
- Show Cloud Under Chosen Coordinate
- Default setting: Robot CoordinateOptions: Robot Coordinate, Camera CoordinateInstruction: Please refer to Display point clouds in a specified reference frame for detailed instructions.
- Pose Visuals Setting
- Default setting: AfterOptions: After, Before, All
Translation Direction Settings
- Translation Distance
- Default setting: 0Instruction: Please configure according to actual situation.
- Translation Direction Source
- Default setting: CustomizedDirectionOptions: CustomizedDirection, ObjectAxisInstruction: Please configure according to actual situation.
Hint
When ObjectAxis is selcted, you will need to select an axis according to the actual situation.
![../../../../../_images/object_axis.png](../../../../../_images/object_axis.png)
CustomizedDirection (This option will only appear when CustomizedDirection is selected.)
- X
- Default setting: 0
- Y
- Default setting: 0
- Z
- Default setting: 1
Examples
The figure below shows the pose before and after being translated 0.03m along the X axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the X axis; and the Translation Distance is set to 0.03.
The figure below shows the pose before and after being translated 0.03m along the Y axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Y axis; and the Translation Distance is set to 0.03.
The figure below shows the pose before and after being translated 0.08m along the Z axis of the object reference frame. In this example, ObjectAxis is selected as the Translation Direction Source; the specified axis is the Z axis; and the Translation Distance is set to 0.08.
When CustomizedDirection is selected as the Translation Direction Source, you will need to set the values of X, Y, and Z in Customized Direction. As shown in the figure below, the path from the origin O to A (X, Y, Z) is the direction for the pose translation.