Compose New Poses by Combining Parts of Input Poses

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Function

This Step is used to combine the specified parts of input poses into a new pose, supporting flexible axes selection and directional synthesis.

Usage Scenario

A general pose calculation Step. No fixed usage scenarios.

Input and Output

Parameter Description

Parameter	Description
The Axes of Fourth Input Pose to Use	Parameter description: This parameter is used to specify which position axes of the fourth input pose are used to control the influence of the configurable position input on the base position. Default value: X Value list: X, Y, Z, XY, XZ, YZ, XYZ, and None Instruction: Based on the selected value, the corresponding coordinates of the configurable position will override the respective coordinates of the base position. For example, if the parameter value is set to X, only the X coordinate of the configurable position will override the X coordinate of the base position, while the Y and Z coordinates remain unchanged. If None is selected, the configurable position input will be completely ignored, and only the coordinates of the base position are used.

Parameter

Description

The Axes of Fourth Input Pose to Use

Parameter description: This parameter is used to specify which position axes of the fourth input pose are used to control the influence of the configurable position input on the base position.
Default value: X
Value list: X, Y, Z, XY, XZ, YZ, XYZ, and None
Instruction: Based on the selected value, the corresponding coordinates of the configurable position will override the respective coordinates of the base position. For example, if the parameter value is set to X, only the X coordinate of the configurable position will override the X coordinate of the base position, while the Y and Z coordinates remain unchanged. If None is selected, the configurable position input will be completely ignored, and only the coordinates of the base position are used.

Tuning Example

Pose Type to Visualize

In the case of the robot reference frame, the visualized poses are as follows when the Pose Type to Visualize is set to After, Before, and All.

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