Easy Point Poses to Reference Position

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Function

Rotate the input original poses so that the specified axes point to a set reference point.

Usage Scenario

This Step is a general pose rotation Step. This Step has no fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be rotated.

Output

Output port Data type Description

Rotated Poses

Pose[]

Rotated poses.

Parameter Description

Parameter Description

Axis to Rotate

Description: This parameter specifies the axis that needs to point to the direction of the reference point.
Value list: X, Y, Z
Default value: Z

Fixed Axis

Description: This parameter specifies the axis that remains fixed during rotation.
Value list: X, Y, Z, None
Default value: X
Instruction: When a specific axis is selected, the rotation result will be constrained by the direction of this axis. When None is selected, no axial constraints will be imposed on the rotation process, and the pose will be automatically rotated, aligning the axis to be rotated to the direction of the reference point.

Reference Point

Description: This parameter sets the target direction vector for rotation so that the "Axis to Rotate" aligns with this direction.
Default value: 0, 0, 1

Tuning Examples

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.

transform poses pose display settings

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