Rotate Poses' Axes to Specified Directions under Symmetry Constraints

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Function

This Step rotates input original poses so that the direction of a specified axis is aligned with the reference direction. The object symmetry can be set in the parameters.

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.

Customized Directions

Vector3D[] -

Target orientations for pose rotation (optional). If no data is input to this port, the “Customized Direction” parameter will be used.

Output

Output port Data type Description

Rotated Poses

Pose[]

Rotated poses.

Parameter Description

Visualization Settings

Parameter Description

Pose Type to Visualize

Description: This parameter is used to select the pose type to visualize.
Default value: After
Value list: After, Before, and All
Instruction: Select an appropriate option according to actual needs. Please refer to the tuning example for the corresponding result.
Parameter Description

Axis to Be Rotated

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

Axis to Be Fixed

Description: This parameter specifies the axis that remains fixed during rotation.
Value list: X, Y, Z
Default value: X

Symmetry Angle (0–360)

Description: This parameter sets the minimum rotational symmetry angle of the object with respect to the reference direction. Each time the object rotates by this symmetry angle around the "Axis to Be Rotated", its orientation is regarded as the same.
Default value: 180°
Instruction: This value should match the actual rotational symmetry structure of the target object. For example, for a target object with 180° rotational symmetry, set this parameter to 180°.

Customized Direction

Description: This parameter sets the reference direction vector so that the "Axis to Be Rotated" aligns with it. When the "Customized Directions" input port is not connected, this parameter must be set.
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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