Set Pose Translation

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Function

This Step is used to set the translation vectors of the original poses. The translation vectors are determined based on either the input Reference Poses or the Reference Direction specified in the parameters.

Usage Scenario

This Step is a general pose translation vector setting Step. If the input reference pose list contains multiple poses, only the translation vector of the first pose will be used.

Input and Output

Input

Input port Data type Description

Poses

Pose[]

The original pose list for which translation vectors need to be set is input to this port.

Reference Poses

Pose[]

Reference pose list, optional. The reference poses correspond element‑by‑element to the input poses in sequence, and their translation vectors can be used to set the translation vectors of the corresponding original poses.

Output

Output port Data type Description

Poses

Pose[]

List of poses after translation vectors.

Parameter Description

Strategy

Parameter Description

Translation Strategy

Parameter description: This parameter is used to set which coordinate axis components are used to update the translation vector of the pose.
Value list: X, Y, Z, XY, XZ, YZ, XYZ, and None.
Default value: XYZ.
Instruction: The selected coordinate axis components are updated, while the unselected components remain unchanged from the original pose.

Reference Direction

If the input port "Reference Poses" is connected, its translation vector will be used preferentially and correspond element‑by‑element to the input poses. The parameter values in "Reference Direction" will only be used when no reference poses are provided.
Parameter Description

X

Parameter description: This parameter is used to set the reference value of the translation vector along the X-axis.
Default value: 0.00.
Instruction: If "Translation Strategy" includes X and no "Reference Poses" is input, this parameter is used to set the X component of the output pose.

Y

Parameter description: This parameter is used to set the reference value of the translation vector along the Y-axis.
Default value: 0.00.
Instruction: If "Translation Strategy" includes Y and no "Reference Poses" is input, this parameter is used to set the Y component of the output pose.

Z

Parameter description: This parameter is used to set the reference value of the translation vector along the Z-axis.
Default value: 0.00.
Instruction: If "Translation Strategy" includes Z and no "Reference Poses" is input, this parameter is used to set the Z component of the output pose.

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