Easy Create Poses

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Function

This Step is used to create pose list data.

Usage Scenario

This Step is a general data creation Step. No fixed usage scenarios.

Input and Output

Input

This Step has no input ports.

Output

Output ports Data type Description

Pose

Pose[]

The created pose list.

Parameter Description

This Step supports two ways to represent rotation: quaternions and Euler angles. Select the rotation representation as needed to create a pose list.

Representing Rotation with Quaternions

When Rotation Representation is set to Quaternion, configure the following parameter.

Parameter Description

Poses

Parameter description: Creates a pose list with rotation represented by quaternions.

Tuning instructions: Enter each pose in the format [X, Y, Z, QW, QX, QY, QZ]. Separate multiple poses with semicolons (;).

Representing Rotation with Euler Angles

When Rotation Representation is set to Euler angles, configure the following parameter.

Parameter Description

Poses

Parameter description: Creates a pose list with rotation represented by Euler angles.

Tuning instructions: Enter each pose in the format [X, Y, Z, A, B, C]. Separate multiple poses with semicolons (;).

Rotation Axis Settings

Parameter Description

Rotation Axis 1/2/3

Specifies the rotation axis corresponding to the first, second, or third rotation angle in the Euler angles.

Reference Frame Settings

Parameter Description

Reference Frame During Rotation

Specifies the reference frame used during Euler angle rotations.

Value list:

  • Rotating coordinate system: The reference frame is updated after each rotation, and subsequent rotations use the updated frame. For example, after the first rotation around the Z-axis, the coordinate system rotates with it. The second rotation around the Y-axis then uses the new Y-axis as its rotation axis.

  • Fixed coordinate system: The reference frame remains unchanged, and all rotations use the axes of the initial reference frame. Regardless of the result of the previous rotation, subsequent rotations are always performed around the initial X, Y, or Z axis.

Euler Angle Settings

Parameter Description

Euler Angle Unit

Specifies the angle unit for Euler angles.

Value list: Degrees, Radians

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