Rotate Poses around Axis by Angle

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Function

This Step rotates input poses by a specified angle around a specified axis. The axis and angle can be obtained through input ports or set in Step parameters.

Usage Scenario

This Step is a general pose rotation Step. 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 Axis

Vector3D[]

Poses will be rotated around the axes input in this port.

Customized Angle

Number[]

Rotation angles of the pose.

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.

Reference Frame Settings

Parameter Description

Reference Frame

Description: This parameter selects the reference frame in which the "Axis to Be Fixed" is defined.
Value list: World Frame, Object Frame
Default value: Object Frame

Axis Settings

Parameter Description

Axis to Be Fixed

Description: This parameter specifies the axis that remains fixed during rotation. When the "Customized Axis" input port is not connected, this parameter must be set.
Value list: X, Y, Z, Customized
Default setting: Z

Customized Direction

Description: This parameter sets the reference direction used when rotating around a custom axis. When Axis to Be Fixed is set to "Custom", this parameter must be set.
Default value: 0, 0, 1

Ignore Zero Norm Direction

Description: When the "Customized Axis" input port is connected, this parameter determines whether to ignore zero-norm direction vectors. Once this option is selected, invalid vectors will be ignored automatically.
Default value: Unselected

Angle Settings

Parameter Description

Rotation Angle

Description: This parameter sets the angle for rotating poses around the specified axis. When the "Customized Angle" input port is not connected, this parameter must be set.
Default value: 90°

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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