Rotate Poses Locally

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Function

This Step rotates input poses by a specified angle around a specified axis in each pose’s own reference frame.

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.

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 Rotate Around

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

Rotation Angle

Description: This parameter sets the angle for rotating poses around the specified axis.
Default value: 90.000°

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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