Rotate Poses' Axes to Specified Directions

Original Poses

Pose[]

Poses input to this port will be rotated.

Customized Axis

Pose[]

Original poses will be rotated to the custom orientation input to this port according to rules. This input port is displayed when "Direction Setting Data Type" under "When Directions Came From Input" is set to "Pose".

Customized Directions

Vector3D[]

Dynamically changing target direction. This input port is displayed when "Direction Setting Data Type" under "When Directions Came From Input" is set to "Vector3d".

Rotated Poses

Pose[]

Rotated poses.

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.

Axis to Rotate

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

Fixed Axis

Description: This parameter specifies the axis that remains fixed during rotation. Poses are rotated around this axis.
Value list: X, Y, Z, None
Default value: X
Instruction: When a specific axis is selected, the rotation result is constrained by that axis direction. When None is selected, no axis constraint is applied during rotation, and the pose rotates automatically so that the "Axis to Rotate" aligns with the target direction.

Consider Rotational Symmetry

Description: This parameter determines whether to consider object symmetry in rotation. When enabled, all directions obtained by rotating integer multiples of **Symmetry Angle** around the target axis are regarded as the same, and the pose with the smallest angle to the target direction is selected as output.
Default value: Selected
Instruction: When the target object has periodic symmetric structures along the target axis direction, selecting this parameter is recommended to ensure the output pose is as close as possible to the target direction under symmetry constraints.

Symmetry Angle (0–360)

Description: This parameter sets the minimum rotational symmetry angle of the object along the target axis. Each time the object rotates by this symmetry angle around the fixed axis, 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°.

Direction Setting Data Type

Description: This parameter specifies the data type of the target direction from the input port.
Value list: Pose, Vector3d
Default value: Pose
Instruction: When Pose is selected, the "Customized Axis" input port is used, and the target direction is determined by the specified axis direction of the input pose. When Vector3d is selected, the "Custom Direction" input port is used, and the target direction is directly represented by the input vector and updates dynamically with input.

Ignore Zero Norm Direction

Description: When the "Customized Direction" 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

Reference Frame

Description: This parameter displays the reference frame used by the current target direction.
Default value: World Frame

Goal Axis

Description: This parameter specifies the target axis direction to which the "Axis to Rotate" should align.
Value list: +X, -X, +Y, -Y, +Z, -Z, Customized
Default value: +Z
Instruction: When "Customized" is selected, you can input the direction vector by setting "Customized Direction”.

Customized Direction

Description: This parameter specifies the reference vector of the target direction when Goal Axis is set to "Customized".
Default value: 0, 0, 1