Translate Poses by Direction and Distance

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Function

This Step translates input poses along a specified direction. The translation direction and distance can be obtained through input ports or set in Step parameters.

Usage Scenario

This Step is a general pose translation Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Original Poses

Pose[]

Poses input to this port will be translated.

Customized Direction

Vector3D[]

Custom vectors that define the translation directions of the poses (optional, if this port is not used, the setting in the parameter will be used).

Customized Distances

Number[]

Custom pose translation distances (optional, if this port is not used, the setting in the parameter will be used).

Output

Output port Data type Description

Translated Poses

Pose[]

Translated 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 on which the translation direction is based.
Value list: Robot frame, Object frame
Default value: Object frame

Direction Settings

Parameter Description

Direction

Description: This parameter specifies the translation direction axis. When the "Customized Direction" input port is not connected, this parameter must be set.
Value list: X, Y, Z, Customized
Default value: Z

Customized Direction

Description: This parameter sets the customized translation direction. When Direction is set to "Customized", this parameter must be set.
Default value: 0, 0, 1

Ignore Zero Norm Direction

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

Distance Settings

Parameter Description

Translation Distance

Description: This parameter sets the translation distance. When the "Customized Distances" input port is not connected, this parameter must be set.
Default value: 10 mm
Instruction: A positive distance translates poses along the specified direction; a negative distance translates poses in the opposite direction.

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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