Compose New Poses

Function Description

This step is used to compose a specified part of input poses into a new pose, supporting flexible axis selection and direction composition.

General-purpose pose calculation step.

Z-Axis Orientation (Required): Uses the Z axis direction of this pose as the corresponding axis direction of the composed pose.
Y-Axis Orientation (Required): Uses the Y axis direction of this pose as the corresponding axis direction of the composed pose.

Description: The values input from the first two ports form the direction of the new pose through orthogonal combination.
Base Position (Required): Provides the initial position (X, Y, Z) of the composed pose.
Configurable Position (Required): Selectively overwrites the base position input from the third port according to the “Axis Used for Fourth Input” step parameter.

Show Point Cloud in Selected Frame: Can display poses in camera coordinate system or robot coordinate system.
Axis Used for Fourth Input: Used to specify the position coordinate axis used by the fourth input pose, controlling the overwrite range of the configurable position input to the base position.