Point Poses to Reference Positions

Function Description

Used to rotate input poses so that their specified coordinate axis (X/Y/Z) points to a target reference point in 3D space.

Use Cases

General-purpose pose rotation step, commonly used in various scenarios. Applicable to the following typical scenarios:

  • Unified Grasping Pose: Use this step to adjust poses so that all object grasping poses point to the reference point, maintaining pointing consistency.

  • Handling Symmetric Objects: When objects have symmetry, grasping poses of symmetric objects rotated around a fixed axis are equivalent.

Inputs

  • Original Pose: List of poses to be rotated.

  • Custom: Reference position for rotating poses (optional, if this port has no input, use “Reference Position Settings” in parameters).

    • Vector3DList: Specifies a reference point so that the axis to be rotated points to this reference point after rotation.

    • PoseList: Extracts the center point of the reference pose as the reference point, so that the axis to be rotated points to this reference point after rotation.

Outputs

  • Rotated Pose: Poses that point to the reference point after rotation.

Parameters

Visualization Settings

  • Display Point Cloud in Selected Coordinate System: Robot coordinate system/Camera coordinate system.

Rotation Settings

  • Axis to Rotate: The axis direction of the input pose that points to the reference point during rotation.

  • Axis to Fix: The axis to be fixed. If None is selected, it means no fixed axis, and the rotation axis can directly point to the reference point.

Symmetry Settings

(Only displayed when “Axis to Fix” is not None.)

  • Consider Object Symmetry After checking, symmetry angle constraints take effect.

  • Symmetry Angle (0~360): Defines the rotation symmetry period of the object around the fixed axis. If the object under test has symmetry, rotating along the fixed axis using this symmetry angle indicates that the object is equivalent after rotation.

When Reference Point Comes from Input

  • Input Data Type: Specifies the data type corresponding to the reference point, supporting Vector3D and Pose.

Reference Position Settings

  • Coordinate System Type: World coordinate system/Object coordinate system.

  • Is Relative Displacement

    When “Input Data Type” is set to Pose and the reference pose input is connected, RelativeX, RelativeY, and RelativeZ are displayed.

    • RelativeX: After checking, the X value is added as a relative displacement to the X coordinate of the reference pose; when unchecked, the X value is used directly as the X coordinate of the reference point.

    • RelativeY: After checking, the Y value is added as a relative displacement to the Y coordinate of the reference pose; when unchecked, the Y value is used directly as the Y coordinate of the reference point.

    • RelativeZ: After checking, the Z value is added as a relative displacement to the Z coordinate of the reference pose; when unchecked, the Z value is used directly as the Z coordinate of the reference point.

  • X Value: Sets the X component of the reference position.

  • Y Value: Sets the Y component of the reference position.

  • Z Value: Sets the Z component of the reference position.

Input Check Settings

  • Ignore When Reference Point Coincides with Pose Center: After checking, if the reference point coincides with the pose center, no operation is performed on the input pose; otherwise, an error warning is generated.