Rotate Poses Around Axis by Angle

Function Description

Rotates the input pose around a specified axis by a specified angle.

RotatePosesAroundAxisByAngle

Use Cases

General-purpose pose adjustment step, used to output poses after rotating around a specified axis.

Inputs

  • Original Poses (Required): Pose to be rotated.

  • Customized Axis (Optional): The pose will rotate around the axis specified by this port. When this port is used, the “Axis Settings” related parameters are invalid.

  • Customized Angle (Optional): Specifies the pose rotation angle. When this port is used, the “Rotation Angle” parameter is invalid.

Outputs

  • Rotated Poses: List of poses obtained after rotating the original pose around the specified axis (PoseList).

Workflow

Input Pose → Select Coordinate System → Specify Rotation Axis → Set Rotation Angle → Execute Rotation Transform → Output Rotated Pose

Parameters

Specify Coordinate System

Selects the reference coordinate system for the rotation operation: camera coordinate system, robot coordinate system.

Axis Settings

When the “Customized Axis” input port has no input, the “Axis Settings” related parameters take effect.

  • Axis to be Fixed

    • X/Y/Z: Rotates around the standard coordinate axis X/Y/Z.

    • Customized: User-defined rotation axis direction.

  • Specify Reference Direction

    When “Axis to be Fixed” is set to “Customized”, the custom axis direction vector needs to be specified.

Angle Settings

  • Rotation Angle

    Defines the rotation angle size. Rotation follows the right-hand rule (thumb points in the axis direction, fingers bending direction is the positive angle). This parameter takes effect when the “Customized Angle” input port has no input.

Other Settings

  • Ignore Invalid Direction Vectors with Zero Magnitude

    After checking, if the direction vector length is 0 (invalid vector), the system will automatically ignore that vector, avoiding calculation errors caused by abnormal input data.

Examples

Example 1: Rotate 90° Around the Z Axis of the Robot Coordinate System

  • Coordinate System Settings: Robot coordinate system

  • Axis to Fix: Z

  • Rotation Angle: 90

Example 2: Rotate Around a Custom Axis in the Camera Coordinate System

  • Coordinate System Settings: Camera coordinate system

  • Axis to Fix: Custom

  • Reference Direction: [1, 1, 0]

  • Rotation Angle: 45

  • Ignore Invalid Vectors: true