Rotate Poses Axes to Specified Directions

Function Description

Used to adjust input poses so that their specified axis points to the target direction.

RotatePosesAxesToSpecifiedDirections

Use Cases

General-purpose pose direction adjustment step, also used for rotating poses of symmetric objects according to symmetry.

Inputs

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

  • Custom Direction (Optional): Provides reference direction. Input type is specified by the “Input Data Type” parameter.

Outputs

  • Rotated Pose: List of poses after rotation.

Parameters

Visualization Settings

  • Display Point Cloud in Selected Coordinate System

    When debug output is enabled, poses are displayed in the selected coordinate system.

    • Robot Coordinate System

    • Camera Coordinate System

Rotation Settings

  • Axis to Rotate

    Selects the axis of the input pose that needs to be rotated.

  • Axis to Fix

    Selects the axis of the input pose that remains fixed during rotation.

    Selecting None means no fixed axis, and the axis to be rotated can directly point to the reference direction.

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, the object remains unchanged after rotating along the fixed axis by this angle.

When Specified Direction Comes from Input

  • Input Data Type

    Specifies the data type of the second input, can select Vector3D or Pose.

Target Axis Direction Settings

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

  • Specify Coordinate System

    Specifies the reference coordinate system for the target axis direction, default is WorldCoordinate.

  • Axis Direction

    Selects the target direction that the pose axis should point to.

    • Pos_X/Y/Z: Positive X/Y/Z axis direction.

    • Neg_X/Y/Z: Negative X/Y/Z axis direction.

    • Customized: Custom direction.

Example: Making the Camera Z Axis Point to Target Point

  • Original Pose: Current camera pose

  • Rotation Axis: Z axis

  • Target Direction: [0, 0, 1] (World coordinate system Z axis direction)

  • Output: Camera pose with Z axis pointing upward in the world coordinate system