Set Pose Quaternions

Function Description

Replaces the quaternion (x, y, z, w) part of the orientation in the input pose list (X, Y, Z, x, y, z, w).

Use Cases

General-purpose pose orientation setting. Supports replacing the quaternion of a single or multiple poses with the value specified in step parameters, or replacing one by one according to the first pose in the input reference pose list.

Inputs

  • Original Pose List (Required): Pose list whose quaternion is to be modified.

  • Reference Pose List (Optional): Provides the quaternion of the reference pose. If connected, the quaternion of the reference pose is taken element by element to replace the quaternion of the original pose.

Outputs

  • Pose List After Setting Quaternion: The output result is the position part (X, Y, Z) of the original pose + the orientation part (x, y, z, w) of the reference pose.

Parameters

  • Quaternion

    When the Reference Pose List input port is not connected, the X/Y/Z/W parameter values will be used to replace the quaternion of all poses.