🔶Adjust Pose Orientation

Function Description

This operator is used to adjust the orientation of input pose lists to satisfy specific directional constraints. For example, adjust tools so their Z-axis points up or down, or align the tool’s X-axis to a specific direction.

Usage Scenarios

Standardized Pick Attitudes : In robot picking applications, even if objects themselves have multiple possible pick attitudes, it’s often necessary to limit final tool orientation to a few or one standard direction to simplify robot motion planning or avoid collisions. For example, regardless of how objects are positioned, require the tool’s Z-axis (usually the axis approaching the object) to point vertically downward.
Eliminate Rotation Ambiguity : Certain pose estimation algorithms may produce ambiguity of 180-degree rotation around an axis, this operator can correct attitudes based on prior knowledge (such as which face of an object should face up).
Align to Specific Direction : Need to align a tool’s axis to a specific direction vector in the scene (e.g., along conveyor belt direction).

Input/Output

Input

Pick Object Pose Information： Input pose list.

Output

Pick Object Pose Information： Pose list after orientation adjustment.

Parameter Description

Adjustment Strategy

Parameter Description

Select which main orientation adjustment method to apply, different strategies correspond to different subsequent parameters.

Parameter Adjustment

Constrain specified axis direction (Default)： Actively adjust a pose’s axis (primary direction axis) to roughly point toward the positive or negative direction of corresponding world coordinate system axis, and can further optimize the secondary axis (secondary direction axis) orientation to better meet practical application needs.
Align axis to specified direction： Precisely align a pose’s axis (specified direction axis) to any direction vector provided by user, and can constrain another axis (fixed direction axis) to point toward a positive/negative direction as much as possible in the aligned attitude.

Primary Direction Axis

Parameter Description

"Select the primary axis (X, Y, or Z) of the pose coordinate system to adjust orientation. (Effective when "Adjustment Strategy" selects "Constrain specified axis direction")"

Parameter Adjustment

Usually select the axis corresponding to robot tool’s key direction, such as tool’s approach direction (commonly Z-axis).

Primary Axis Specified Direction

Parameter Description

Specify which direction the selected "Primary Direction Axis" should point toward the corresponding axis of world coordinate system. (Effective when "Adjustment Strategy" selects "Constrain specified axis direction")

Parameter Adjustment

Positive direction (Default)： For example, if primary direction axis is Z, the pose’s Z-axis will be adjusted to align with world coordinate system’s +Z direction.
Negative direction： For example, if primary direction axis is Z, the pose’s Z-axis will be adjusted to align with world coordinate system’s -Z direction. The operator checks the angle between current pose’s primary axis direction and target direction, performing 180-degree rotation adjustment if the angle is greater than or equal to 90 degrees.

Secondary Direction Axis

Parameter Description

After primary direction axis adjustment is completed, select the secondary axis (X, Y, or Z) of pose coordinate system that needs further orientation optimization, ensure selected secondary axis differs from primary direction axis. (Effective when "Adjustment Strategy" selects "Constrain specified axis direction")

Parameter Adjustment

Used to eliminate rotational freedom around primary direction axis. For example, if primary axis is Z-axis, X-axis can be selected as secondary axis.

Secondary Axis Specified Direction

Parameter Description

Specify that the selected "Secondary Direction Axis" should try to align its direction to the target direction of corresponding world coordinate system axis after primary axis adjustment is completed. (Effective when "Adjustment Strategy" selects "Constrain specified axis direction")

Parameter Adjustment

Positive direction (Default) / Negative direction：Similar to primary axis, operator checks angle between current secondary axis direction and target direction, performing 180-degree rotation around primary axis if angle exceeds 90 degrees.
Maintain original direction： Do not make additional adjustments to secondary axis direction, maintain its relative orientation after primary axis adjustment.

Specified Direction Axis

Parameter Description

Select which axis (X, Y, or Z) of pose coordinate system needs to be precisely aligned to target direction. (Effective when "Adjustment Strategy" selects "Align axis to specified direction")

Parameter Adjustment

Select the tool axis that needs alignment, such as tool’s Z-axis.

Selected Axis Specified Direction

Parameter Description

Provide a three-dimensional vector defining the target direction that "Specified Direction Axis" needs to align to. (Effective when "Adjustment Strategy" selects "Align axis to specified direction")

Parameter Adjustment

Input a vector representing direction, for example [0, 0, 1] represents alignment to world coordinate system’s Z-axis positive direction, [1, 0, 0] represents alignment to X-axis positive direction, can also be any direction like [1, 1, 0] (operator internally normalizes).

Parameter Range

Default: [0, 0, 1]

Fixed Direction Axis

Parameter Description

After "Specified Direction Axis" completes alignment, select another axis (X, Y, or Z) of pose coordinate system as reference for eliminating rotation around alignment axis. Note it must differ from specified direction axis. (Effective when "Adjustment Strategy" selects "Align axis to specified direction")

Parameter Adjustment

Select an axis that needs further directional constraint after alignment.

Fixed Axis Specified Direction

Parameter Description

Specify that the selected "Fixed Direction Axis" should try to point toward which direction of world coordinate system corresponding axis after primary axis alignment. (Effective when "Adjustment Strategy" selects "Align axis to specified direction")

Parameter Adjustment

Positive direction (Default) / Negative direction: Operator checks angle between fixed axis and world coordinate system corresponding axis (determined by which world axis the fixed axis points to, e.g., if fixed axis is X, compare with world X axis or the closest among Y/Z axes) direction, rotating 180 degrees around aligned "Specified Direction Axis" if needed (angle greater than 90 degrees).
No specified direction : Do not apply additional constraints to fixed axis.

Enable Node

Parameter Description

Controls whether this operator performs orientation restriction operations.

Parameter Adjustment

If switch is enabled, operator functions normally;
If switch is disabled, operator performs no operations and directly passes input pose list to output port.