🟧 Split Rotation Pose Data
Function Description
This operator can process a list containing multiple rotation poses, converting each rotation vector in the list to a standard 3x3 rotation matrix, and extracting three orthogonal direction unit vectors from it: X-axis, Y-axis, and Z-axis direction vectors. Additionally, it can also perform inversion operations on these three output axis vectors individually.
Usage Scenarios
-
Extract single direction vectors for subsequent motion planning, pose judgment, or communication with robots.
-
Filter based on the direction of a certain extracted axis vector. For example, only keep those grasping poses whose Z-axis direction is roughly parallel to the world coordinate system Z-axis (such as [0, 0, 1]), thus achieving grasping only objects facing upward.
Input Output
Input |
Rotation Information in Grasp Object Pose: A list where each element is a 3D rotation vector. |
Output |
X-axis Vector after Pose Data Decomposition: A list containing X-axis direction vectors extracted from each input rotation. Y-axis Vector after Pose Data Decomposition: A list containing Y-axis direction vectors extracted from each input rotation. Z-axis Vector after Pose Data Decomposition: A list containing Z-axis direction vectors extracted from each input rotation. |
Parameter Description
X/Y/Z Axis Vector Inversion
Parameter Description |
Control whether to invert the direction of the output X-axis/Y-axis/Z-axis vectors by 180 degrees. |
Parameter Adjustment |
|