🟧 Generate Rigid Transformation Matrix

Function Description

Generate a 4x4 homogeneous transformation matrix based on set translation and rotation vectors.

Usage Scenarios

  • Manually define coordinate systems: When needing to manually define a fixed coordinate system transformation, for example, setting the installation position of a camera relative to the robot base, or defining a fixed position of a workpiece on the workstation.

  • Generate transformation parameters: Provide a manually adjustable transformation matrix for other operators that need transformation matrices as input (such as "Grasp Object Pose Transform").

Input Output

Input

Empty input

Output

Output Rigid Transformation Matrix: 4x4 homogeneous transformation matrix generated based on set translation and rotation vectors.

Parameter Description

Translation Rotation Vector

Parameter Description

Define a list containing 6 elements for generating the transformation matrix.

Parameter Adjustment

Translation rotation vector is a list of length 6 describing the position and pose of a rigid body in space, in format: [tx, ty, tz, rx, ry, rz], where the first 3 numbers represent the translation vector in 3D space, and the last 3 numbers represent rotation angles.