1 rotate_yaw_cw90

utils.rotate_yaw_cw90(pose_world_cam, undo=False)

Rotate a pose by 90° clockwise about its local +Z axis.

1.1 Important

Despite the historical name, this is a local-frame rotation (right-multiplication) about the pose’s +Z axis. In the Aria LUF convention (+Z = forward), this is a roll/twist that swaps the local +X/+Y axes.

1.2 Why this exists

Project Aria tooling/visualisations sometimes apply a fixed 90° twist for display.
In our candidate generation pipeline we also apply this to the reference pose as a rig-basis correction so that sampling assumptions (LUF: x=left, y=up, z=fwd) match the incoming t_world_rig basis (otherwise azimuth/elevation look swapped).

1.3 Caution

Apply this conversion at most once in any given path; applying it again in plotting will look like an azimuth/elevation swap once roll jitter is enabled.

# rotate_yaw_cw90 { #aria_nbv.utils.rotate_yaw_cw90 }

```python
utils.rotate_yaw_cw90(pose_world_cam, undo=False)
```

Rotate a pose by 90° clockwise about its **local +Z axis**.

## Important {.doc-section .doc-section-important}

Despite the historical name, this is a *local-frame* rotation (right-multiplication)
about the pose's +Z axis. In the Aria LUF convention (+Z = forward), this is a
**roll/twist** that swaps the local +X/+Y axes.

## Why this exists {.doc-section .doc-section-why-this-exists}

- Project Aria tooling/visualisations sometimes apply a fixed 90° twist for display.
- In our candidate generation pipeline we also apply this to the **reference pose**
  as a rig-basis correction so that sampling assumptions (LUF: x=left, y=up, z=fwd)
  match the incoming `t_world_rig` basis (otherwise azimuth/elevation look swapped).

## Caution {.doc-section .doc-section-caution}

Apply this conversion **at most once** in any given path; applying it again in
plotting will look like an azimuth/elevation swap once roll jitter is enabled.