---
title: "InstancePoses3D"
---
<!-- DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/docs/website.rs -->

One or more transforms applied on the current entity's transform frame.

Unlike [`archetypes.Transform3D`](https://rerun.io/docs/reference/types/archetypes/transform3d), it is *not* propagated in the transform hierarchy.
If [`archetypes.CoordinateFrame`](https://rerun.io/docs/reference/types/archetypes/coordinate_frame) is specified, it acts relative to that coordinate frame,
otherwise it is relative to the entity's implicit coordinate frame.

Whenever you log this archetype, the state of the resulting overall pose is fully reset to the new archetype.
This means that if you first log a pose with only a translation, and then log one with only a rotation,
it will be resolved to a pose with only a rotation.
(This is unlike how we usually apply latest-at semantics on an archetype where we take the latest state of any component independently)

From the point of view of the entity's coordinate system,
all components are applied in the inverse order they are listed here.
E.g. if both a translation and a mat3x3 transform are present,
the 3x3 matrix is applied first, followed by the translation.

Currently, many visualizers support only a single instance transform per entity.
Check archetype documentations for details - if not otherwise specified, only the first instance transform is applied.
Some visualizers like the mesh visualizer used for [`archetypes.Mesh3D`](https://rerun.io/docs/reference/types/archetypes/mesh3d),
will draw an object for every pose, a behavior also known as "instancing".

## Fields
### Optional
* `translations`: [`Translation3D`](../components/translation3d.md)
* `rotation_axis_angles`: [`RotationAxisAngle`](../components/rotation_axis_angle.md)
* `quaternions`: [`RotationQuat`](../components/rotation_quat.md)
* `scales`: [`Scale3D`](../components/scale3d.md)
* `mat3x3`: [`TransformMat3x3`](../components/transform_mat3x3.md)


## Can be shown in
* [Spatial3DView](../views/spatial3d_view.md)
* [Spatial2DView](../views/spatial2d_view.md) (if logged above active projection)
* [DataframeView](../views/dataframe_view.md)

## API reference links
 * 🌊 [C++ API docs for `InstancePoses3D`](https://ref.rerun.io/docs/cpp/stable/structrerun_1_1archetypes_1_1InstancePoses3D.html)
 * 🐍 [Python API docs for `InstancePoses3D`](https://ref.rerun.io/docs/python/stable/common/archetypes#rerun.archetypes.InstancePoses3D)
 * 🦀 [Rust API docs for `InstancePoses3D`](https://docs.rs/rerun/latest/rerun/archetypes/struct.InstancePoses3D.html)

## Examples

### Regular & instance transforms in tandem

snippet: archetypes/instance_poses3d_combined

<picture data-inline-viewer="snippets/archetypes/instance_poses3d_combined">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/1200w.png">
  <img src="https://static.rerun.io/leaf_transform3d/41674f0082d6de489f8a1cd1583f60f6b5820ddf/full.png">
</picture>

### 3D mesh with instancing

snippet: archetypes/mesh3d_instancing

<picture data-inline-viewer="snippets/archetypes/mesh3d_instancing">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/1200w.png">
  <img src="https://static.rerun.io/mesh3d_leaf_transforms3d/c2d0ee033129da53168f5705625a9b033f3a3d61/full.png">
</picture>

