diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp
index 7953ed3..a4a1c12 100644
--- a/sourceCode/workpieceHolePositioning.cpp
+++ b/sourceCode/workpieceHolePositioning.cpp
@@ -6,7 +6,8 @@
 #include <limits>
 
 //version 1.0.0 : base version release to customer
-std::string	m_strVersion = "1.0.1";
+//version 1.0.2 : 添加了工件姿态（欧拉角输出)
+std::string	m_strVersion = "1.0.2";
 const char* wd_workpieceHolePositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -514,6 +515,7 @@ void wd_workpieceHolePositioning(
 		y_dir = { y_dir.x / modLen, y_dir.y / modLen, 0 };
 		a_workpiece.y_dir = { y_dir.x * 20 + a_workpiece.center.x, y_dir.y * 20 + a_workpiece.center.y, a_workpiece.center.z };
 		a_workpiece.z_dir = { a_workpiece.center.x, a_workpiece.center.y, a_workpiece.center.z - 20 };
+
 		workpiecePositioning.push_back(a_workpiece);
 	}
 
@@ -535,6 +537,38 @@ void wd_workpieceHolePositioning(
 			rpt = _ptRotate(workpiecePositioning[i].holesDir[j], groundCalibPara.invRMatrix);
 			workpiecePositioning[i].holesDir[j] = rpt;
 		}
+
+		SVzNL3DPoint vector_z = { workpiecePositioning[i].z_dir.x - workpiecePositioning[i].center.x,
+									workpiecePositioning[i].z_dir.y - workpiecePositioning[i].center.y,
+									workpiecePositioning[i].z_dir.z - workpiecePositioning[i].center.z };
+		SVzNL3DPoint vector_y = { workpiecePositioning[i].y_dir.x - workpiecePositioning[i].center.x,
+									workpiecePositioning[i].y_dir.y - workpiecePositioning[i].center.y,
+									workpiecePositioning[i].y_dir.z - workpiecePositioning[i].center.z };
+		double mod_vz = sqrt(pow(vector_z.x, 2) + pow(vector_z.y, 2) + pow(vector_z.z, 2));
+		vector_z = { vector_z.x / mod_vz, vector_z.y / mod_vz, vector_z.z / mod_vz }; //归一化
+		double mod_vy = sqrt(pow(vector_y.x, 2) + pow(vector_y.y, 2) + pow(vector_y.z, 2));
+		vector_y = { vector_y.x / mod_vy, vector_y.y / mod_vy, vector_y.z / mod_vy }; //归一化
+		//叉乘出vector_x
+		SVzNL3DPoint vector_x;
+		vector_x.x = vector_y.y * vector_z.z - vector_z.y * vector_y.z;
+		vector_x.y = vector_y.z * vector_z.x - vector_z.z * vector_y.x;
+		vector_x.z = vector_y.x * vector_z.y - vector_z.x * vector_y.y;
+		//得到旋转矩阵
+		double R[3][3];
+		R[0][0] = vector_x.x;
+		R[1][0] = vector_x.y;
+		R[2][0] = vector_x.z;
+
+		R[0][1] = vector_y.x;
+		R[1][1] = vector_y.y;
+		R[2][1] = vector_y.z;
+
+		R[0][2] = vector_z.x;
+		R[1][2] = vector_z.y;
+		R[2][2] = vector_z.z;
+
+		SSG_EulerAngles eulerAngle = rotationMatrixToEulerZYX(R);
+		workpiecePositioning[i].workpiecePose = eulerAngle;
 	}
 	return;
 
diff --git a/sourceCode/workpieceHolePositioning_Export.h b/sourceCode/workpieceHolePositioning_Export.h
index 03fc106..e7653fa 100644
--- a/sourceCode/workpieceHolePositioning_Export.h
+++ b/sourceCode/workpieceHolePositioning_Export.h
@@ -21,6 +21,7 @@ typedef struct
 	SVzNL3DPoint center;
 	SVzNL3DPoint z_dir;
 	SVzNL3DPoint y_dir;
+	SSG_EulerAngles workpiecePose;
 }WD_workpieceInfo;
 
 //读版本号