# Stage2D

Stage2D is an orthonormal coordinate system that is attached to the motion stage's center of rotation, and moves and rotates along with the motion stage. In the initial position of the stage (that is when X and Y translations, and Theta rotation are zero), Stage2D coincides with Home2D.

The following figure shows the Stage2D coordinate space in blue in the case of stationary camera configuration.

The following figure shows the Stage2D coordinate space in blue in the case of moving camera configuration.