Kirila,
You can convert between any two of the 24 angle set conventions (12 Euler angle and 12 fixed angle) by equating the rotation matrices associated to them and solving for the three unknown angles (e.g., Rxyz = Rxzx). One source for all 24 conventions is this book:
@book{
author = {Craig, John J.},
title = {Introduction to Robotics: Mechanics and Control, 2nd Ed},
year = {1989},
publisher = {Addison-Wesley Longman Publishing Co., Inc.},
address = {Boston, MA, USA},
}
In the second Edition, it's in Appendix B (pages 442-444).
Adolfo
On Tue, Jun 15, 2010 at 10:50 AM, Kirila Adamova
<kirila.adamova@dfki.de> wrote:
Hello everybody,
I am currently trying to rotate a mesh around the z axis first, and then
around the y axis in a urdf 3d model. However, the model uses rpy, and
first executes the rotation around y, and then around z. This is what I
currently have: <origin xyz="0.0 0 0.0" rpy="0 0.314 1.57"/>. Does
anybody know how to change the angles and coordinates to get the right
orientation or how to specify the order of rotations?
Thanks,
Kirila
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Adolfo Rodríguez Tsouroukdissian, Ph. D.
Robotics engineer
PAL ROBOTICS S.L
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