Re: [ros-users] Combining rotations in urdf model

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
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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