Greetings URCommunity, I am trying to mathematically calculate the pose_trans command. I have a pose p[-0.3205;-0.8276;-0.339;0,0,1.5712] and base coordinates p[0.6336;-0.0792;0.35;2.1995;2.2428;0.007]. When I run the command pose_trans(p[-0.3205;-0.8276;-0.339;0,0,1.5712], p[0.6336;-0.0792;0.35;2…

Hi, Mathematically, it is multiply of transformation matrix. But firstly, a point vector shall be translated to transformation matrix, the last three parameters in p[-0.3205;-0.8276;-0.339;0,0,1.5712] , ‘0,0,1.5712’ is in form of Rotation Vector, not RPY or other form. support site article for y…

Hi, Thank you very much for your reply. I had already found that page and even other posts but I was unable to wrap my brains around this. What I really wanted was to have a more in-depth explanation, step by step (I know this is not easy to do via forum) because I can’t seem to get there. Then aga…

Try looking here. [image] Pose_trans and pose_inv functions in URCap URCaps SDK For future readers, I managed to re-implement pose_trans and pose_inv in java. You first have to convert the pose to an affine transformation. To do this, you need to calculate the rotation ve…

Thank you very much. I had already skimmed through it and it works fine for the linear coordinates (x,y,z), but not for the angular ones. With the example I gave I was able to get to the -0.2413,-0.194,0.0118 as x,y,z respectively. Yet, a pose needs the angular part (Rx, Ry, Rz) and I can’t get to …

To make things easier to understand here’s what I have. One transformation matrix is: [Capture] Then there is another which is [Capture1] Mutliplying this I get the following matrix [Capture2] The last column corresponds to the transformed coordinates x,y,z (the 1 is irrelevant). If I use th…

As far as the rotation matrixes are concerned it should be something like this, right? [Capture3] The result however is this: [Capture4] Which is clearly not what I want to obtain

Please read through it ones more as it works for both. I have personally implemented the method described in this post an replicated pose_trans perfectly. it does both because the affine transformation matrix is a combined translation and rotations matrix. you should not calculate them individual…

Calculate pose_trans

Technical Questions

cg1 November 20, 2023, 11:17am 4

Try looking here.

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Calculate pose_trans

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