Transform the orientation of the robot between 2 frames

MEC_R

Hello, what is the best way to transform the orientation of the robot between 2 frames?
I have 2 robots that I am trying to synchronize in a master-slave system, the usual position is simple but the orientation is not so obvious. I read the position of the master robot and transform it to the slave base frame. So far I have managed with the position but not with the orientation.
I will be grateful for any help.
Thanks a lot!

bcastets

Maybe you could have a look to this article:
https://dof.robotiq.com/discussion/2281/urscript-calculate-point-coordinate-from-a-custom-frame#latest

MEC_R

Thanks for the answer. For some reason I don't get the correct values when I use this approach. in my case:
I have a new frame that only rotates around the z-axis by 254°, as far as I do:

frame = [0.0, 0.0, 0.0, 0.0, 0.0, 4,43314]
point_from_frame = pose_trans(pose_inv(frame),point_from_base)

the values I receive do not match my expectations

I hope you can help me with it

MEC_R

frame = [0.0, 0.0, 0.0, 0.0, 0.0, 4.43314]
and as better explanation:
 
i need result because i have the pose2 and pose1 is the transformation between start and Ref. in my case there is no translation between Start and Ref, i have only Rotation around Z-axis by 254°.
another question is representing Pose1 by [0.0, 0.0, 0.0, 0.0, 0.0, 4.43314] correct?

bcastets

The formula you are using is the following:
point_from_frame=pose_trans(pose_inv(frame),point_from_base)

frame = [0.0, 0.0, 0.0, 0.0, 0.0, 4.43314]

point_from_base= input of the function

This will return the coordinate of "point_from_base" (expressed in base referential) in frame referential.

I guess the result will be something like [x,y,z,0,0,0]