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MEC_RMEC_R Posts: 8 Apprentice
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!

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  • bcastetsbcastets Vacuum Beta tester Posts: 601 Expert
  • MEC_RMEC_R Posts: 8 Apprentice
    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_RMEC_R Posts: 8 Apprentice
    edited January 29
    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?
  • bcastetsbcastets Vacuum Beta tester Posts: 601 Expert
    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]
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