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Transform matrix, whom to whom? #76
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Hello @leemengwei, could you paste the code that procuded these outputs? |
Ops the codes are gone, I've modified them, yet my uncertain remains the same. The first matrix I gave out what does the second matrix mean? Is't transformation from base to new, or from new to base? (I think is the new to base, am I right?) |
This matrix is a position/orientation of the end-effector encoded as homogeneous coordinates;
With this, you can see that your position is |
Hi, thanks for your work. Great one, I like it. I'm doing some deeplearning research, thus I'm not quite familiar with robotics. Sorry for my innocent,
So here's my problem about what is 'real_frame' in code, does that mean to transform from end-effector to old one? (I think it is, but not sure)
Take two frame for example, world_frame and new_frame, when joint is given:
then returned two frames are:
[[[ 1. 0. 0. 0. ]
[ 0. 1. 0. 0. ]
[ 0. 0. 1. 0. ]
[ 0. 0. 0. 1. ]]
[[ 1. 0. 0. 0. ]
[ 0. -0. -1. -0.43]
[ 0. 1. -0. 0. ]
[ 0. 0. 0. 1. ]]
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