# Tag Info

## Hot answers tagged transformation

### Is the translational vector (positon) in transformation matrices in cm or another unit (MATLAB)?

They are in whatever units the kinematic analysis uses. It could be feet, inches, meters, millimeters, or whatever. Your question is a bit like asking “what unit is the Pythagorean theorem written ...
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### World and Map Frame for a real robot

As you've figured, static transforms are valid for fixed offsets such as sensor positions. They are the minimal solution the more complete recommended solution is to setup a robot model. There's ...
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### Calculate transform from different poses

I am just going to explain from the basics. So feel free to skip through the first part and scroll to the bottom if you want the answer. Basics: The 3 parameters of your pose are $x,y,\theta$. These ...
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### Obtaining Heading vector from IMU

Probably the easiest way to do this would be to convert from Quaternion to Roll-Pitch-Yaw rotations, and then your heading is the Yaw angle. I'll note that the Yaw angle is not fixed/correct unless ...
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### Conveyor Belt Calibration for a Robot - Rotation Matrix

A general approach would be to construct a so called axis-angle representation and convert that to a rotation matrix representation. On order to do so, one could start with a normal vector of the ...
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### orientation transformation

Your 6d vector can also be considered a frame. Lets call it the frame of the object. Convert your 6d vector to something easier to work with like Homogeneous Transforms. Another alternative is ...
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### homogeneous transformation matrix only given sensor extrinsic values

You can do this easily just by using homogeneous transformation. Attach a local frame to each sensor , and make sure your sensor measurements can be represented in this frame. For example, I would ...
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### How to get transform between two fixed frames using a camera

The most simple and easy way is using a common third frame. Attach a camera to the end effector of each robot and place a calibration board on the ground. Do a hand to eye calibration using the ...
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### URDF for a real robot

For a real robot, do I need a URDF as well? It is not necessary to create a URDF for a real robot, but it's highly recommended. Many of the tools are designed to leverage it. For example the ...
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### Transform Velocity data from sensor frame to world frame

You can use the rotation matrix. linear_v= R*sensor_linear_v + p X sensor_angular_v p is the translation vector and the X is the cross operator angular_v=R*sensor_angular_v

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