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Hi barthelemy,

Is the new addition proposed the section below?

combining the xyz and rpy attributes, here is how one can change the coordinates of a point "p" from the child frame to the parent frame:

  p_parent = [x;y;z] + Rz(yaw)*Ry(pith)*Rx(roll)*p_child
  Rx(a) = [1, 0, 0;  0, cos(a), -sin(a);  0, sin(a), cos(a)]
  Ry(a) = [cos(a), 0, sin(a);  0, 1, 0;  -sin(a), 0, cos(a)]
  Rz(a) = [cos(a), -sin(a), 0;  sin(a), cos(a) 0;  0, 0, 1]

Is it sufficient to mention just text below instead?

When combining xyz and rpy attributes, translation is applied first, followed by fixed-axis rotations.

or am I missing something?

Thanks,

-John