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what does the"rpy" in URDF file means?

asked 2014-01-03 18:52:31 -0500

peter_pan_lqm gravatar image

updated 2014-01-06 04:40:25 -0500

130s gravatar image

<origin xyz="-2 5 0" rpy="0 0 1.57"/>.this is just a small part of the urdf file.actually i do not know the meaning of"rpy=0 0 1.57".what does rpy stand for?

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answered 2014-01-03 19:09:32 -0500

130s gravatar image

This thread might give you a good insight about roll, pitch, yaw in ROS.

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peter_pan_lqm gravatar image peter_pan_lqm  ( 2014-01-06 00:38:28 -0500 )edit

answered 2017-02-14 10:35:09 -0500

AndyZe gravatar image

updated 2017-02-14 10:35:57 -0500

Some hints after doing this recently:

Roll is applied first about the X-axis of the previous joint. The frame you're modifying will rotate X radians about the previous X-axis.

Pitch is applied next about the Y-axis of the previous joint. Yaw is applied last about the Z-axis of the previous joint.

Each rotation seems to be capped at pi radians. For example, if you enter a pitch of 3.9 radians, the actual rotation you see will only be pi radians.

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Asked: 2014-01-03 18:52:31 -0500

Seen: 12,151 times

Last updated: Feb 14 '17