Need context regarding rpy and xyz <origin> in <link> <joint>?

<?xml version="1.0"?>
<robot name="mira">
    <link name="base_link">
        <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <cylinder radius="0.06" length="0.09"/>
        </geometry>
        </visual>
    </link>
  
    <link name="roll_M1_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <cylinder radius="0.06" length="0.09"/>
            </geometry>
        </visual>
    </link>
    
    <joint name="roll_joint" type="revolute">
        <parent link="base_link"/>
        <child link="roll_M1_link"/>
        <origin xyz="0.0023 0 -0.0005" rpy="0 0 0"/>
        <limit lower="-0.2" upper="0.2" effort="0.1" velocity="0.005"/>
        <axis xyz="1 0 0"/>
    </joint>
  
</robot>

what does rpy,xyz stand for ? how is the number calculated ?

Hi @vasank1958,

xyz is the position of the object in the 3D space and rpy stands for row, pitch, yaw and it’s used to determine the orientation/angle of the object.

This short video can give you a better idea about row, pitch and yaw: https://www.youtube.com/watch?v=pQ24NtnaLl8

Please let us know in case you have further related questions.

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