rpy_to_matrix¶

urdfpy.rpy_to_matrix(coords)[source]¶

Convert roll-pitch-yaw coordinates to a 3x3 homogenous rotation matrix.

The roll-pitch-yaw axes in a typical URDF are defined as a rotation of r radians around the x-axis followed by a rotation of p radians around the y-axis followed by a rotation of y radians around the z-axis. These are the Z1-Y2-X3 Tait-Bryan angles. See Wikipedia for more information.

Parameters:	coords ((3,) float) – The roll-pitch-yaw coordinates in order (x-rot, y-rot, z-rot).
Returns:	R – The corresponding homogenous 3x3 rotation matrix.
Return type:	(3,3) float