Transform matrix, whom to whom?

[phylliade]

Transform matrix, whom to whom?

[Phylliade]

Hello @leemengwei,

could you paste the code that procuded these outputs?

[leemengwei]

Ops the codes are gone, I've modified them, yet my uncertain remains the same. The first matrix I gave out
[[[ 1. 0. 0. 0. ]
[ 0. 1. 0. 0. ]
[ 0. 0. 1. 0. ]
[ 0. 0. 0. 1. ]]
is something like base frame, world frame or say, I guess.
The second matrix
[[ 1. 0. 0. 0. ]
[ 0. -0. -1. -0.43]
[ 0. 1. -0. 0. ]
[ 0. 0. 0. 1. ]]
is frame I got after forward kinematic , something I got by:
new_frame = np.array(my_chain.forward_kinematics(six_axis)

what does the second matrix mean? Is't transformation from base to new, or from new to base? (I think is the new to base, am I right?)
Thanks

[Phylliade]

This matrix is a position/orientation of the end-effector encoded as homogeneous coordinates;

[[ 1. 0. 0. 0. ]
[ 0. -0. -1. -0.43]
[ 0. 1. -0. 0. ]
[ 0. 0. 0. 1. ]]

With this, you can see that your position is matrix[3, :3], so here the position of your end-effector is [0, -0.43, 0]