[ REQ 5967]: HELP!!!

[reine at cat.rpi.edu]

I have a demo due tomorow, and have been having some trouble.
I have a robot object and a pipe object, and I am moving the
robot through the pipe.  

When I started I was using the transform robot robot robot rotation ang ang ang
and the same for translation.  That worked well, but I had trouble with 
changing my rotation matrix into 3 angles.. can't be done.  So, I went
on to using the xform command.  Here is my problem:  

When I use xform, I have trouble with the rotation part.  As the robot
moves throught the pipe, it does not carry the rotation matrix with
it.  Instead, it rotates about the zero point when the robot started.
So, I then tried the xform-set command, and that worked excellent 
with the rotation part, but then the translation part was messed up.
note: i have been taking into account absolute/relative measurements, 
and those are not the problem.
Ok.  The problem with the translation is that it was not moving as 
far as it should have been.  Ater consulting peopl here, it is 
estimated that I am having trouble with the scaling part of the rotational
matrix, the last column.  

Do you think that that is the problem?  how do I fix it?

I have it psuedo working by multiplying the tranlation distances
by 1.8.. and it should be ok for the demo, but I would like it
to work correctly if that is possible.



			thank you for you help... I have spent a long
			time getting it to this point.


				john