Hi everyone,

I'm try to solve multibody dynamics problem using sympy. For which I have 
multiple reference frames for different components of my system. Some 
reference frames are related to each other by Euler rotations for which I'm 
able to use "orient_new_axis" command. But, some of my reference frames are 
related to each other by more complex relations for which Euler rotations 
do not work. Is there any way to define the mapping of one reference frame 
to another manually? 

I'm using "CoordSys3D" or "ReferenceFrame" commands to define reference frames.

Any help is greatly appreciated.


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