Hi everyone,

Does anyboy know which Euler convention (angles) is used by Universal Robots when displaying the angles under the name of "rotation vector"? I need it for a program external to the UR to use the angles I can read via the port 30003 or the RTDE 30004, but to do so,I have to know the convention if not I can not build the rotation matrix. I would like to avoid to have to run a program on Polyscope to convert the rotation vector angles into RPY angles.
For example: RPY angles are defined by 3 rotations according to 3 axes: X, Y, Z according to the fixed reference frame of the robot base. I would like to know according which axes are the rotation vector angles calculated.

Thank you very much for your help!

@Andre see attached. Does this help?

Thank you very much @Kaleb_Rodes for your help, that is exactly what I was looking for.

Have a nice day

Andrea

Hi @Kaleb_Rodes

Regarding the doc "Rotation vectors is differe..." the post is a bit old and I see that it has a "norm" function that is not used in the final result. Do you confirm that it is valid ?

Is there something as a Python library with up to date functions for UR ?

Thanks :-)