Hans,

I can understand you, rotation vector Rx,Ry,Rz is not an intuitive way to represent orientation. If you would like to calculate orientation programmatically, I will suggest you working in RPY representation and let the controller calculate the rotation vector for you. RPY is a more intuitive and methodologic way to calculate an orientation. Once you have calculated an orientation, You can use script function rotvec2rpy(rotation vector) and rpy2rotvec(rpy vector) to switch from one representation to the other.

You can also use the function pose_trans(p from, p from to) to rotate a calculated position around an axis.

Regards

Hans