We support RPY Euler angles, e.g.:
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def get_global_link_rpy(self, link, q): |
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"""Get the Roll-Pitch-Yaw angles in the global frame.""" |
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return Quaternion.fromvec(self.get_global_link_quaternion(link, q)).getrpy() |
However, it would be good to support general Euler angles with a similar interface to as_euler from Scipy.