How to get roll/pitch/yaw angles of occurrence & joints ? (not transform matrix)

[devemin]

Hello.

I like the Fusion 360, and I'm beginner.

I want to get the angles of occurrence. (roll / pitch / yaw )

I will use it for making the URDF files. (for ROS (Robot Operating System) ).

So, I get the occurrence 's transform (Matrix3D) property.

I can convert the matrix to angles.

But I t think that this may occur gimbal lock (loss of axis).

And It's not simple way.

Can anybody suggest me the another way of getting angles of occurrences ?

Thanks.

ref: 

1.

https://github.com/KobayashiRui/Fusion360_SDF_Export/blob/master/URDF_Export/urdf_export.py

2.

https://help.autodesk.com/view/fusion360/ENU/?guid=GUID-7fb9ea55-5c24-4c27-b1c4-2e92f42774f7

3.

https://github.com/SpaceMaster85/fusion2urdf

[debreuil · Accepted solution]

I'm not sure I fully understand, but maybe the coordinateSystem methods on Matrix3D would help? They work in the vectors of the coordinate systems, with an offset origin. Apologies if you've seen this and mean something else...

getAsCoordinateSystem: Gets the matrix data as the components that define a coordinate system.
setWithCoordinateSystem: Sets the matrix based on the components of a coordinate system.
setToAlignCoordinateSystems: Sets this matrix to be the matrix that maps from the 'from' coordinate system to the 'to' coordinate system.

[devemin]

Hello debreuil.

Thanks for your reply.

Maybe it is right way of getting angles.

I will check the properties from now on! I will try it.

Thanks. 🙂

devemin