CoppeliaSim forums

Hello,

I am trying to calculate the orientation (alpha, beta, gamma), with respect to the global reference frame, of a part within CoppeliaSim, once I rotate it about the Z axis 30 degrees.

I read https://www.coppeliarobotics.com/helpFi ... Angles.htm but I am unsure on which angle rotation equation CoppeliaSim uses within the environment as several are mentioned.

When changing the orientation of an object within CoppeliaSim, is the total rotation calculated by: Rx(alpha)*Ry(beta)*Rz(gamma) with respect to the global reference frame?

Thanks in advance

Hello,

Euler angles are sometimes difficult to understand, and we ourselves often mix-up things, such as operation order, etc. ;)
Have a look at this scene that illustrates two different types of Euler angles, how to visualize them, and how to convert between them.

Cheers

Thank you! I was able to successfully implement and calculate the Euler angles.