43 lines
1.2 KiB
ReStructuredText
43 lines
1.2 KiB
ReStructuredText
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Ball to Euler
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=============
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Introduction
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------------
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This processor turns the ``ball`` joints to three revolute joints. This can be convenient if your downstream simulator or tool can't handle ``ball`` joints.
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``config.json`` entries
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-----------------------
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.. code-block:: javascript
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{
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// ...
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// General import options (see config.json documentation)
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// ...
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// Convert balls to Euler (default: false)
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"ball_to_euler": true,
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// Euler angles order (default: "xyz")
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"ball_to_euler_order": "xyz",
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}
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``ball_to_euler`` *(default: false)*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If set to ``true``, all ball joints will be converted to Euler.
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If you don't want to convert all your ball joints, you can specify a list of joints as follows:
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.. code-block:: javascript
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{
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// Using specific joint lists, with wildcards
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"ball_to_euler": ["joint1", "shoulder_*"],
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}
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``ball_to_euler_order`` *(default: "xyz")*
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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If set, the order of the euler angles will be set to the given value. The default is ``xyz``.
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The order should be ``xyz``, ``xzy``, ``zyx``, ``zxy``, ``yxz`` or ``yzx``.
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