Universal Robots Forum

Pose rotation calculation

Does anyone know the range of the UR’s (rx,ry,rz) values used to set the rotation of the tool around an (x,y,z) point? Or is there any documentation on how these values are calculated?
I have a script that I am trying to run where the normal values of the tool all point in the correct direction, but the UR will spontaneously flip the normal vector in the opposite direction. I can inspect the normal values/rotation matrix at the trouble spot and the values are correct.
I am curious if the method I use to convert from rotation matrix to euler axis angles differs from UR’s method of interpreting euler axis angle values. All axis I compute are unit length and all angles I compute are between 0 and pi. I think the area I am most likely wrong about is the range of angle values.