Ball to Euler

Introduction

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.

config.json entries

{
    // ...
    // General import options (see config.json documentation)
    // ...

    // Convert balls to Euler (default: false)
    "ball_to_euler": true,
    // Euler angles order (default: "xyz")
    "ball_to_euler_order": "xyz",
}

ball_to_euler (default: false)

If set to true, all ball joints will be converted to Euler.

If you don’t want to convert all your ball joints, you can specify a list of joints as follows:

{
    // Using specific joint lists, with wildcards
    "ball_to_euler": ["joint1", "shoulder_*"],
}

ball_to_euler_order (default: “xyz”)

If set, the order of the euler angles will be set to the given value. The default is xyz. The order should be xyz, xzy, zyx, zxy, yxz or yzx.