Quaternion ↔ Euler Converter

Edit either representation and the other updates live. Uses the same roll-pitch-yaw convention as ROS/URDF (fixed-axis X-Y-Z), so values copy straight into geometry_msgs/Quaternion or a URDF <origin rpy=""/>. Runs entirely in your browser.

Quaternion (x, y, z, w)

|q| = 1.0000

xyzw

Roll / Pitch / Yaw

roll (x) degpitch (y) degyaw (z) deg

Axis-angle

axis = [1.0000, 0.0000, 0.0000]

angle = 0.000° (0.0000 rad)

Rotation matrix

1.0000.0000.0000.0001.0000.0000.0000.0001.000

Uses the ROS/URDF convention: quaternion order (x, y, z, w), and roll-pitch-yaw as fixed-axis (extrinsic) X-Y-Z rotations — i.e. R = R_z(yaw) · R_y(pitch) · R_x(roll). Matches geometry_msgs/Quaternion and <origin rpy="r p y"/> in URDF.