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.
How to use the Quaternion ↔ Euler Converter
- 1Type a quaternion (x, y, z, w), or roll / pitch / yaw in degrees or radians.
- 2The other form, axis-angle and rotation matrix update instantly, and the 3D preview shows the orientation.
- 3Copy the result as plain numbers, a geometry_msgs/Quaternion or a URDF rpy attribute.
Quaternion (x, y, z, w)
|q| = 1.0000
Roll / Pitch / Yaw
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 = Rz(yaw) · Ry(pitch) · Rx(roll). Matches geometry_msgs/Quaternion and <origin rpy="r p y"/> in URDF.