Is there a function to get rx ry rz rotations of pose ?

[sancelot]

In this program, is there a function being able to return pose rotation of data.oMi for each joint ?
https://github.com/stack-of-tasks/pinocchio/blob/master/examples/overview-urdf.cpp

[stephane-caron]

Follow the type of an object to figure out the functions it provides. Here data.oMi is an SE3 object: search for "SE3" in the documentation and it will lead you to this page. You will find the rotation function in the list of public member functions. It will give you a rotation matrix, which you can then convert in the angular representation you prefer (tip: use anything you'd like except Euler angles).

Alternatively you can use Python to explore functions using TAB autocomplete:

In IPython, type pinocchio.SE3.some_function_name? to get the documentation of a function.

[sancelot]

Fine.