> Vaughan Williams mentions the German poem of the Knight of Staufenberg (c. 1310). Does anyone have a translation of that poem?

There's a translation by Robert Jamieson in "Illustrations of Northern Antiquities", 1814: https://archive.org/stream/illustrationsofn00webe#page/n0/mode/2up , pp. 255-265, but it's in an imitation of 14th century English (or Scots) so it doesn't look the easiest of reading. Does anyone know a more modern one?