From ccb9038e454c1a6ad9d8ea5d3c2c0c32b8c13f3f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Nicol=C3=B2=20Genesio=20=28=E4=BA=8C=E3=82=B3=E3=82=B2?= =?UTF-8?q?=E3=83=8D=29?= Date: Tue, 6 Feb 2024 11:31:16 +0100 Subject: [PATCH] Fix rfe imu frame orientation As explained here: - https://github.com/robotology/icub-models/issues/231#issuecomment-1929020207 The error was due to the fact that we used the wrong sequence (XYZ) for converting the rotation matrix to euler angles --- simmechanics/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt index cf24d92..fcee237 100644 --- a/simmechanics/CMakeLists.txt +++ b/simmechanics/CMakeLists.txt @@ -276,7 +276,7 @@ macro(generate_icub_simmechanics) set(RFE_ADDITIONAL_TRANSFORMATION "") if(GIVTWO_ICUB_2_6 OR GIVTWO_ICUB_2_7) set(RFE_ADDITIONAL_TRANSFORMATION - "additionalTransformation: [0.0323779, -0.0139537, 0.072, -3.14159265358979, 0, -1.5707963267949]") + "additionalTransformation: [0.0323779, -0.0139537, 0.072, 3.14159265358979, 0, 1.5707963267949]") endif() # The ICUB_2_7 option is used to modify the iCub 2.5.5 model to