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This is due to a mismatch between [rotx,roty,rotz] coordinates in the robot API and the controller, which may actually originate at KinRepresentation::decodeVelocity (this is the encodeX part):
PeterBowman
transferred this issue from roboticslab-uc3m/kinematics-dynamics
Dec 3, 2023
PeterBowman
changed the title
[AmorCartesianControl] Fix order of rotation parameters
Fix order of rotation parameters in Cartesian controller
Dec 3, 2023
There is a nasty FIXME annotation left in:
amor-yarp-devices/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp
Lines 229 to 232 in 21e41b1
This is due to a mismatch between [rotx,roty,rotz] coordinates in the robot API and the controller, which may actually originate at
KinRepresentation::decodeVelocity
(this is theencodeX
part):https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/30d59e2acfd1549e7b0e7d064cb76407a0fc02db/libraries/KinematicRepresentationLib/KinematicRepresentation.cpp#L250-L264
See also:
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