_default_attitude issue

[wyqsnddd]

Dear Developers,

In the mc_robot package, the following entry would lead to a wierd orientation (running the Posture task):

 _default_attitude = {{1., 0., 0., 0., 0., 0., 0.58}}; // quaternion, then translation

By changing it to _default_attitude = {{0.58, 0., 0., 1., 0., 0., 0}}; // translation, then quaternion, the orientation is fine by running the Posture task.

This is different from the provided example, i.e., JVRC1: jvrc1.cpp and Go1: go1.cpp. In both cases, the default_attitude starts with quaternion.

Best,

Yuquan

[rohanpsingh]

Hi, can you point me to the exact line of code where you see this discrepancy?

[wyqsnddd]

That line belongs to a mc_robot package associated with mc_rtc robot module.

Basically, we realized that a root joint (strict name spelling) of type free is mandatory in the xml. Otherwise, it seems that mc_mujoco can not read the floating base pose.