[force mode controller] Fix the task frame orientation (backport #1379) #1381
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* [force mode controller] Fix the task frame orientation Before, we were using a RPY notation. Chaning that to an angle-axis notation should fix things. * Update force_mode example to include a pose that is not in line with one of the main axes * Make test use an arbitraty orientation This should avoid a coincitental overlap if the transformation is wrong. (cherry picked from commit 8eb4288)
urfeex
approved these changes
May 28, 2025
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Before, we were using a RPY notation. Changing that to an angle-axis notation should fix things.
This should fix #1375
@bsolon-tri would you like to try that locally?
I want to add a test checking further orientations and an updated example before merging this, but testing things locally seem to have resolved the issue.
This is an automatic backport of pull request #1379 done by Mergify.