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Documenting the difference in quaternion representation between MuJoCo and Drake #11

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akhilsathuluri opened this issue Feb 13, 2024 · 1 comment

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akhilsathuluri commented Feb 13, 2024

API differences need to be noted when converting rotations between the simulator and the controller. For example,

MuJoCo API uses an [x, y, z, w] quaternion representation as shown here
Whereas, Drake uses the [w, x, y, z] ordering as described here

Contributor

traversaro commented Feb 13, 2024

See also https://github.com/clemense/quaternion-conventions for a general reference on quaternion conventions.

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