The y coordinate of world.n could not be set, so the result was that n = [0, -1, -1]
After some hacking around, I could eventually get n correct, but the wheel goes in the opposite direction compared to modelica
If I use Ra = ori(frame_a, true) and include Ra.w ~ Rarot.w, I get a completely different solution
The last two opints were due to a convention difference with modelica, fixed by negating the angle in axis_rotation. The first issue is more concerning
Lots of mysteries here
ycoordinate ofworld.ncould not be set, so the result was thatn = [0, -1, -1]ncorrect, but the wheel goes in the opposite direction compared to modelicaRa = ori(frame_a, true)and includeRa.w ~ Rarot.w, I get a completely different solutionThe last two opints were due to a convention difference with modelica, fixed by negating the angle in
axis_rotation. The first issue is more concerning