Hi,

I’m dealing with that problem:

I have an AnySeg (seg1) linked to GlobalRef with a spherical joint (joint1).

I would set seg1 as initially rotated about 10, 20 and 25 degrees around x, y and z consecutively.

So in AnySeg seg1 I set:

Axes0 = RotMat(10*pi/180, x)*RotMat(20*pi/180, y)*RotMat(25*pi/180, z);

Then I write joint1:

```
AnySphericalJoint joint1 =
{
AnyRefNode &n_link1 = .GlobalRef.linkNode;
AnyRefNode &n_link2 = .seg1.linkNode;
};
```

And the Driver (driver1) just imposing DriverPos to be equal to Axes0 configuration (avoiding movements so DriverVel=0 for all axes):

```
AnyKinEqSimpleDriver driver1 =
{
AnySphericalJoint &joint = .joint1;
DriverPos = {10*pi/180, 20*pi/180, 25*pi/180};
DriverVel = {0,0,0};
MeasureOrganizer = {0,1,2};
};
```

The problem is that the appearence of seg1 in the 3D space after loading the model looks visually and numerically different when running InitialCondition in MyStudy folder. It seems that when AnyBody loads DriverPos calculatin the starting configuration, the angles are managed differently from that in Axes0.

I know that the order given to define Axes0 is fundamental but how is possible to compute the correct DriverPos from the rotations used to define Axes0?

Thanks in advance!

Tito

P.S. using AnyBody v.6