totovr
February 15, 2019, 5:57am
1
I would like to rotate one prefab in Unity, currently the position is tracked but I have some problems with the rotation.

```
Quaternion jointOrient = Quaternion.Inverse((CalibrationInfo.SensorOrientation) * joint.ToQuaternion());
CreatedJoint[q].transform.localRotation = jointOrient;
```

Hi Antonio,

Please describe your issue in more detail. Is it rotated incorrectly or not rotated at all? Do you need to use `Quaternion.Inverse`

?

Here is a possible solution:

```
Quaternion jointOrient = (CalibrationInfo.SensorOrientation) * joint.ToQuaternion();
CreatedJoint[q].transform.localRotation = jointOrient;
```

totovr
February 15, 2019, 12:13pm
3
Thanks for the response, actually is not rotating in a correct way, and also I tried with out using of `Quaternion.Inverse`

.

The the main code for the rotation purpose is the next one:

```
void Start()
{
CreatedJoint = new GameObject[typeJoint.Length];
for (int q = 0; q < typeJoint.Length; q++)
{
if (q == 8)
{
CreatedJoint[q] = Instantiate(LeftHand);
CreatedJoint[q].transform.SetParent(transform);
} else if (q == 9)
{
CreatedJoint[q] = Instantiate(RightHand);
CreatedJoint[q].transform.SetParent(transform);
}
}
message = "Skeleton created";
}
void Update()
{
// Track the first user
if (CurrentUserTracker.CurrentUser != 0)
{
Skeleton skeleton = CurrentUserTracker.CurrentSkeleton;
message = "Skeleton found";
for (int q = 0; q < typeJoint.Length; q++)
{
if (q == 8)
{
nuitrack.Joint joint = skeleton.GetJoint(typeJoint[q]);
// For the position
UnityEngine.Vector3 newPosition = 0.001f * joint.ToVector3(); // This is a 3D unity Vector
CreatedJoint[q].transform.localPosition = newPosition;
// For the rotation
//Quaternion jointOrient = Quaternion.Inverse((CalibrationInfo.SensorOrientation) * joint.ToQuaternion());
//CreatedJoint[q].transform.localRotation = jointOrient;
}
else if (q == 9)
{
nuitrack.Joint joint = skeleton.GetJoint(typeJoint[q]);
// For the position
UnityEngine.Vector3 newPosition = 0.001f * joint.ToVector3(); // This is a 3D unity Vector
CreatedJoint[q].transform.localPosition = newPosition;
// For the rotation
//Quaternion jointOrient = Quaternion.Inverse((CalibrationInfo.SensorOrientation) * joint.ToQuaternion());
//CreatedJoint[q].transform.localRotation = jointOrient;
}
}
}
else
{
message = "Skeleton not found";
}
}
```

Can you please record a video that shows this issue? Everything should work fine without `Quaternion.Inverse`

.

totovr
February 19, 2019, 4:13am
5
I removed the `Quaternion.Inverse`

but still not working

video

Looks like it is inverted 180 degrees.

You can try to add offset. You can do it in one of two ways:

Add 180 degrees to the axis (axes) in your code (the rotation part).
In Unity editor: create an empty object and move it using Nuitrack. Make the object in your video (a hand with a ski pole?) a child to this object. Inside the empty object, rotate the hand with a ski pole by 180 degrees.