Coordinate System

Head-Centric Coordinate Illustration

The head orientation of Zenbo is set to landscape mode by default.

For more details, please refer to the standard principles officially defined by Android:
https://developer.android.com/guide/topics/sensors/sensors_overview.html#sensors-coords

Base Coordinate Illustration

Base Odometry Coordinate:

Base Odometry axes are defined by the right-hand rule:

X towards the front of Zenbo

Y towards the left of Zenbo

Z towards the top of Zenbo

Base IMU Coordinate:

Base IMU axes are defined by the right-hand rule:

X towards the back of Zenbo

Y towards the right of Zenbo

Z towards the top of Zenbo

Base-IMU position relative to Odometry