Fix order of rotation parameters in Cartesian controller

[PeterBowman]

There is a nasty FIXME annotation left in:

amor-yarp-devices/libraries/YarpPlugins/AmorCartesianControl/ICartesianControlImpl.cpp

Lines 229 to 232 in 21e41b1

	// FIXME: un-shuffle coordinates
	velocities[3] = xdotd_rpy[4]; // [rad/s]
	velocities[4] = -xdotd_rpy[5];
	velocities[5] = xdotd_rpy[3];

This is due to a mismatch between [rotx,roty,rotz] coordinates in the robot API and the controller, which may actually originate at KinRepresentation::decodeVelocity (this is the encodeX part):

https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/30d59e2acfd1549e7b0e7d064cb76407a0fc02db/libraries/KinematicRepresentationLib/KinematicRepresentation.cpp#L250-L264

See also:

• roboticslab-uc3m/amor-api@4d60fed96fbc833a7f1338a7a84a887e29ba134c
• roboticslab-uc3m/amor-api@2aabe80c9c7664cc8ecfae626e3315a54d3987b2