ArmarXObjects: ensuring quaternion to be normalized

source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp

@@ -83,7 +83,7 @@ void armarx::objects::to_json(simox::json::json& j, const SceneObject& rhs)
     j["instanceName"] = rhs.instanceName;
     j["collection"] = rhs.collection;
     j["position"] = rhs.position;
-    j["orientation"] = rhs.orientation;
+    j["orientation"] = rhs.orientation.normalized();
     if (rhs.isStatic.has_value())
     {
         j["isStatic"] = rhs.isStatic.value();
@@ -106,6 +106,7 @@ void armarx::objects::from_json(const simox::json::json& j, SceneObject& rhs)
     j.at("collection").get_to(rhs.collection);
     j.at("position").get_to(rhs.position);
     j.at("orientation").get_to(rhs.orientation);
+    rhs.orientation.normalize();
 
     if (j.count("isStatic"))
     {