AxisConversionUnity.cs

    public static Quaternion ConvertRosToUnity(Quaternion q)
    {
        return new Quaternion(-q.y, q.z, q.x, -q.w);
    }
    public static Quaternion ConvertUnityToRos(Quaternion q)
    {
        return new Quaternion(q.z, -q.x, q.y, -q.w);
    }

    public static Vector3 ConvertUnityToRos(Vector3 pos)
    {
        return new Vector3(pos.z, -pos.x, pos.y);
    }

    public static Vector3 ConvertRosToUnity(Vector3 pos)
    {
        return new Vector3(-pos.y, pos.z, pos.x);
    }


    public static Quaternion ConvertMayaRotationToUnity(Vector3 mayaEulerAngleDegree) {
        Vector3 flippedRotation = new Vector3(mayaEulerAngleDegree.x, -mayaEulerAngleDegree.y, -mayaEulerAngleDegree.z); // flip Y and Z axis for right->left handed conversion
        // convert XYZ to ZYX
        var qx = Quaternion.AngleAxis(flippedRotation.x, Vector3.right);
        var qy = Quaternion.AngleAxis(flippedRotation.y, Vector3.up);
        var qz = Quaternion.AngleAxis(flippedRotation.z, Vector3.forward);
        var qq = qz * qy * qx; // exact order!
        
        return qq;
    }

    public static Quaternion ConvertHoudiniToUnityRotation(Vector3 houdiniEulerAngleDegree)
    {
        var qx = Quaternion.Euler(houdiniEulerAngleDegree.x, 0, 0);
        var qy = Quaternion.Euler(0, houdiniEulerAngleDegree.y, 0);
        var qz = Quaternion.Euler(0, 0, houdiniEulerAngleDegree.z);
        var qq = qz * qy * qx;
        return new Quaternion(-qq.x, qq.y, qq.z, -qq.w);
    }
    
    
    /// <summary>
    /// Android Gyro Quaternion(RightHand) to Unity(LeftHand) Quaternion
    /// </summary>
    /// <param name="rightHandedQuaternion"></param>
    /// <returns></returns>
    public static Quaternion ConvertRightHandedToLeftHandedQuaternion (Quaternion rightHandedQuaternion)

    {
        return new Quaternion (- rightHandedQuaternion.x,
            - rightHandedQuaternion.z,
            - rightHandedQuaternion.y,
            rightHandedQuaternion.w);
    }