how is the coordinate frame defined

[gautica]

Hi, thank you for your great work. I have a question about the computation of the quaternion of joints, namely, how are the coordinate frames defined for each joint? For example, each coordinate frame is so defined that its rotation axis is always z-axis in robotics, so each joint frame is defined differently and of course this will change quaternions. So, how are they defined in human skeletons? Thank you very much.

[EricGuo5513]

Hi,

In our setting, the rotations are calculated according to the predefined raw offsets: https://github.com/EricGuo5513/HumanML3D/blob/main/paramUtil.py

On Thu, Jun 29, 2023 at 6:09 AM yan @.***> wrote:

Hi, thank you for your great work. I have a question about the computation of the quaternion of joints, namely, how are the coordinate frames defined for each joint? For example, each coordinate frame is so defined that its rotation axis is always z-axis in robotics, so each joint frame is defined differently and of course this will change quaternions. So, how are they defined in human skeletons? Thank you very much.

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