Open huangsheng95 opened 1 year ago
Hi, thanks for letting me know. The order is not right. But fortunately, this should not affect the results, because the forward direction is obtained by the cross product of y-axis and any vector in upper body plane. Also, as long as you are using the forward kinematics function, the results should be always recovered.
huangsheng95 @.***> 于2023年4月25日周二 21:10写道:
hello! thanks for your great job! I have some question about the forward direction in inverse kinematics。
The forward direction is calculated by four joints (r_hip, l_hip, sdr_r, sdr_l) and their indices are defined in motion_representation.ipynb by
# Face direction, r_hip, l_hip, sdr_r, sdr_l face_joint_indx = [2, 1, 17, 16] # l_hip, r_hip r_hip, l_hip = 2, 1
but in inverse kinematic,the index of r_hip and l_hip is swapped
'''Get Forward Direction''' l_hip, r_hip, sdr_r, sdr_l = face_joint_idx
I‘m sure how much it affects the motion representation process and results
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hello! thanks for your great job! I have some question about the forward direction in inverse kinematics。
The forward direction is calculated by four joints (r_hip, l_hip, sdr_r, sdr_l) and their indices are defined in motion_representation.ipynb by
but in inverse kinematic,the index of r_hip and l_hip is swapped
I‘m not sure how much it affects the motion representation process and results