Joint Rotation Definition

[yufeizhangmeta]

Hi,

Thanks for sharing the great work! I see all the joints are defined in the local coordinate but realigned through local_pose and global_pose. I wonder if there is any visualization of the coordinate system after the alignment?

Thanks

[mks0601]

Hi, could you elaborate what you mean by 'after the alignment'? You can consider the local_pose (and also the global_pose, which is computed from the local_pose) are just poses in the template space.

[yufeizhangmeta]

Hi,

Thanks for the reply. I think, without the local_pose, all the joints would have the same coordinate system as the root joint but having translation difference. Adding the local_pose can change the local joint frame to align with the finger direction (please correct me if this is wrong). I am wondering if there could be some visualization of the local joint frame to study the change due to the local_pose. I then can figure out how certain hand pose can change the joint rotation in which direction and in what degrees. yufei

[mks0601]

 I think, without the local_pose, all the joints would have the same coordinate system as the root joint but having translation difference. Adding the local_pose can change the local joint frame to align with the finger direction (please correct me if this is wrong).

-> Yes, you're right.

I am wondering if there could be some visualization of the local joint frame to study the change due to the local_pose. I then can figure out how certain hand pose can change the joint rotation in which direction and in what degrees.

-> Sorry I do not have a visualization for this purpose :( Could you try with demo?

[yufeizhangmeta]

Got it, good enough now. Thanks!

Yufei