What is the difference between rotmat and global_xform?

[xwg0508]

Hi , thank you for your code ! I want to ask the difference between rotmat(or rot6d) and global_xform?
From the code in amass.py , i see the global_xform was gotten by the following code:


SO What is the difference between rot6d and global_xform?Why we get global_xform through rot6d
AND in training and applying , the global_xform was seen as rotmat, such as the following code:

SO WHAT is the global_xform?

[c-he]

rot6d and rotmat are joint rotations relative to their parent joint, while global_xform is the rotation relative to the root joint. In training, I used global_xform since this global rotation representation performed better in our experiments. I should have given it a different name in the training code, so sorry for the confusion caused by my poor coding style :)