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question about get_rifke(positions) function? #97
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Hi, I am also not so sure why it's not strictly z+. Is it a common or casual case? |
Shouldn't the inverse of r_rot be used to obtain the local positions? |
Hi, I get one solution to that, you can refer to #141. |
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This function disentangles the global rotations and local rotation/position/velocity.
I plot the pose 0 (red) and pose 10(green) before and after the function. The blue line means the facing direction.
![image](https://private-user-images.githubusercontent.com/3754431/275499252-415e0edc-f3b3-42f3-837b-9f6664f91662.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjI5NjcwMjcsIm5iZiI6MTcyMjk2NjcyNywicGF0aCI6Ii8zNzU0NDMxLzI3NTQ5OTI1Mi00MTVlMGVkYy1mM2IzLTQyZjMtODM3Yi05ZjY2NjRmOTE2NjIucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDgwNiUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA4MDZUMTc1MjA3WiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9MWRmMTk3MGJlYzk5OGY2OWYzZTRiMjhkNzQ4YjhiM2FjNjJmODhkMzA2ZWI3YTYyZTQyNGNkNGFmYzQ4ZTVhOCZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.xyb1uaFZeqMwRAU8r4J8ucmDlIsVK4pXbfYINwyLNyI)
![image](https://private-user-images.githubusercontent.com/3754431/275499559-82f4dff5-11ef-4d98-acf0-0e6d7867c9d7.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjI5NjcwMjcsIm5iZiI6MTcyMjk2NjcyNywicGF0aCI6Ii8zNzU0NDMxLzI3NTQ5OTU1OS04MmY0ZGZmNS0xMWVmLTRkOTgtYWNmMC0wZTZkNzg2N2M5ZDcucG5nP1gtQW16LUFsZ29yaXRobT1BV1M0LUhNQUMtU0hBMjU2JlgtQW16LUNyZWRlbnRpYWw9QUtJQVZDT0RZTFNBNTNQUUs0WkElMkYyMDI0MDgwNiUyRnVzLWVhc3QtMSUyRnMzJTJGYXdzNF9yZXF1ZXN0JlgtQW16LURhdGU9MjAyNDA4MDZUMTc1MjA3WiZYLUFtei1FeHBpcmVzPTMwMCZYLUFtei1TaWduYXR1cmU9NTYwNGNiYjQ2ZGRlYzVmYzBkNjBkOGQ1ZWVlZGVjMmEyMzVhZTg4ODhjNzgzMTI5OWFhZTIzYThlMGRlZTEyNCZYLUFtei1TaWduZWRIZWFkZXJzPWhvc3QmYWN0b3JfaWQ9MCZrZXlfaWQ9MCZyZXBvX2lkPTAifQ.fBqi4SEKAHHXWVgFPRO2L13z8XjFcW0j-Urvi9N4BsI)
This is pose[0] and pose[10] before the function:
and this is the visulization after the function:
The function align the root center to zeros and align the facing direction to Z+, but the facing direction is not parallel the Z+ strictly for the rest poses like pose[10] except the pose[0]?
I didn't figure out why?
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