Brekel Hands Pro - Calculating joint angles

Kurt Stewart

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Jun 17, 2021, 5:36:33 AM6/17/21

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Hi I am wondering if anyone has calculated joint angles from the csv output, or another way to do so? I am thinking that the rotations are in terms of the reference frame? I am not sure.

Also degrees or radians?

Thanks!

Brekel

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Jun 17, 2021, 6:28:28 AM6/17/21

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All data is in local coordinates (so in relation to their parent).

Angles are expressed in degrees (not radians).

Hope that helps,

Op donderdag 17 juni 2021 om 11:36:33 UTC+2 schreef stewar...@gmail.com:

Kurt Stewart

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Jun 17, 2021, 6:31:02 AM6/17/21

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Thanks!!

Kurt Stewart

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Jun 17, 2021, 10:33:12 AM6/17/21

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What is the reference frame for the angles? each joint? I noticed in another thread that they are euler angles

Brekel

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Jun 17, 2021, 10:43:52 AM6/17/21

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They're all in local coordinates, so in reference of their direct parent.

To know which direction each axis is pointed, that depends on the Axis Setup settings in the UI, you can use the Axis toggle in the 3D viewport to visualize these.

Op donderdag 17 juni 2021 om 16:33:12 UTC+2 schreef stewar...@gmail.com:

Kurt Stewart

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Jun 17, 2021, 11:04:51 AM6/17/21

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Thanks so much!

Kurt Stewart

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Jun 23, 2021, 11:53:29 AM6/23/21

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Just double-checking that it uses the right-hand rule. If so the X-axis is red, Y-axis is green and Z-axis is blue. Thanks. This is what I seemed to get from data

right_hand_axes.png

Brekel

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Jun 23, 2021, 11:55:01 AM6/23/21

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Yes, a standard OpenGL, right handed coordinate system.

Op woensdag 23 juni 2021 om 17:53:29 UTC+2 schreef stewar...@gmail.com:

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