Question on wpos to qpos conversion

[khrylx]

Question on wpos to qpos conversion

[Khrylx]

Hello,

Thank you for finding the issue.
For the conversion question, I think you are trying to convert 3D joint positions into joint angles? That would require solving an inverse kinematics problem. You might want to look for some code and software (e.g., Unity) that can do that.

[Garfield-kh]

Thank you for the answering.
I just checked the inverse kinematics and noticed that it is exactly the inverse function of get_ee_pos .
While for my cases, I want to try new dataset on this code frame, which only requires conversion from 17-joints skeleton 3D position (e.g., h36m) to joint angle representation.
I am new to unit quaternion, and I just treat it as a rotation matrix.
May I ask two questions for my cases?

1. The solution is to caculate the rotation matrix from parent bond vector to son bond vector (e.g., from upper leg to lower leg), then convert into euler angle?
2. And for the root bone vector, the rotation matrix is from world coordinate to backbone vector (hip/root to upperback)?