Coordinate frame of Joint angles in "kinematics" analysis

[Venkatesh Sripada]

Hello,

I am using Opensim 4.0 and trying to find the various kinematics of my head and neck model; specifically the joint angles. I am doing this using the "kinematics" analysis in the Forward Dynamics tool. I would like to know what the coordinate frame of the output file is i.e are the angles obtained, relative to the ground frame (global coordinates) or relative to the parent body (relative coordinates)?

Thanks,
Venkatesh.

[Ajay Seth]

https://simtk-confluence.stanford.edu:8 ... els-Joints