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Hi,
I went through the Tutorial 3 (Scaling, Inverse Kinematics, and Inverse Dynamics; Gait2354) and I realized, that in the model, the positions of the markers are in meters, e.g. [0.605; 1.425; 0.02], but in the static.trc file, the marker’s positions are in millimeters(?!), e.g. [605; 1425; 20].
My problem with scaling was that I kept consistent units, i.e. meters everywhere, and I was wondering why it is not working. Now, I have my model in meters and coordinates in .trc file in millimeters and everything seems to work properly.
What surprised/confused me was, that in the User’s Guide (page 157, chapter15-Inverse Kinematics) is written, that “The units used by IK are the model’s units, which are meters and radians”. That’s why I kept meters everywhere. Maybe some more comments in the user guide on units would be good.
Michala
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