Hi, I know the position (sRel) and orientation (ARel). But why do we need to define the ARel of Foot_Contact_Right？ It is just a point, why does a point have an orientation? Thank you！

Best，

TJ

Hi, I know the position (sRel) and orientation (ARel). But why do we need to define the ARel of Foot_Contact_Right？ It is just a point, why does a point have an orientation? Thank you！

Best，

TJ

Hi @Taejun

AnyRefNode is a derived class of AnyRefFrame so it is actually a reference frame represented as a node, hence it needs an orientation.

Best regards,

Bjørn

But I am still a little confused about this. In this case, I wonder why Foot_Contact_Right needs Arel while ToeNode_Left does not? What's the difference between these two frames?

Often the foot coordinate systems are aligned so positive z-directions point medially - that is not the default of anybody, hence the flipped node.

Best regards,

Bjørn

Sorry， but I still can't get the meaning of the flipped node. Could you please give me some examples of this kind of node？

The coordinate systems of the feet are aligned so the positive z-direction points medially. The Arel orientates the coordinate system correctly.

Best regards,

Bjørn

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