About Human Reference Frame

Here is a description of the human reference frame.

The reference frame (1) is the origin (0,0,0) of the 3D representation. It can be considered as a virtual root of the human skeleton.

The offset (2) is the distance between the origin of the reference frame and its corresponding child joint (3).

When you instantiate a human in a context, you can place and manipulate the human regarding the origin (reference frame).

The reference frame is always the same for all postures of a human. On the contrary, you can freely refine the offset for each posture.

You can change the position and orientation of the reference frame by manipulating the Robot in the 3D area.

To move the reference frame, your human must be instantiated under an active product (see table below).

Screenshot	Description
	In the tree, the human (Human) and its representation (Human Representation) have been instantiated and positioned under a product (Physical Product). In this case, the human (Human) is not the root of the tree. In the 3D area, click Edit Human to edit the posture. You can then change the instance position by selecting the reference frame. You can also change the offset.
	In the tree, the human (Human) is the root. In the 3D area, the reference frame is gray. You cannot move the reference frame. However, you can move the offset or the child joint.

In the Edit Human panel, you can modify the properties of the reference frame.

Option	Description
Snap reference frame	Lets you change the child joint of the reference frame. To do so, go to Snap reference frame and select a bone in the list. You can use this option when you blend postures. The position of the child joint is kept.
Reset	Resets the origin of the offset to 0. The reference frame and its child joint are coincident.
Keep offset between reference frame and human	Keeps the distance and orientation between the origin of the reference frame and its child joint.

The following example illustrates the use of the reference frame.

A human is created on the floor with an initial position set to 0,0,0 (see Figure 1).

Figure 1

When you edit the human, the reference frame is snapped to the hip joint by default (see Figure 2).

Figure 2

To move the human above the floor, select Keep offset between reference frame and human, and then snap the reference frame to the right foot. In this case, the offset is set to 0 and the human moves (see Figure 3).

Figure 3