Units and Coordinates in HoloOcean
HoloOcean uses meters for units and a right-handed coordinate system for all locations, distances, and offsets.
Unreal Engine uses a left handed coordinate system by default, however
to keep with general robotics conventions, we use a right handed coordinate
system with positive
z being up.
So, when you need to specify a location in HoloOcean, the format is as follows
[x, y, z] where:
Remember that the units for
[x, y, z] are in meters (Unreal Engine
defaults to centimeters, we’ve changed this to make things a bit easier).
Rotations are specified in
[roll, pitch, yaw] /
[x, y, z] format, in degrees (usually). This means
Roll: Rotation around the fixed forward (
Pitch: Rotation around the fixed right (
Yaw: Rotation around the fixed up (
In that order.