HumanHand Coordinate System Definitions

1. Software UI Display Coordinates

HumanHand uses a unified Right-Forward-Up coordinate system to clearly display the state of the hardware modules in the user interface.

2. Data-Output Coordinate Systems

The system outputs data through UDP real-time streams and locally saved CSV files. Coordinate-system definitions vary by hand and data type.

2.1 Joint Pose Data (21 or 22 Joint Positions and Orientations)

For both UDP real-time output and local CSV files, hand joint data uses the following convention:

• Left-hand data: Right-Forward-Up.
• Right-hand data: Left-Back-Up.
• Wrist-relative origin is the palm root (21 joints). Forearm-relative origin is the forearm (22 joints), same axes.

This corresponds to the front-left-up convention in a human T-pose.

2.2 Coil Pose and IMU Data

Raw magnetic-pose output, including UDP output and tips_trajectory records, uses Right-Forward-Up.

3. Coordinate-System Quick Reference

Type	Module/interface	Data object	Target	Coordinate system (XYZ)	Notes
Display	Global UI rendering	Positions and display	General	Right-Forward-Up	Unified UI display frame
Output	UDP real-time stream	Joint poses	Left hand	Right-Forward-Up	—
Output	UDP real-time stream	Joint poses	Right hand	Left-Back-Up	—
Output	UDP real-time stream	Magnetic coil poses + IMU	General	Right-Forward-Up	—
Output	Local CSV storage	Joint poses	Left hand	Right-Forward-Up	—
Output	Local CSV storage	Joint poses	Right hand	Left-Back-Up	—
Output	Local CSV storage	Magnetic coil poses	General	Right-Forward-Up	Records fingertip poses

4. Direction Diagram