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The frame local axes forof [frames|kb:Frame] with offset [joints|kb:Joint] are determined as follows:

* *Original axes* (without offset) -- Calculate the local axes basedaccording onto the local -1 axis, as oriented from joint i to joint j, using the. Depending upon user specification, basic or advanced local -axes parameters specifiedare byused. theThe user.local Thisaxes isresolved whatare isthen displayed in the GUI.

* After offset, the new local 1 axis along*Local 1* -- Once joints are offset, the offsetframe joints may now have a different direction fromlocal-1 axis which differs from that of the original local 1 axisorientation. The dot product of both the original and new local -1 axesaxis shouldare be positive.

* *Local 2* -- The local-2 axesaxis forof the offset element make the new local 2 axisframe is parallel to the original local 1-2 plane.

* *Local 3* -- The new local-3 axis is calculated as the cross product of the new local -1 and local-2 axes.

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*Related Incidents:*
* {incident:no=48510|comment=Frame local axes}
** {email:date=10/13/2012|from=bm|to=ok|subject=Frame local axes|comment=Explanation of frame local axes|id=9895941}
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