A Note on Coordinate Systems

Different Coordinate Frames

Standardized

Translation	Axis	Rotation	Axis
Right	X	Pitch	X
Front	Y	Roll	Y
Up	Z	Yaw	Z
		(QW, QX, QY, QZ)

Blender

Blender Manual - Axes

Translation	Axis	Rotation	Axis
Right	X	Pitch	X
Front	Y	Roll	Y
Up	Z	Yaw	Z
		(QW, QX, QY, QZ)

OnShape

Translation	Axis	Rotation	Axis
Right	X	Pitch	X
Front	Y	Roll	Y
Up	Z	Yaw	Z

NVIDIA PhysX (Isaac Gym, Isaac Sim, Omniverse)

Translation	Axis	Rotation	Axis
Right	-Y	Pitch	-Y
Front	X	Roll	X
Up	Z	Yaw	Z
		(QX, QY, QZ, QW)

glTF

glTF coordinate systems and units

Translation	Axis	Rotation	Axis
Right	-X	Pitch	-X
Front	Z	Roll	Z
Up	Y	Yaw	Y

MJCF

MJCF Frame Orientations

(QW, QX, QY, QZ)

Autodesk MotionBuilder

Translation	Axis	Rotation	Axis
Right	-X	Pitch	-X
Front	Z	Roll	Z
Up	Y	Yaw	Y

ROS

ROS Coordinate Frame Conventions

Translation	Axis	Rotation	Axis
Right	-Y	Pitch	-Y
Front	X	Roll	X
Up	Z	Yaw	Z

SteamVR

Translation	Axis	Rotation	Axis
Right	-Y	Pitch
Front	X	Roll
Up	Z	Yaw

Unreal Engine

Translation	Axis	Rotation	Axis
Right	Y
Front	X
Up	Z

Note: UE uses the left-hand coordinate system.

CrazyFlie

The Coordinate System of the CrazyFlie 2.X

Translation	Axis	Rotation	Axis
Right	-Y	Pitch	Y (left-hand)
Front	X	Roll	X (right-hand)
Up	Z	Yaw	Z (right-hand)

Conversion Between Frames

From SteamVR (LiveLink) to Unreal: