Kinect 2 joints names & orientations

Hi, wondering why some of the joints in Kinect CHOP has different names than the Kinect SDK (explained here: medium.com/@lisajamhoury/unders … 4b90b9df16). Is there a reason for it and is there a drawing that shows how the joints names in TD corresponds to the names from SDK?

And also - are joint orientations delivered in quaternions in TD?