question about 'q'

[lululovecode]

Hello, I think the ‘q’ in vis_multidex.py will print rotation、translation and the rotation angles of the revolute joints. But I print 33 numbers.Could you please explain what are they?And the order about q、t and angles？Thanks a lot!

[Xiaoyao-Li]

I believe that you print a 'q' for a shadowhand grasping pose. Each 'q' is list as [global translation(3 DoF), global rotation(6 DoF), joint angles(N DoF)], where N is the DoF of a specific robotic hand.

By the way, we experimentally use 6d-rotation representation instead of rpy or other 3d-rotation representation in our handmodel when optimize DFC to synthesize MultiDex, for its property of continuity in rotation space. For 6d-rotation representation, please refer to this paper.

[PostResPerditas]

Hello,

Could you please explain which joint name corresponds to each joint angle in the joint angles (N DOF)?
I tried reading directly from the MultiDex/shadowhand/shadowhand.pt file, but I could only obtain information like 'joint data' and 'object name' .
I want to assign the joint values to the corresponding joints for visualization in ROS.

Thank you in advance.