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neka-nat / kinpy

Simple kinematics calculation toolkit for robotics
MIT License
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Wrong transforms for ShadowHand #13

Open el-cangrejo opened 2 years ago

el-cangrejo commented 2 years ago

Hello, I am trying to use your tool with the Shadow Hand but it seems to compute wrong the transforms when I move the joints. In the initial position where joints are at 0 it seems to work fine: Isaac Gym_053 (I visualized the transforms for each rigid body)

But when I move the joints around it seems to compute the transforms wrong, e.g. when I move the little finger: Isaac Gym_050 (The red circled transforms are the ones computed wrong)

Have you tried it with any dexterous hands before?

neka-nat commented 2 years ago

Thanks for trying kinpy! I have not tested the multi-fingered hand. If you don't mind, could you give me the model data of the multi-fingered hand you are using? I'll try to test it.

el-cangrejo commented 2 years ago

This is the urdf file: shadowhand_urdf.zip and the joint angles in the case above are:

angles = [0] * 24
angles[6] = 0.6

I used Isaac Gym for simulation.