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tengyu-liu / GenDexGrasp

Code Repository for GenDexGrasp: Generalizing Dexterous Grasping across Robotic Hands via Contact Map Matching
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question about 'q' #7

Open lululovecode opened 1 year ago

lululovecode commented 1 year ago

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 commented 1 year ago

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 commented 3 months ago

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. QuestionAboutGendex