Deriving the joint_states about Xsens Manus Gloves...

[CodingCatMountain]

Hi, developer. Thanks for sharing this good repo. For now, I have a suit of xsens motion capture device, including the manus gloves. However, I found that I cannot derive the joint states about the fingers. So may I ask if I want to modify your code to achieve this goal, which document I should read? I can't find the details about the joint names of fingers and the data segment of real-time network streaming. Looking forward to your reply.

[mleonori]

Hi @CodingCatMountain,

I'm sorry for not getting back to you sooner.

As far as we know, MVN Studio is only streaming the link position and not the joint state of the Manus fingers. Unfortunately, I am not able to find documentation on the topic.
What I would do is the following:

• augment the link and joint states to accept the finger data;
• use an IK algorithm to retrieve the joint state knowing the link position.

If I have any updates, I will let you know by replying to this issue

[dbdxnuliba]

@mleonori ,Hi,how can we get manus finger positions ,there is only bodys infomations use this project ,

[CodingCatMountain]

@mleonori Thx for the instructions.