This question applies to all phases.
We are trying to get the Jacobians for the intermediate joint in order to apply gravity compensation on each finger, using the pinocchio library.
I tried to change the
finger_id argument in the
pinocchio.getFrameJacobian function to get the intermediate Jacobians. I noticed that finger i’s fingertip uses finger_id = i*10+4 (eg fingertip 3 is frame 34). Naturally, one would assume that the single-digit of
finger_id would correspond to the intermediate frames of each finger. But this is the result of testing on finger #3:
I noticed that IDs 31 and 32 are identical, as well as IDs and 33 and 34. If we look at the columns, it’d make sense that 30, 31 (or 32), and 33 (or 34) would correspond to the Jacobian frames that I’d want, but since there’s very little documentation on the Pinocchio website, I’d like to get some confirmation on that. Thanks so much!