Wrong transforms for ShadowHand

[Dimitris Dimou]

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:

(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:

(The red circled transforms are the ones computed wrong)

Have you tried it with any dexterous hands before?

[Shirokuma (k tanaka)]

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.

[Dimitris Dimou]

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.