Relationship about joint and dim_to_use?
tracer9 opened this issue · 1 comments
Hi there,
I am new to here and I am quite interested in this research topic. However, there is one question I cannot figure out. So I come here for help.
In your code, you throw away dimension whose std<1e-4. Say that there are 99 dims, of which 45 dims are useless, then 54 dims left, right?
As your said:
Regarding the 32 joints, I believe only 17 are independent, and the rest are end effectors as you call them.
However, when I print the useless dims index as here:
[10 11 16 17 18 19 20 25 26 31 32 33 34 35 48 49 50 58 59 63 64 65 66 67
68 69 70 71 72 73 74 82 83 87 88 89 90 91 92 93 94 95 96 97 98]
I found that some of them are not correspond to one joint! For example, joint 3 should correspond dimension: 9, 10, 11. However, only dimension 10 and 11 here is dim-to-ignore.
This means, according to ignore these dimension, you simply violent the correspondance of the relationship: one joint ~ 3 dimension. Right?
The last quesion, although input dimension is 54, which DOES NOT REPRESENT 17 joints, the output dimenstion is also 54, which DOES REPRENT 17 joints, am i right?
This is a link from another issue.
Regarding the 32 joints, I believe only 17 are independent, and the rest are end effectors as you call them. IIRC some joints are repeated -- I remember observing this when I plotted the index in 3d as I was going down the tree, but you may want to confirm it yourself.
Originally posted by @una-dinosauria in #23 (comment)
There is a unnormalization process behind the code that restores the dimension when the error is calculated.I think that.