About ”pose"

[HiroshiNNW]

Hello, I have a question about Sanitytest code.
I don't see what "pose" means and what this function below computes from the rotation matrix.

RotationContinuity/sanity_test/code/tools.py

Line 9 in 758b0ce

def compute_pose_from_rotation_matrix(T_pose, r_matrix):

It seems this function just calculates the transpose of the given matrix, is that right?

[papagina]

T_pose is the position of each joint at the rest pose and r_matrix is the rotation for each joint. The output pose is the joint positions after rotation.

[HiroshiNNW]

I understand that is the case in "Inverse Kinematics", but it seems joints or poses don't matter in "Sanitytest" code. Could you tell me about "poses" in Sanitytest code?

[ShaoshuSu]

According to my observation, I think T_pose is exactly the Identity matrix in the Sanity Test code