Calculate mechanism state from Quaternion?

[MrstupidJ]

Hi,

I am trying some custom-built controller with Dojo simulator, but I could not find the full mechanism state I need.

I can get the mechanism state with "get_minimal_state(mechanism)", however it is just for one time step. The "Storage" variable stores full trajectories from simulation but it does not include the mechanism state (the closest one I guess is the Quaternion in "Storage.q").

Is there any built-in function in Dojo so that I can transfer those Quaternion to system states? If not, do you have any suggested approach for me to attempt?

Thanks for your help!

[MrstupidJ]

Please check out following functions for converting states:
minimal_to_maximal(mechanism, y)
maximal_to_minimal(mechanism, z)