No i'm using 6DOF for all the joints.

Translation from and to Poser somewhat works, its not 100% I feel, maybe the rotation order is wrong or something else. Moreover, I'm initializing the bullet doll based on the posed figure (world geometry with world orientation of joints) because I wasn't sure I'm able to use the base geometry as bullet does not support scaling and Poser's world API's all have scaling included in the transformations.

The convextrianglemeshshape, I wonder what happens if the mesh is not totally convex?

Compound Shape wise, I thought of segmenting a Poser actor along its bone axis into several smaller convex pieces, to have a bit more precision. But the clumsy finger problem is I think different.

I also do not know if bullet creates the smallest convex hull or if its just any hull that is convex.