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BerkeleyAutomation / dex-net

Repository for reading the Dex-Net 2.0 HDF5 database of 3D objects, parallel-jaw grasps, and robust grasp metrics
https://berkeleyautomation.github.io/dex-net/code.html
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The reference for wrench resistance quality #29

Closed pyni closed 5 years ago

pyni commented 5 years ago

Hi，I'm sorry to disturb you again. in the function wrench_resistance(), i find the quality is defined as: *Q = 1.0 / (finger_force_norm + finger_force_eps) - 1.0 / (2 force_limit)**

I understand what this means, but is there any reference about this definition? Why not *1.0 / (finger_force_norm + finger_force_eps) - 10.0 / (2 force_limit)** ?

Thanks.

jeffmahler commented 5 years ago

@pyni Sorry this metric is experimental and not actually used. I think the goal of this metric was to rank grasps by the smallest magnitude of contact forces needed to resist an external wrench.

pyni commented 5 years ago

I see. I think how the quality describes the combination of the force limitation and magnitude of contact forces is a key point. Thanks for replying. This is a great work.