Grasp eval bugfixes + tuning - Githubissues

PKU-EPIC / DexGraspNet

147 stars 17 forks source link

Grasp eval bugfixes + tuning #9

Closed pculbertson closed 7 months ago

pculbertson commented 7 months ago

DGN optimization changes:

increase desired distance between finger contact points and object (by changing a de facto hinge loss to SmoothL1Loss)
increase desired distance between hand meshes and object
add loss penalizing variance in normals (to avoid edge grasps)

IG simulation changes:

decrease contact_offset (threshold where we believe soft contact forces kick in in PhysX)
increase num_velocity_iterations from 0 to 8
bugfix: pose noise was getting added in radians instead of degrees