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christsa / dgrasp

Official code release for CVPR 2022 paper D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions
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About reasonable limits #1

Closed haolyuan closed 2 years ago

haolyuan commented 2 years ago

Great work! I want to know how to restrict the joints within reasonable limits in your project?

christsa commented 2 years ago

Thanks!

We looked at the distribution of poses in the DexYCB dataset and extracted the limits of each joint. We then heuristically added some slack to increase these joint limits, because the dataset does not cover the full range of possible hand motions.

haolyuan commented 2 years ago

Does it means you define local coordinate system for MANO's joints? Could you share the limits data of each joint? Thanks a lot!

christsa commented 2 years ago

Yes, exactly, each joint rotation has its own limits.

You can find the joint limits we used in the urdf file here.