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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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A question about the paper #16

Closed xiaohao9999 closed 7 months ago

xiaohao9999 commented 8 months ago

Hello, thank you for your work.

In Section 3.1 of the paper, I want to know why 45 actuators are needed? Isn’t the degree of freedom of the hand generally 27?

image

christsa commented 8 months ago

Hi,

It's a good question. The reason why we use 45 DoF instead of the actual DoF of the human hand is because we model the hand based on the MANO hand model, where each joint has 3 DoF and the rotation axes are not exactly aligned with the anatomical axes of the human hand. In the meantime, there is a MANO model that is aligned with the anatomical structure of the hand here. Aligning the hand in our simulation with an anatomical model and thereby reducing the DoFs would likely speed up the learning process and potentially further remove unnatural poses.

Let me know if this clears things up for you.

Best, Sammy

xiaohao9999 commented 7 months ago

Hi,

I think I know. Excluding the wrist, the hand model is modeled as 3 joints per finger and 3 DoF per joint. Then the sum of DoF is: 5 * 3 * 3 = 45. image

christsa commented 7 months ago

That is what I said, yes.

Can you close the issue if it is clear? Thanks.

xiaohao9999 commented 7 months ago

Of course. Thank you for your kind help! ;)