search

graspnet / anygrasp_sdk

222 stars 22 forks source link

Difference between AnyGraspTracker update() and AnyGrasp get_grasp() #33

Closed Brunoadc closed 7 months ago

Brunoadc commented 7 months ago

Hi!

1) I do not perfectly understand for which case we should use one of those function or the other. Is the tracker update() only to recreate the position of previous grasps? (doesn't seem to be the case since it is used in the grasp_tracking and creates grasps) Which one do you use for experimenting with the robot arm, do you get_grasp() and then only update() when the robot starts to reach it?

2) Is there any documentation on what arguments could be passed? (example: pass a workspace dimensions "lims" in tracker.update())

chenxi-wang commented 7 months ago

Hi, the two functions you mentioned are for grasp tracking task and grasp detection task respectively. It depends on your requirements to select the package to use. You can refer to the comments in demo.py for the usages.