search

luyh20 / FGC-GraspNet

ICRA 2022 "Hybrid Physical Metric For 6-DoF Grasp Pose Detection"
MIT License
43 stars 5 forks source link

Change gripper dimensions #2

Closed BryanBetancur closed 1 year ago

BryanBetancur commented 1 year ago

Thanks for share your code. What do I need to change to work with a different gripper sizes? Like finger length and width, maximum opening, etc.

luyh20 commented 1 year ago

The geometry of gripper in visualization from Open3d can be changed in GraspnetAPI module, please refer to https://github.com/graspnet/graspnetAPI/blob/master/graspnetAPI/grasp.py. But this kind of change is not equivalent to correcting the actual gripper because the confidence score labels have generated under initial gripper. In my experience, if you want your gripper to be more consistent with the dataset, you could find the difference between the actual contact points and the contact points in visualization. Correct this difference by gripper length compensation with moving robot arm TCP.

BryanBetancur commented 1 year ago

Thank You.