Question about how to build the 'Grasp_Dataset' folder with 'good_shapes' and 'grasps'

[PostResPerditas]

Maybe I'll bother you again. I noticed that the objects used in your work contains folder 'grasps‘:

• Grasp_Dataset
  • good_shapes
  • grasps
    • ycb_048_hammer.xml_i_i_i

      • grasp0.xml

        However, the file 'grasp1.xml' in folder 'ycb_048_hammer.xml.x.x.x' contain a certain '', seems to declare certain values of the hand joints. Is it create from "imperfect demonstrations synthesized offline" such as GraspIt! or something else? Thank you in advance.

[qijinshe]

Thank you for your interest in our project. In our work, we get "imperfect" grasp motions by interpolating between rest poses and grasp pose. The grasp poses we used are from a previous work. They were created from the GraspIt. You can refer to the paper for details.

[PostResPerditas]

Thank you for you kindness! :) It is a pity that the URL 'gamma.umd.edu' that points to the source code repository in the paper is no longer valid, my subsequent work may be difficult. :(