Why does the point cloud of the thumb get mixed up with the object's point cloud?

robotflow-initiative / dipgrasp

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Why does the point cloud of the thumb get mixed up with the object's point cloud? #10

Open CodingCatMountain opened 1 week ago

CodingCatMountain commented 1 week ago

Hi, @davidliyutong @SJTUzjy . I have successfully set up and run the code with ability-hand model. However, I noticed that the thumb's point cloud is merging with the object's point cloud. As you can see below: ability_hand_陷入问题

Would you please to give me some instructions? Looking forward to your reply.

Sincerely, Kacun.

SJTUzjy commented 1 week ago

Hi Kacun, It sounds like you might be experiencing an issue with the thumb of the generated poses penetrating into the object. If that's the case, I recommend adjusting the parameters in the _gripper.optimparams to help resolve this. Try increasing the _barriercoeff and the _barrierthreshold parameters.