search

robotflow-initiative / dipgrasp

10 stars 2 forks source link

Some inquiries about using and modifying the code #6

Closed matthewmzy closed 2 weeks ago

matthewmzy commented 2 weeks ago

Hi there. I noticed that your pipeline require heavily on the rfu filter, which not only selects physically plausible grasp pose, but also refines the input grasp poses by closing all fingers. But this process doesn't show up in your python code. I wander how can I add some additional limitations like fixing some of my joint angles to achieve a grasp using only three fingers or others, since your unity project is invisible to us. Thanks a lot! :)

SJTUzjy commented 2 weeks ago

Hi matthewmzy.

When we released our code, we chose not to require users to handle and modify the RFU program's source code. We recognize that RFU's use of C# might be too complex for our users. Therefore, we built the RFU program as an executable file, allowing users to focus solely on the grasp generation process using Python.

However, in response to your request, we have made our RFU code available in this GitHub repository. Hope this will help you.

matthewmzy commented 2 weeks ago

Thank you very much! I'll learn the use of the C# code. Have a nice day!