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tengyu-liu / GenDexGrasp

Code Repository for GenDexGrasp: Generalizing Dexterous Grasping across Robotic Hands via Contact Map Matching
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Question about grasp optimization #12

Open joycewangsy opened 1 year ago

joycewangsy commented 1 year ago

Hello, thank you very much for the code to optimize the grasps. I wonder if I can start optimizing from an initial value of a grasp instead of starting from a random value?

YuyangLee commented 1 year ago

Thanks for your interest! Initializing the hand from a random value introduces randomness that increases diversity of the grasps. You can refer to DexGraspNet where they also use DFC for grasp synthesis but use several rules in initialization.

joycewangsy commented 11 months ago

Thanks for your interest! Initializing the hand from a random value introduces randomness that increases diversity of the grasps. You can refer to DexGraspNet where they also use DFC for grasp synthesis but use several rules in initialization.

thanks! One more question, how can I generate grasping data based on dfc?

joycewangsy commented 11 months ago

Thanks for your interest! Initializing the hand from a random value introduces randomness that increases diversity of the grasps. You can refer to DexGraspNet where they also use DFC for grasp synthesis but use several rules in initialization.

I have found the relevant code, thank you very much