What is penetration points and how should we sample
zoctipus opened this issue · 2 comments
Hello I successfully sampled contact points for my various robots, I am curious how should I sample the penetration point? from the shadow hand, it seems like the penetration point is sampled at the joint, with diameter equals to the width of the finger.
I'm not understanding what the penetration points really is and how should they be designed?
I sampled contact points and penetration points from franka as follows
and obtain the following results from grasp generation:
Do you have any suggestion on how to improve the result?
I found out, this is because the initialization(i guess?)
joint_angles_mu = torch.tensor([0.1, 0, 0.6, 0, 0, 0, 0.6, 0, -0.1, 0, 0.6, 0, 0, -0.2, 0, 0.6, 0, 0, 1.2, 0, -0.2, 0], dtype=torch.float, device=device)
in initialization.py being the initialization for the shadow hand, need to customize this for franka_hand which is 0.04 when finger is fully open.