Question about grasp optimization

[joycewangsy]

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]

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]

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]

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