Fingers length
BryanBetancur opened this issue · comments
Hello, Thank you for your awesome code.
I'm trying to implement your code with a different gripper, the fingers are longer but I haven't been able to find where to adjust this.
Could you help me, please?
Hey @BryanBetancur,
There is a parameter in the test config called center_to_tip:
contact_graspnet/contact_graspnet/config.yaml
Line 181 in f28013a
Set it to the additional finger length * 2 in meters. :)
It works. Thank you very much. c:
Geometrically, why the factor of 2, i.e., why is 'center_to_tip' divided by 2 during grasp prediction? I guess I don't understand what the "center" is in this context. Thanks!