Parameter explanation

[ambitious-octopus]

First, great job, the algorithm is great. I have been wondering for a few days about the parameters related to the gripper, I use a Robotiq 3 Finger Gripper. The system works quite well but some generated poses are not correct. In light of this I am here to ask you for a detailed explanation of the parameters.

This is the portion of the code I am referring to: https://github.com/atenpas/agile_grasp/blob/83ef7a939fe74a6955705028a1786b85e968824d/src/tests/hands_test.cpp#L83-L90

This is what I assume these parameters are:

1 FingerWidth 2 HandOuterDiameter 3 HandDepth 4 InitBite (not sure) 5 HandHeight (not sure)

Can I get some feedback on that? Thank you in advance for the support.

[atenpas]

This is mostly correct. The larger block in your picture is not part of the GPD model. HandHeight is the height of the fingers. InitBite is by how much you want the fingers to go into the object, so how far the base of the hand is allowed to be from points on the object as a minimum (GPD places it initially at that distance and then moves the hand forward until contact; if the initial placement is in collision, it's discarded).