Grasp Refinement Module

To use the grasp refinement module, you need to firstly run the grasp generation module to generate the initial grasps.

Usage

Firstly, go to the grasp_refinement folder:

cd grasp_refinement

Key Pose Generation

You need to change the input 'generate.mat' file accordingly. The 'generate.mat' file is generated by the grasp generation module. Also, you should check the dependencies path as mano. You get the refined samples in the 'refined_subsamples' folder.

python keypose_refinement.py

Interpolation

The interpolation module is used to generate the intermediate grasps between the key poses. You need to change the input 'generate.mat' the same as the one used in key pose refinement. The usage of this module is very similar to the key pose refinement module. You get the refined samples in the 'refined_subsamples_interp' folder.

python interpolate_between.py

Acknowledgments

Large amount of code is borrowed from:

GraspTTA