This repository includes the minimal code of the grasp wrench boundary estimation and task-oriented loss calculation, proposed in Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator [IROS 2024].
For the complete grasp synthesis pipeline's code, please look at our follow-up work BODex.
# Many other versions should also work.
pip install numpy==1.26.4
pip install torch==2.0.1
python main.py