How to generate grasps for own objects?

[rcao-hk]

Hi,

Thank you for your excellent work!
I would like to generate some physically feasible grasps for our own objects. Could you give some hints for the implementation based on Nvidia Flex? Thank you

Beat,
Rui

[clemense]

I recommend to use Isaac Gym which allows to use FleX or PhysX as backend. In particular, this code base: https://github.com/NVlabs/DefGraspSim might be helpful. Although it's for deformable objects, the implementation for rigid bodies is very similar.