Bimanual grasp synthesis

[Mingrui-Yu]

Thank you for your excellent work! I was wondering if the released code currently supports the synthesis of bimanual grasp poses?

[renezurbruegg]

As of now, the codebase doesn’t support bimanual grasp synthesis. That said, it should be straightforward to add by extending the hand model. A simple approach is to introduce a 6-DoF joint in the URDF and duplicate the hand mesh. This would yield a single articulation with a 6-DoF base, two sets of hand joints, plus an extra 6 joints to represent the relative pose of the second hand.

I hope this helps!