Validating Grasps through robot whole body dynamics? #5
Description
Dear Sir,
I was able to run the simulation in Isaac Lab for the Grasp Gen. But It seems like the simulation only counts for the dynamics of the Gripper but not the whole robot , like Franka, UR5 or small Z1 arm or anyother. Is there a way to make the robot learn the optimal grasp based on the dynamics of the robot as well during the validating phase?