Why customized robot hand instead of mano hand with physical properties？

[longshot-pting]

Dear author, could you explain why a customized robot hand was chosen instead of a reconstructed MANO hand? After all, the MANO hand can also be equipped with physical properties for grasping. Thank you for your attention and reply.

[yzqin]

Hi @longshot-pting,

Excellent question. In brief: the customized robot hand is a simulation-optimized version of the MANO hand model.

The standard MANO hand is represented as a generic mesh (vertices and faces). However, this creates two simulation challenges:

1. For efficient collision detection, most simulators require convex decomposition of meshes. Unfortunately, this approximation method isn't ideal for the complex MANO hand structure.

2. The contact behavior of the MANO mesh tends to be unstable in simulations due to the discontinuous nature of the mesh surface.

The customized version addresses these simulation limitations while preserving MANO's anatomical accuracy.

[longshot-pting]

Hi @longshot-pting,

Excellent question. In brief: the customized robot hand is a simulation-optimized version of the MANO hand model.

The standard MANO hand is represented as a generic mesh (vertices and faces). However, this creates two simulation challenges:

1. For efficient collision detection, most simulators require convex decomposition of meshes. Unfortunately, this approximation method isn't ideal for the complex MANO hand structure.

2. The contact behavior of the MANO mesh tends to be unstable in simulations due to the discontinuous nature of the mesh surface.

The customized version addresses these simulation limitations while preserving MANO's anatomical accuracy.

thank you for replying!