There are many cases of the palm and the object penetrating each other in the generated grasping postures. Is this because the cotact point does not include the palm data? Why isn't the contact points data of the palm included?

[wukongwong]

[wrc042]

No, contact points only handle grasp evaluation ($E_{fc}$ energy), while the penetration itself is handled by SDF calculations ($E_{pen}$). This is a special case of penetration. In scenarios with deep penetration like this, our algorithm cannot seperate hands and objects.

[wrc042]

The penetration energy is written at lines 34-39 in grasp_generation/utils/energy.py.