How should the hand parameters be modified to generate a good grasping pose?

[jianguo-cmd]

I changed the hand model, set contact points and penetration points. However, the generated grasping poses are always incorrect and there is a phenomenon of penetration. What could be the possible reasons for this?
I have the following questions:

1.What are the reasons why the generated grasping poses don't seem to grasp the object effectively?
2.The hand should face the object, but since different target objects may require different initial poses, how should the initial position and orientation of the hand be set?
3.Is it necessary to set contact points and penetration points for the palm?
4.To generate diverse grasping poses, should I modify the "seed" values where each value corresponds to a different grasping pose?
Looking forward to your response. Thank you very much.

[jianguo-cmd]

[jianguo-cmd]

[jianguo-cmd]

I changed the hand model, set contact points and penetration points. However, the generated grasping poses are always incorrect and there is a phenomenon of penetration. What could be the possible reasons for this?
I have the following questions:

1.What are the reasons why the generated grasping poses don't seem to grasp the object effectively?
2.The hand should face the object, but since different target objects may require different initial poses, how should the initial position and orientation of the hand be set?
3.Is it necessary to set contact points and penetration points for the palm?
4.To generate diverse grasping poses, should I modify the "seed" values where each value corresponds to a different grasping pose?
Looking forward to your response. Thank you very much. @mzhmxzh @wrc042 @