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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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Avoid specific orientations #46

Open joaocabogon opened 6 years ago

joaocabogon commented 6 years ago

Hey @atenpas. Which parameters in the tutorial1.launch file could one change to avoid grasps where the binormal is in the vertical direction for instance?

atenpas commented 6 years ago

I don't think this is possible directly. Yet, you could write a simple filter (check dot product of binormal and vertical direction) and add it to grasp_detector.cpp such that it is used after grasp candidates have been generated (maybe here?).