Open WwYyFan opened 5 years ago
No, it will not necessarily generate a vertical grasp. The grasp's orientation depends on an estimation of a local reference frame (see our paper for more details).
The orientations are generated about the hand axis (blue axis in image below).
Here's an example with _numorientations = 4.
@atenpas Hi ! if I set the num_orientations to 1,Whether it will only generate vertical grasp?