confuse about num_orientations

atenpas / gpd

Detect 6-DOF grasp poses in point clouds

BSD 2-Clause "Simplified" License

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confuse about num_orientations #65

Open WwYyFan opened 5 years ago

WwYyFan commented 5 years ago

@atenpas Hi ! if I set the num_orientations to 1,Whether it will only generate vertical grasp?

atenpas commented 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.