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how to set `lims` in grasp_detection demo.py #25

Closed elenacliu closed 7 months ago

elenacliu commented 8 months ago

I'm a little confused about the lims attribute:

https://github.com/graspnet/anygrasp_sdk/blob/27b09a9de6d631939da519daea4300480557ce25/grasp_detection/demo.py#L33-L54

It says lims is workspace limit. But it seems it is passed into angrasp.get_grasp, and the point cloud that is passed into it is under camera frame. So how do you set lims, is it under camera frame or under world frame?

chenxi-wang commented 7 months ago

It's under camera frame.