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yayaneath / GeoGrasp

Fast geometry-based method for computing grasping points on 3D point clouds.
BSD 2-Clause "Simplified" License
28 stars 13 forks source link

Why are there two different orientations on the screenshot #11

Open zhamilyaa opened 2 years ago

zhamilyaa commented 2 years ago

image

I have a concern regarding this screenshot. There are two different orientations for grasping on minion and soda can.

yayaneath commented 2 years ago

Good point. The orientation on the minion is different because the IK of our robot (multifingered hand) could not handle well the grasp so the points were reversed. For a two-fingered gripper the pose should be fine in either direction