The rank of the grasp configuration calculated on the object in the PCD attached is a huge negative number. Apparently, the curvature of the first point is a huge positive number so it takes control over the ranking calculus.
Initial first grasping point: (0.127009,-0.024474,0.00430498 - 0.00183135,0.96417,-0.265278 - 0)
Initial second grasping point: (0.118766,0.030426,0.00409618 - -0.00684894,0.00100251,-0.999976 - 3.5907e-05)
No grasp configurations found, selecting initial points
First point grasp plane distance: -0.0429693
First point curvature: 8.50706e+29
Second point grasp plane distance: 0.190765
Second point curvature: 0.262636
Grasp Configuration Rank: -8.50706e+29
The rank of the grasp configuration calculated on the object in the PCD attached is a huge negative number. Apparently, the curvature of the first point is a huge positive number so it takes control over the ranking calculus.
Initial first grasping point: (0.127009,-0.024474,0.00430498 - 0.00183135,0.96417,-0.265278 - 0) Initial second grasping point: (0.118766,0.030426,0.00409618 - -0.00684894,0.00100251,-0.999976 - 3.5907e-05) No grasp configurations found, selecting initial points First point grasp plane distance: -0.0429693 First point curvature: 8.50706e+29 Second point grasp plane distance: 0.190765 Second point curvature: 0.262636 Grasp Configuration Rank: -8.50706e+29
cloud.pcd.zip