How do you define top_down_grasp?

[wordhood]

I get grasp pose from point cloud, but when i set the top_down_grasp as True, the pose were all generated from the down aspect. I try to reverse the point, and then the pose were generated correctly.

This is the down aspect pose

This is the top aspect pose

[chenxi-wang]

You can check the coordinate frame. The input point cloud is recommended to be in camera frame, and the top-down direction is pointing into the image plane.