Custom grasp annotation convention

[Huangruopeng]

Hello

I am a big fan of your work! Thank you for releasing your code.

For my research project, I would like to generate grasp annotations for my own mesh.

Particularly, I wonder to which reference frame is the orientation and position of the grasp annotation.

If I were to use it for real world grasping by training some NN model like ContactGraspNet or M2T2, should it be with respect to the robot base frame? or should it be with respect to the camera frame?

Thank you so much in advance for your help and guidance.