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Generating grasps off-object or for only half the object with non-cubes [possible solution]

Open Au3f opened this issue 2 years ago • 0 comments

When using the TwoFingerGraspGenerator to generate face-grasps from the top for objects that are not cubes there is an odd behavior:

  • Objects that are taller than wide will result in grasps generated next to the object (mid air)
  • Objects that are wider than tall will only have grasps for a part of their dimensions (exactly their height)

It looks like the dimensions or number of grasps along the faces got mixed up somehow.

After further investigation, i think i found the Problem: In two_finger_grasp_generator.cpp at line 410,422,508 and 520 num_grasps_along_a should be passed to addEdgeGraspsHelper instead of num_grasps_along_b.

These modifications fixed the issue for me. Hopefully someone of you can verify the Solution and maybe add this as a fix.

Au3f avatar Apr 29 '22 22:04 Au3f