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grasp sampler #32

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xins981 opened this issue Jan 14, 2023 · 0 comments

xins981 commented Jan 14, 2023

catgrasp/dexnet/grasping/grasp_sampler.py

Line 276 in dc656c0

Rs.append(R0@R_sphere@R_inplane)

bowen, the term 'R0@R_sphere' seems align the x axis of the frame generated by surface_point to approach vector sampled in sphere, right?

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