Generating grasps off-object or for only half the object with non-cubes [possible solution]
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Au3f commented
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.