Tilted output grasping pose due to hardcoded grasp depth

[Moreland-cas]

Hello! Thank you for your amazing work on AnyGrasp. It's been really helpful.

I'm currently running AnyGrasp on my custom point cloud data and have encountered a few issues. I've attached the predicted grasp results for my data with the top_down parameter set to False and True, respectively.

1. top_down=False

When top_down=False, AnyGrasp generates a large number of grasps. However, since the hardcoded depth is set to 2cm and the handle in my data is relatively short, the grasps appear to be tilted.

2. top_down=True

When top_down=True, the number of available grasps is significantly reduced. In fact, no grasps are found in the middle drawer.

I'm wondering if my analysis is correct: does the hardcoded depth cause the tilted grasps? Is there a workaround to address this issue?
Thank you in advance for your help!