A question about grabbing

[cxcAxxy]

How does the optimized posture ensure the correct direction for grasping the pen？

[sahilbobade]

sorry for hijacking the thread but i have similar doubt. i was experimenting with picking up bottle task. The end effector should grasp the bottle from side like how we humans do (the gripper should be horizontal). But because of the way subgoal constraint is written, the gripper stays vertical and tries to grab bottle from top same way as it grabs pen (gripper is vertical as shown in below image).

i was wondering if there is any way to make this grasping possible, as in tasks of pouring from bottle, it is important how the end effector grabs the bottle.