[Proposal] Grasp pose generator only needs to consider the outermost face of the object mesh.

[matafela]

Proposal

Grasp pose generator only needs to consider the outermost face of the object mesh, and does not need to consider all the inner faces.

Motivation

Small structures inside an object can affect the choice of the grasp pose, causing the grasp pose to shift or the sampling to be too concentrated in a small region.

Checklist

• I have checked that there is no similar issue in the repo (required)