“…As a way to overcome this limitation, another popular grasp representation that has been proposed is the oriented rectangle representation that was used in [10,[18][19][20]30,31]. According to Jiang et al [30], their grasping configuration has a seven-dimensional representation containing the information of a Grasping point, Grasping orientation, and Gripper opening width. In world coordinates, their grasp representation, G, is stated as G = (x, y, z, α, β, γ, l).…”