CAPGrasp: An $\mathbb{R}^3\times \text{SO(2)-equivariant}$ Continuous
  Approach-Constrained Generative Grasp Sampler
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CAPGrasp: An R3×SO(2)-equivariant\mathbb{R}^3\times \text{SO(2)-equivariant} Continuous Approach-Constrained Generative Grasp Sampler

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