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Fix lower bound of rays

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This commit is contained in:
Michel Breyer 2021-08-17 22:12:52 +02:00
parent 423db80e29
commit 2614a9e9af
1 changed files with 2 additions and 2 deletions
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4
active_grasp/nbv.py
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@ -63,8 +63,8 @@ class NextBestView(BasePolicy):
u_min, u_max = u.min(), u.max() u_min, u_max = u.min(), u.max()
v_min, v_max = v.min(), v.max() v_min, v_max = v.min(), v.max()
t_min = np.min(corners[2]) t_min = 0.2
t_max = np.max(corners[2]) # TODO This bound might be a bit too short t_max = corners[2].max() # TODO This bound might be a bit too short
t_step = 0.01 t_step = 0.01
view = self.T_task_base * view # We'll work in the task frame from now on view = self.T_task_base * view # We'll work in the task frame from now on