Prevent the floor from being selected as a target

2021-07-07 10:44:57 +02:00 · 2021-07-07 10:44:57 +02:00 · 37bef05d70
commit 37bef05d70
parent 71eac8d295
1 changed files with 2 additions and 0 deletions
--- a/simulation.py
+++ b/simulation.py
@ -103,6 +103,8 @@ class Simulation(BtSim):
    def select_target(self):
        img = self.camera.get_image()
        uids, counts = np.unique(img.mask, return_counts=True)
+        mask = np.isin(uids, self.object_uids)  # remove ids of the floor, table, etc
+        uids, counts = uids[mask], counts[mask]
        target_uid = uids[np.argmin(counts)]
        p.changeVisualShape(target_uid, -1, rgbaColor=[1, 0, 0, 1])
        return target_uid