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Change definition of ROI wrt target bbox

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Michel Breyer 2021-11-06 13:39:53 +01:00
parent 73d71f2bf7
commit 3c268c7a5d
1 changed files with 2 additions and 1 deletions
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3
src/active_grasp/policy.py
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@ -68,7 +68,8 @@ class Policy:
self.info = {} self.info = {}
def calibrate_task_frame(self): def calibrate_task_frame(self):
self.T_base_task = Transform.translation(self.bbox.center - np.full(3, 0.15)) xyz = np.r_[self.bbox.center[:2] - 0.15, self.bbox.min[2] - 0.05]
self.T_base_task = Transform.translation(xyz)
self.T_task_base = self.T_base_task.inv() self.T_task_base = self.T_base_task.inv()
tf.broadcast(self.T_base_task, self.base_frame, self.task_frame) tf.broadcast(self.T_base_task, self.base_frame, self.task_frame)
rospy.sleep(1.0) # Wait for tf tree to be updated rospy.sleep(1.0) # Wait for tf tree to be updated