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Fix mustard scenes

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This commit is contained in:
Michel Breyer 2021-09-14 10:28:31 +02:00
parent c8ef408252
commit 59ce141072
3 changed files with 7 additions and 8 deletions
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7
active_grasp/policy.py
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@ -109,13 +109,12 @@ class SingleViewPolicy(Policy):
self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5)
grasps = select_grid(voxel_size, out, threshold=self.qual_threshold)
grasps, scores = self.sort_grasps(grasps, q)
grasps, _ = self.sort_grasps(grasps, q)
if len(grasps) > 0:
smin, smax = np.min(scores), np.max(scores)
self.best_grasp = grasps[0]
self.vis.grasps(self.base_frame, grasps, scores, smin, smax)
self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax)
self.vis.grasps(self.base_frame, grasps)
self.vis.best_grasp(self.base_frame, self.best_grasp)
self.done = True

2
cfg/scenes/test1.yaml → cfg/scenes/mustard1.yaml
View File

@ -2,5 +2,5 @@ center: [0.5, 0.1, 0.20]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 006_mustard_bottle
xyz: [0.05, 0.1, 0.0]
xyz: [0.0, 0.1, 0.0]
rpy: [0, 0, -50]

6
cfg/scenes/test2.yaml → cfg/scenes/mustard2.yaml
View File

@ -1,6 +1,6 @@
center: [0.5, 0.0, 0.40]
center: [0.5, 0.1, 0.40]
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
objects:
- object_id: 006_mustard_bottle
xyz: [0.05, 0.1, 0.0]
rpy: [0, 0, -50]
xyz: [0.0, 0.1, 0.0]
rpy: [0, 0, 130]