From 732effa39f0d0517db9a7c1adec6f596664a4b6e Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Sun, 12 Sep 2021 17:11:42 +0200 Subject: [PATCH] Minor --- active_grasp/nbv.py | 3 ++- active_grasp/policy.py | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/active_grasp/nbv.py b/active_grasp/nbv.py index d649194..dd30966 100644 --- a/active_grasp/nbv.py +++ b/active_grasp/nbv.py @@ -14,6 +14,7 @@ def get_voxel_at(voxel_size, p): return index if (index >= 0).all() and (index < 40).all() else None +# Note that the jit compilation takes some time the first time raycast is called @jit(nopython=True) def raycast( voxel_size, @@ -56,7 +57,7 @@ class NextBestView(MultiViewPolicy): def __init__(self): super().__init__() self.min_z_dist = rospy.get_param("~camera/min_z_dist") - self.max_views = 100 + self.max_views = 80 def activate(self, bbox, view_sphere): super().activate(bbox, view_sphere) diff --git a/active_grasp/policy.py b/active_grasp/policy.py index 6ebe1be..7f7260e 100644 --- a/active_grasp/policy.py +++ b/active_grasp/policy.py @@ -74,12 +74,12 @@ class Policy: for grasp in in_grasps: pose = self.T_base_task * grasp.pose R, t = pose.rotation, pose.translation + tip = pose.rotation.apply([0, 0, 0.05]) + pose.translation # Filter out artifacts close to the support - if t[2] < self.bbox.min[2] + 0.04: + if t[2] < self.bbox.min[2] + 0.05 or tip[2] < self.bbox.min[2] + 0.02: continue - tip = pose.rotation.apply([0, 0, 0.05]) + pose.translation if self.bbox.is_inside(tip): grasp.pose = pose q_grasp = self.ee_model.ik(q, pose * self.T_grasp_ee)