From ae92e1bb991f8c431b0bbec24e11382a4027e23a Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Mon, 11 Oct 2021 14:51:42 +0200 Subject: [PATCH] Fix --- src/active_grasp/policy.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py index f8abb93..7ff6aa5 100644 --- a/src/active_grasp/policy.py +++ b/src/active_grasp/policy.py @@ -108,12 +108,12 @@ class SingleViewPolicy(Policy): self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5) grasps, qualities = select_local_maxima(voxel_size, out, self.qual_thresh) - grasps, _ = self.sort_grasps(grasps, qualities, q) + grasps, qualities, _ = self.sort_grasps(grasps, qualities, q) if len(grasps) > 0: self.best_grasp = grasps[0] - self.vis.grasps(self.base_frame, grasps) - self.vis.best_grasp(self.base_frame, self.best_grasp) + # self.vis.grasps(self.base_frame, grasps, qualities) + self.vis.grasp(self.base_frame, self.best_grasp, qualities[0]) self.done = True