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Fix

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This commit is contained in:
Michel Breyer 2021-10-11 14:51:42 +02:00
parent 17b9347976
commit ae92e1bb99
1 changed files with 3 additions and 3 deletions
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6
src/active_grasp/policy.py
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@ -108,12 +108,12 @@ class SingleViewPolicy(Policy):
self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5) self.vis.quality(self.task_frame, voxel_size, out.qual, 0.5)
grasps, qualities = select_local_maxima(voxel_size, out, self.qual_thresh) 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: if len(grasps) > 0:
self.best_grasp = grasps[0] self.best_grasp = grasps[0]
self.vis.grasps(self.base_frame, grasps) # self.vis.grasps(self.base_frame, grasps, qualities)
self.vis.best_grasp(self.base_frame, self.best_grasp) self.vis.grasp(self.base_frame, self.best_grasp, qualities[0])
self.done = True self.done = True