successfully applies segmentation input for policy class

2024-10-13 00:37:45 -05:00
parent 0bfb696c1b
commit 0b3d7f2b22
7 changed files with 92 additions and 24 deletions
--- a/src/active_grasp/active_perception_policy.py
+++ b/src/active_grasp/active_perception_policy.py
@@ -18,7 +18,7 @@ class ActivePerceptionPolicy(MultiViewPolicy):
    def activate(self, bbox, view_sphere):
        super().activate(bbox, view_sphere)

-    def update(self, img, x, q):
+    def update(self, img, seg, x, q):
        self.depth_image_to_ap_input(img)
        # if len(self.views) > self.max_views or self.best_grasp_prediction_is_stable():
        #     self.done = True