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Select local_maxima instead of grid

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This commit is contained in:
Michel Breyer 2021-10-11 14:31:31 +02:00
parent fcee4a9517
commit 17b9347976
3 changed files with 6 additions and 6 deletions
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4
cfg/active_grasp.yaml
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@ -1,7 +1,7 @@
bt_sim: bt_sim:
gui: False gui: False
cam_noise: False cam_noise: False
scene: kitchen.yaml scene: mustard1.yaml
grasp_controller: grasp_controller:
base_frame_id: panda_link0 base_frame_id: panda_link0
@ -24,5 +24,5 @@ policy:
window_size: 6 window_size: 6
nbv_grasp: nbv_grasp:
max_views: 30 max_views: 40
min_gain: 0.0 min_gain: 0.0

0
cfg/scenes/kitchen.yaml → cfg/scenes/kitchen1.yaml
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8
src/active_grasp/policy.py
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@ -26,7 +26,7 @@ class Policy:
info_topic = rospy.get_param("~camera/info_topic") info_topic = rospy.get_param("~camera/info_topic")
msg = rospy.wait_for_message(info_topic, CameraInfo, rospy.Duration(2.0)) msg = rospy.wait_for_message(info_topic, CameraInfo, rospy.Duration(2.0))
self.intrinsic = from_camera_info_msg(msg) self.intrinsic = from_camera_info_msg(msg)
self.qual_threshold = rospy.get_param("vgn/qual_threshold") self.qual_thresh = rospy.get_param("vgn/qual_threshold")
def init_robot_model(self): def init_robot_model(self):
self.model = KDLModel.from_parameter_server(self.base_frame, self.cam_frame) self.model = KDLModel.from_parameter_server(self.base_frame, self.cam_frame)
@ -91,7 +91,7 @@ class Policy:
return filtered_grasps[i], qualities[i], scores[i] return filtered_grasps[i], qualities[i], scores[i]
def score_fn(self, grasp, quality, q, q_grasp): def score_fn(self, grasp, quality, q, q_grasp):
return -np.linalg.norm(q - q_grasp) return grasp.pose.translation[2]
class SingleViewPolicy(Policy): class SingleViewPolicy(Policy):
@ -107,7 +107,7 @@ class SingleViewPolicy(Policy):
out = self.vgn.predict(tsdf_grid) out = self.vgn.predict(tsdf_grid)
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_grid(voxel_size, out, self.qual_threshold) grasps, qualities = select_local_maxima(voxel_size, out, self.qual_thresh)
grasps, _ = self.sort_grasps(grasps, qualities, q) grasps, _ = self.sort_grasps(grasps, qualities, q)
if len(grasps) > 0: if len(grasps) > 0:
@ -145,7 +145,7 @@ class MultiViewPolicy(Policy):
self.qual_hist[t, ...] = out.qual self.qual_hist[t, ...] = out.qual
with Timer("grasp_selection"): with Timer("grasp_selection"):
grasps, qualities = select_grid(voxel_size, out, self.qual_threshold) grasps, qualities = select_local_maxima(voxel_size, out, self.qual_thresh)
grasps, qualities, _ = self.sort_grasps(grasps, qualities, q) grasps, qualities, _ = self.sort_grasps(grasps, qualities, q)
if len(grasps) > 0: if len(grasps) > 0: