Change score function

2021-09-06 13:36:14 +02:00
parent 6c0a39b175
commit 184b380ea9
4 changed files with 11 additions and 10 deletions
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -121,6 +121,7 @@ class GraspController:
        rot = T_base_grasp.rotation
        if rot.as_matrix()[:, 0][0] < 0:  # Ensure that the camera is pointing forward
            T_base_grasp.rotation = rot * Rotation.from_euler("z", np.pi)
+        T_base_grasp *= Transform.t([0.0, 0.0, 0.01])
        return T_base_grasp

    def collect_info(self, result):