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/policy.py
+++ b/active_grasp/policy.py
@@ -78,7 +78,8 @@ class Policy:
        return grasps[indices], scores[indices]

    def score_fn(self, grasp):
-        return grasp.quality
+        # return grasp.quality
+        return grasp.pose.translation[2]

    def update(self, img, pose):
        raise NotImplementedError