Define custom scenes via yaml files

2021-09-08 16:50:53 +02:00
parent 60443b0c2f
commit 1fb2eaf2b6
7 changed files with 465 additions and 244 deletions
--- a/active_grasp/baselines.py
+++ b/active_grasp/baselines.py
@@ -41,7 +41,7 @@ class TopTrajectory(MultiViewPolicy):
 class CircularTrajectory(MultiViewPolicy):
    def __init__(self, rate):
        super().__init__(rate)
-        self.r = 0.12
+        self.r = 0.08
        self.h = 0.3
        self.duration = 2.0 * np.pi * self.r / self.linear_vel
        self.m = scipy.interpolate.interp1d([0.0, self.duration], [np.pi, 3.0 * np.pi])