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added concave flag to container

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0nhc
2024-10-19 14:35:11 -05:00
parent 28f67382c7
commit 4b696a93d3
4 changed files with 22 additions and 27 deletions
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4
src/active_grasp/active_perception_policy.py
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@@ -218,8 +218,8 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
look_at_center_T[:3, 3] = look_at_center.cpu().numpy()
look_at_center_T = current_cam_pose.cpu().numpy() @ look_at_center_T
look_at_center = torch.from_numpy(look_at_center_T[:3, 3]).float().to("cuda:0")
print(f"Central Point of Target: {central_point_of_target}, length: {np.linalg.norm(central_point_of_target)}")
print(f"camera position: {current_cam_pose[:3, 3]}")
# print(f"Central Point of Target: {central_point_of_target}, length: {np.linalg.norm(central_point_of_target)}")
# print(f"camera position: {current_cam_pose[:3, 3]}")
nbv_tensor = self.get_transformed_mat(current_cam_pose,
est_delta_rot_mat,
look_at_center)

4
src/active_grasp/simulation.py
View File

@@ -155,10 +155,6 @@ class Scene:
def add_object(self, urdf, ori, pos, scale=1.0):
uid = p.loadURDF(str(urdf), pos, ori.as_quat(), globalScaling=scale)
collision_shape_data = p.getCollisionShapeData(uid, -1)
for shape in collision_shape_data:
shape_id = shape[1] # Get the shape ID
p.changeDynamics(uid, shape_id, collisionMargin=0.0001) # Set collision margin to 0.01
self.object_uids.append(uid)
return uid