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Pass arguments directly to the policy

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This commit is contained in:
Michel Breyer
2021-08-06 15:23:50 +02:00
parent 6fa4007727
commit 4eeb309a8f
4 changed files with 28 additions and 25 deletions
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12
active_grasp/baselines.py
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@@ -13,7 +13,7 @@ class SingleView(BasePolicy):
def update(self, img, extrinsic):
self.integrate_img(img, extrinsic)
self.best_grasp = self.predict_best_grasp()
self.best_grasp = self.compute_best_grasp()
self.done = True
@@ -32,7 +32,7 @@ class TopView(BasePolicy):
self.integrate_img(img, extrinsic)
error = extrinsic.translation - self.target.translation
if np.linalg.norm(error) < 0.01:
self.best_grasp = self.predict_best_grasp()
self.best_grasp = self.compute_best_grasp()
self.done = True
return self.target
@@ -58,7 +58,7 @@ class RandomView(BasePolicy):
self.integrate_img(img, extrinsic)
error = extrinsic.translation - self.target.translation
if np.linalg.norm(error) < 0.01:
self.best_grasp = self.predict_best_grasp()
self.best_grasp = self.compute_best_grasp()
self.done = True
return self.target
@@ -83,7 +83,7 @@ class FixedTrajectory(BasePolicy):
self.integrate_img(img, extrinsic)
elapsed_time = (rospy.Time.now() - self.tic).to_sec()
if elapsed_time > self.duration:
self.best_grasp = self.predict_best_grasp()
self.best_grasp = self.compute_best_grasp()
self.done = True
else:
t = self.m(elapsed_time)
@@ -106,7 +106,7 @@ class AlignmentView(BasePolicy):
self.integrate_img(img, extrinsic)
if not self.target:
grasp = self.predict_best_grasp()
grasp = self.compute_best_grasp()
if not grasp:
self.done = True
return
@@ -118,6 +118,6 @@ class AlignmentView(BasePolicy):
error = extrinsic.translation - self.target.translation
if np.linalg.norm(error) < 0.01:
self.best_grasp = self.predict_best_grasp()
self.best_grasp = self.compute_best_grasp()
self.done = True
return self.target