Single view baselines

2021-08-25 18:29:10 +02:00
parent fc8d9a8791
commit 5501c2ae42
6 changed files with 89 additions and 207 deletions
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -117,11 +117,11 @@ class GraspController:
        return T_base_grasp

    def collect_info(self, result):
-        points = [p.translation for p in self.policy.viewpoints]
+        points = [p.translation for p in self.policy.views]
        d = np.sum([np.linalg.norm(p2 - p1) for p1, p2 in zip(points, points[1:])])
        info = {
            "result": result,
-            "viewpoint_count": len(points),
+            "view_count": len(points),
            "distance": d,
        }
        info.update(Timer.timers)