hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Minor

Browse Source
This commit is contained in:
Michel Breyer
2021-09-12 17:11:42 +02:00
parent efe6e9d1bd
commit 732effa39f
2 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
active_grasp/policy.py
View File

@@ -74,12 +74,12 @@ class Policy:
for grasp in in_grasps:
pose = self.T_base_task * grasp.pose
R, t = pose.rotation, pose.translation
tip = pose.rotation.apply([0, 0, 0.05]) + pose.translation
# Filter out artifacts close to the support
if t[2] < self.bbox.min[2] + 0.04:
if t[2] < self.bbox.min[2] + 0.05 or tip[2] < self.bbox.min[2] + 0.02:
continue
tip = pose.rotation.apply([0, 0, 0.05]) + pose.translation
if self.bbox.is_inside(tip):
grasp.pose = pose
q_grasp = self.ee_model.ik(q, pose * self.T_grasp_ee)