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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
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3
active_grasp/nbv.py
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@ -14,6 +14,7 @@ def get_voxel_at(voxel_size, p):
return index if (index >= 0).all() and (index < 40).all() else None return index if (index >= 0).all() and (index < 40).all() else None
# Note that the jit compilation takes some time the first time raycast is called
@jit(nopython=True) @jit(nopython=True)
def raycast( def raycast(
voxel_size, voxel_size,
@ -56,7 +57,7 @@ class NextBestView(MultiViewPolicy):
def __init__(self): def __init__(self):
super().__init__() super().__init__()
self.min_z_dist = rospy.get_param("~camera/min_z_dist") self.min_z_dist = rospy.get_param("~camera/min_z_dist")
self.max_views = 100 self.max_views = 80
def activate(self, bbox, view_sphere): def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere) super().activate(bbox, view_sphere)

4
active_grasp/policy.py
View File

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