Move towards best grasp candidate

2021-09-03 17:10:36 +02:00
parent f43688023b
commit 81588a1075
5 changed files with 37 additions and 25 deletions
--- a/active_grasp/policy.py
+++ b/active_grasp/policy.py
@@ -51,6 +51,7 @@ class Policy:
        rospy.sleep(0.1)

    def sort_grasps(self, in_grasps):
+        # Transforms grasps into base frame, checks whether they lie on the target, and sorts by their score
        grasps, scores = [], []

        for grasp in in_grasps: