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This commit is contained in:
Michel Breyer
2021-09-13 18:29:41 +02:00
parent e9344a4db2
commit 8e31931609
4 changed files with 23 additions and 23 deletions
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4
active_grasp/policy.py
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@@ -138,14 +138,14 @@ class MultiViewPolicy(Policy):
with Timer("grasp_prediction"):
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
out = self.vgn.predict(tsdf_grid)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.8)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.9)
t = (len(self.views) - 1) % self.T
self.qual_hist[t, ...] = out.qual
with Timer("grasp_selection"):
grasps = select_grid(voxel_size, out, threshold=self.qual_threshold)
grasps, scores = self.sort_grasps(grasps, q)
grasps, _ = self.sort_grasps(grasps, q)
self.vis.clear_grasps()