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switch scene pipeline passed

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0nhc
2024-10-24 21:54:31 -05:00
parent f3f8d6b294
commit 91d2b86340
6 changed files with 62 additions and 21 deletions
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6
src/active_grasp/active_perception_policy.py
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@@ -269,7 +269,11 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
# gsnet_input_points = target_points_list
# gsnet_input_points = merged_points_list
self.publish_pointcloud(gsnet_input_points)
gsnet_grasping_poses = np.asarray(self.request_grasping_pose(gsnet_input_points))
received_points = False
while(received_points == False):
gsnet_grasping_poses = np.asarray(self.request_grasping_pose(gsnet_input_points))
received_points = True
print(gsnet_grasping_poses[0].keys())
# DEBUG: publish grasps
# self.publish_grasps(gsnet_grasping_poses)