Clear old grasp grasp markers

2021-09-12 18:19:10 +02:00
parent f2a12efb0f
commit b41d70df66
3 changed files with 18 additions and 6 deletions
--- a/active_grasp/policy.py
+++ b/active_grasp/policy.py
@@ -147,6 +147,8 @@ class MultiViewPolicy(Policy):
            grasps = select_grid(voxel_size, out, threshold=self.qual_threshold)
            grasps, scores = self.sort_grasps(grasps, q)

+        self.vis.clear_grasps()
+
        if len(grasps) > 0:
            smin, smax = np.min(scores), np.max(scores)
            self.best_grasp = grasps[0]
@@ -154,7 +156,6 @@ class MultiViewPolicy(Policy):
            self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax)
        else:
            self.best_grasp = None
-            # TODO clear grasp markers


 def compute_error(x_d, x):