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Use KDL for checking IKs

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This commit is contained in:
Michel Breyer
2021-09-12 00:21:58 +02:00
parent e8dff9bf5c
commit c821f22523
6 changed files with 76 additions and 53 deletions
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4
active_grasp/baselines.py
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@@ -13,14 +13,14 @@ class TopView(SingleViewPolicy):
def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere)
self.x_d = self.view_sphere.get_view(0.0, 0.0)
self.done = False if self.view_sphere.is_feasible(self.x_d) else True
self.done = False if self.is_feasible(self.x_d) else True
class TopTrajectory(MultiViewPolicy):
def activate(self, bbox, view_sphere):
super().activate(bbox, view_sphere)
self.x_d = self.view_sphere.get_view(0.0, 0.0)
self.done = False if self.view_sphere.is_feasible(self.x_d) else True
self.done = False if self.is_feasible(self.x_d) else True
def update(self, img, x):
self.integrate(img, x)