Use KDL for checking IKs

2021-09-12 00:21:58 +02:00
parent e8dff9bf5c
commit c821f22523
6 changed files with 76 additions and 53 deletions
--- a/active_grasp/nbv.py
+++ b/active_grasp/nbv.py
@@ -20,7 +20,7 @@ class NextBestView(MultiViewPolicy):
        self.view_candidates = []
        for theta, phi in itertools.product(thetas, phis):
            view = self.view_sphere.get_view(theta, phi)
-            if self.view_sphere.is_feasible(view):
+            if self.is_feasible(view):
                self.view_candidates.append(view)

    def update(self, img, x):