From d77173d200eca8ea4e46a8c94f5fd568eccc68e4 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 4 Feb 2022 16:27:13 +0100
Subject: [PATCH] Minor cleanup

---
 cfg/active_grasp.yaml      | 3 +--
 cfg/sim/mustard.yaml       | 2 +-
 src/active_grasp/nbv.py    | 1 -
 src/active_grasp/policy.py | 6 +++---
 4 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index 94742e2..357d07c 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -1,8 +1,7 @@
 bt_sim:
   gui: False
-  cam_noise: False
   gripper_force: 10
-  scene: random
+  scene: mustard.yaml
 
 hw:
   roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
diff --git a/cfg/sim/mustard.yaml b/cfg/sim/mustard.yaml
index 52f6b82..89be7ad 100644
--- a/cfg/sim/mustard.yaml
+++ b/cfg/sim/mustard.yaml
@@ -4,4 +4,4 @@ objects:
 - object_id: ycb/006_mustard_bottle
   xyz: [0.0, 0.0, 0.0]
   rpy: [0, 0, -50]
-  randomize: {rot: 45, pos: [0.02, 0.02, 0]}
+  scale: 0.8
diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py
index 9392752..713eef8 100644
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@@ -4,7 +4,6 @@ import numpy as np
 import rospy
 
 from .policy import MultiViewPolicy
-
 from .timer import Timer
 
 
diff --git a/src/active_grasp/policy.py b/src/active_grasp/policy.py
index b477405..91a126c 100644
--- a/src/active_grasp/policy.py
+++ b/src/active_grasp/policy.py
@@ -4,14 +4,14 @@ from pathlib import Path
 import rospy
 from trac_ik_python.trac_ik import IK
 
-
-from .timer import Timer
-from .rviz import Visualizer
 from robot_helpers.ros import tf
 from robot_helpers.ros.conversions import *
 from vgn.detection import *
 from vgn.perception import UniformTSDFVolume
 
+from .timer import Timer
+from .rviz import Visualizer
+
 
 def solve_ik(q0, pose, solver):
     x, y, z = pose.translation