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Render grasp colors based on their quality

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This commit is contained in:
Michel Breyer
2021-09-13 11:49:13 +02:00
parent b41d70df66
commit e9344a4db2
2 changed files with 8 additions and 10 deletions
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7
active_grasp/policy.py
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@@ -138,7 +138,7 @@ class MultiViewPolicy(Policy):
with Timer("grasp_prediction"):
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
out = self.vgn.predict(tsdf_grid)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.5)
self.vis.quality(self.task_frame, self.tsdf.voxel_size, out.qual, 0.8)
t = (len(self.views) - 1) % self.T
self.qual_hist[t, ...] = out.qual
@@ -150,10 +150,9 @@ class MultiViewPolicy(Policy):
self.vis.clear_grasps()
if len(grasps) > 0:
smin, smax = np.min(scores), np.max(scores)
self.best_grasp = grasps[0]
self.vis.grasps(self.base_frame, grasps, scores, smin, smax)
self.vis.best_grasp(self.base_frame, grasps[0], scores[0], smin, smax)
self.vis.grasps(self.base_frame, grasps)
self.vis.best_grasp(self.base_frame, self.best_grasp)
else:
self.best_grasp = None