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Visualize best grasp

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This commit is contained in:
Michel Breyer
2021-09-03 11:50:14 +02:00
parent 98abe3789d
commit f43688023b
3 changed files with 18 additions and 10 deletions
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7
active_grasp/policy.py
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@@ -88,7 +88,7 @@ class SingleViewPolicy(Policy):
out = self.vgn.predict(tsdf_grid)
self.vis.quality(self.task_frame, voxel_size, out.qual)
grasps = select_grid(voxel_size, out, threshold=0.95)
grasps = select_grid(voxel_size, out, threshold=0.90)
grasps, scores = self.sort_grasps(grasps)
self.vis.grasps(self.base_frame, grasps, scores)
@@ -111,13 +111,12 @@ class MultiViewPolicy(Policy):
tsdf_grid, voxel_size = self.tsdf.get_grid(), self.tsdf.voxel_size
out = self.vgn.predict(tsdf_grid)
grasps = select_grid(voxel_size, out, threshold=0.95)
grasps = select_grid(voxel_size, out, threshold=0.90)
grasps, scores = self.sort_grasps(grasps)
if len(grasps) > 0:
self.best_grasp = grasps[0]
else:
self.best_grasp = None
self.vis.best_grasp(self.base_frame, grasps[0], scores[0])
self.vis.grasps(self.base_frame, grasps, scores)