076e79ce49973843e62f350c9335448b977d224f,examples/policy_ros.py,,,#,51

Before Change

                                         "..",
                                         "data/examples/single_object/depth_0.npy")
    if segmask_filename is None:
        segmask_filename = os.path.join(os.path.dirname(os.path.realpath(__file__)),
                                        "..",
                                        "data/examples/single_object/segmask_0.png")
    if camera_intr_filename is None:
        camera_intr_filename = os.path.join(os.path.dirname(os.path.realpath(__file__)),
                                            "..",
                                            "data/calib/primesense.intr")    
    if config_filename is None:
        config_filename = os.path.join(os.path.dirname(os.path.realpath(__file__)),
                                       "..",
                                       "cfg/policies/dex-net_2.0.yaml")
    
    // read config
    config = YamlConfig(config_filename)

After Change

    depth_im = DepthImage.open(depth_im_filename, frame=camera_intr.frame)

    // read segmask
    if segmask_filename is not None:
        segmask = BinaryImage.open(segmask_filename, frame=camera_intr.frame)
        grasp_resp = plan_grasp_segmask(color_im.rosmsg,
                                        depth_im.rosmsg,
                                        camera_intr.rosmsg,
                                        segmask.rosmsg)
    else:
        grasp_resp = plan_grasp(color_im.rosmsg,
                                depth_im.rosmsg,
                                camera_intr.rosmsg)
    grasp = grasp_resp.grasp
    
    // convert to a grasp action
    grasp_type = grasp.grasp_type

Instances