b7823d26168ace38a5137b73a18be1556ea2420d,gqcnn/policy.py,CrossEntropyRobustGraspingPolicy,action,#CrossEntropyRobustGraspingPolicy#Any#,485

Before Change

                grasp_vecs, _ = gmm.sample(n_samples=self._num_gmm_samples)
                grasp_vecs = elite_grasp_std * grasp_vecs + elite_grasp_mean
                sample_duration = time() - sample_start
                logging.debug("GMM sampling took %.3f sec" %(sample_duration))

                // convert features to grasps and store if in segmask
                for grasp_vec in grasp_vecs:
                    if grasp_type == "parallel_jaw":

After Change

                         grasp.center.x >= 0 and grasp.center.x < state.segmask.width and \
                         np.any(state.segmask[int(grasp.center.y), int(grasp.center.x)] != 0)):
                         grasps.append(grasp)
                    logging.debug("Bounds took %.5f sec" %(time()-bounds_start))

            // check num grasps
            num_grasps = len(grasps)
            if num_grasps == 0:

Instances