2bd7d6686cb8f39b7fce0d8ba7cad2ba44e04941,gqcnn/image_grasp_sampler.py,,force_closure,#Any#Any#Any#Any#Any#,31

Before Change

    
    // compute cone membership
    alpha = np.arctan(mu)
    in_cone_1 = (np.arccos(n1.dot(-v)) < alpha)
    in_cone_2 = (np.arccos(n2.dot(v)) < alpha)
    return (in_cone_1 and in_cone_2)

After Change

    
    // compute cone membership
    alpha = np.arctan(mu)
    dot_1 = max(min(n1.dot(-v), 1.0), -1.0)
    dot_2 = max(min(n2.dot(v), 1.0), -1.0)
    in_cone_1 = (np.arccos(dot_1) < alpha)
    in_cone_2 = (np.arccos(dot_2) < alpha)
    return (in_cone_1 and in_cone_2)

class DepthSamplingMode(object):

Instances