showing top grasps - gitignore change

ChunyangSun · Feb 10, 2014 · e591ab3 · e591ab3
1 parent 19b5090
commit e591ab3
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,6 @@
+/database/
+/models/
+
 #################
 ## Eclipse
 #################

diff --git a/hw1_grasp.py b/hw1_grasp.py
@@ -134,10 +134,10 @@ def eval_grasp(self, grasp):
 
           G[:, i] = wrench
 
-        #TODO use G to compute scrores as discussed in class
+        # Use SVD to compute minimum score
         U, S, V = np.linalg.svd(G)
         score = S[-1]
-        return score #change thisD
+        return score 
 
       except openravepy.planning_error,e:
         #you get here if there is a failure in planning
@@ -209,7 +209,9 @@ def show_grasp(self, grasp, delay=1.5):
 
 if __name__ == '__main__':
   robo = RoboHandler()
-  #robo.show_grasp(robo.grasps_ordered[0], delay=30)
+
+  for i in range(5):
+    robo.show_grasp(robo.grasps_ordered[i], delay=30)
 
   #import IPython
   #IPython.embed()