<commit_before>import random
from numpy import array
import math

def generate_grasp_params(gmodel, mesh_and_bounds_msg):
	params = get_params(gmodel)

	filtered_ray_idxs = filter_approach_rays(params['approachrays'], mesh_and_bounds_msg)
	#params['rolls'] = limit_wrist_rolling()
	#params['approachrays'] = gmodel.computeBoxApproachRays()
	#print dir(params['approachrays'])
	#print "__doc__: ", params['approachrays'].__doc__
	#print "__module__: ", params['approachrays'].__mod__#, params['approachrays'].__module__
	#print "base: ", params['approachrays'].bases
	#print params['approachrays']
	print filtered_ray_idxs
	
	#print "standoffs: ", params['standoffs']
	#print "rolls: ", params['rolls']
	params['approachrays'] = params['approachrays'].take(filtered_ray_idxs, axis=0)
	print params['approachrays']
	print params['graspingnoise']
	#params['graspingnoise'] = (0, 0)
	#params['normalanglerange'] = 0
	#params['spheredelta'] = 0
	params['standoffs'] = array([0])
	#params['directiondelta'] = 0
	#gmodel.numthreads = 3

	#gmodel.generate(**params)
	return params<commit_msg>Reduced finestep for joint closure. 2.5x speedup<commit_after>import random
from numpy import array
import math

def generate_grasp_params(gmodel, mesh_and_bounds_msg):
	params = get_params(gmodel)

	filtered_ray_idxs = filter_approach_rays(params['approachrays'], mesh_and_bounds_msg)
	#params['rolls'] = limit_wrist_rolling()
	#params['approachrays'] = gmodel.computeBoxApproachRays()
	#print dir(params['approachrays'])
	#print "__doc__: ", params['approachrays'].__doc__
	#print "__module__: ", params['approachrays'].__mod__#, params['approachrays'].__module__
	#print "base: ", params['approachrays'].bases
	#print params['approachrays']
	print filtered_ray_idxs
	
	#print "standoffs: ", params['standoffs']
	#print "rolls: ", params['rolls']
	params['approachrays'] = params['approachrays'].take(filtered_ray_idxs, axis=0)
	print params['approachrays']
	print params['graspingnoise']
	#params['graspingnoise'] = (0, 0)
	#params['normalanglerange'] = 0
	#params['spheredelta'] = 0
	params['standoffs'] = array([0])
	params['finestep'] = 0.05
	#params['directiondelta'] = 0
	#gmodel.numthreads = 3

	#gmodel.generate(**params)
	return params
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