From 406c53b3097431579bb172494e3397f8d88d1aa4 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Wed, 10 Nov 2021 14:52:48 +0100 Subject: [PATCH] Fix transform --- src/active_grasp/simulation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py index fbdd78c..524a6c2 100644 --- a/src/active_grasp/simulation.py +++ b/src/active_grasp/simulation.py @@ -175,7 +175,7 @@ class YamlScene(Scene): scale = object.get("scale", 1) if randomize := object.get("randomize", False): angle = rng.uniform(-randomize["rot"], randomize["rot"]) - ori *= Rotation.from_euler("z", angle, degrees=True) + ori = Rotation.from_euler("z", angle, degrees=True) * ori b = np.asarray(randomize["pos"]) pos += rng.uniform(-b, b) self.add_object(urdf, ori, pos, scale)