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Fix transform

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This commit is contained in:
Michel Breyer 2021-11-10 14:52:48 +01:00
parent 0ac5ca20aa
commit 406c53b309
1 changed files with 1 additions and 1 deletions
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src/active_grasp/simulation.py
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@ -175,7 +175,7 @@ class YamlScene(Scene):
scale = object.get("scale", 1) scale = object.get("scale", 1)
if randomize := object.get("randomize", False): if randomize := object.get("randomize", False):
angle = rng.uniform(-randomize["rot"], randomize["rot"]) 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"]) b = np.asarray(randomize["pos"])
pos += rng.uniform(-b, b) pos += rng.uniform(-b, b)
self.add_object(urdf, ori, pos, scale) self.add_object(urdf, ori, pos, scale)