hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Specify xyz bounds for randomizing object location

Browse Source
This commit is contained in:
Michel Breyer 2021-11-04 18:20:47 +01:00
parent cdd3cfb686
commit 7db03ff39e
2 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cfg/scenes/scene1.yaml
View File

@ -3,5 +3,5 @@ objects:
- object_id: ycb/006_mustard_bottle - object_id: ycb/006_mustard_bottle
xyz: [0.0, 0.0, 0.0] xyz: [0.0, 0.0, 0.0]
rpy: [0, 0, -50] rpy: [0, 0, -50]
randomize: {rot: 5, pos: 0.02} randomize: {rot: 5, pos: [0.02, 0.02, 0]}
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79] q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]

3
src/active_grasp/simulation.py
View File

@ -137,7 +137,8 @@ class YamlScene(Scene):
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)
pos[:2] += rng.uniform(-randomize["pos"], randomize["pos"], 2) b = np.asarray(randomize["pos"])
pos += rng.uniform(-b, b)
self.add_object(urdf, ori, pos, scale) self.add_object(urdf, ori, pos, scale)
for _ in range(60): for _ in range(60):
p.stepSimulation() p.stepSimulation()