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Update urdf paths

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This commit is contained in:
Michel Breyer 2021-11-04 17:49:42 +01:00
parent a6b48ce3f1
commit cdd3cfb686
2 changed files with 2 additions and 5 deletions
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2
cfg/scenes/scene1.yaml
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@ -1,6 +1,6 @@
center: [0.5, 0.2, 0.25] center: [0.5, 0.2, 0.25]
objects: objects:
- object_id: 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}

5
src/active_grasp/simulation.py
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@ -126,14 +126,11 @@ class YamlScene(Scene):
self.length = 0.3 self.length = 0.3
self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0] self.origin = self.center - np.r_[0.5 * self.length, 0.5 * self.length, 0.0]
def get_urdf_path(self, model_name):
return assets_dir / "ycb_subset" / model_name / "model.urdf"
def generate(self, rng): def generate(self, rng):
self.load_config() self.load_config()
self.add_support(self.center) self.add_support(self.center)
for object in self.scene["objects"]: for object in self.scene["objects"]:
urdf = self.get_urdf_path(object["object_id"]) urdf = assets_dir / object["object_id"] / "model.urdf"
ori = Rotation.from_euler("xyz", object["rpy"], degrees=True) ori = Rotation.from_euler("xyz", object["rpy"], degrees=True)
pos = self.center + np.asarray(object["xyz"]) pos = self.center + np.asarray(object["xyz"])
scale = object.get("scale", 1) scale = object.get("scale", 1)