Specify xyz bounds for randomizing object location

2021-11-04 18:20:47 +01:00
parent cdd3cfb686
commit 7db03ff39e
2 changed files with 3 additions and 2 deletions
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -137,7 +137,8 @@ class YamlScene(Scene):
            if randomize := object.get("randomize", False):
                angle = rng.uniform(-randomize["rot"], randomize["rot"])
                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)
        for _ in range(60):
            p.stepSimulation()