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Option to add random noise to object locations

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This commit is contained in:
Michel Breyer
2021-10-27 14:29:18 +02:00
parent cc42ff66e8
commit b1eef0d6ef
6 changed files with 12 additions and 20 deletions
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14
src/active_grasp/simulation.py
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@@ -178,12 +178,14 @@ class CustomScene(Scene):
self.load_config()
self.load_support(self.center)
for object in self.scene["objects"]:
self.load_object(
self.get_ycb_urdf_path(object["object_id"]),
Rotation.from_euler("xyz", object["rpy"], degrees=True),
self.center + np.asarray(object["xyz"]),
object.get("scale", 1),
)
urdf = self.get_ycb_urdf_path(object["object_id"])
ori = Rotation.from_euler("xyz", object["rpy"], degrees=True)
pos = self.center + np.asarray(object["xyz"])
scale = object.get("scale", 1)
if object.get("randomize", False):
ori = Rotation.from_euler("z", rng.uniform(0, 2 * np.pi))
pos[:2] += rng.uniform(-0.05, 0.05, 2)
self.load_object(urdf, ori, pos, scale)
for _ in range(60):
p.stepSimulation()