mani_skill.envs.utils.randomization.camera#

Functions#

make_camera_rectangular_prism(n[, scale, center, ...])

param n:

number of sampled points within the geometry

noised_look_at(eye, target[, look_at_noise, ...])

param eye:

mean camera position

Module Contents#

mani_skill.envs.utils.randomization.camera.make_camera_rectangular_prism(n, scale=[0.1, 0.1, 0.1], center=[0, 0, 0], theta=0, device=None)[source]#
Parameters:

  • n – number of sampled points within the geometry

  • scale – [x,y,z] scale for unit cube

  • center – [x,y,z] scaled unit cube coordinates

  • theta – [0,2pi] rotation about the z axis

Return type:

torch.Tensor

mani_skill.envs.utils.randomization.camera.noised_look_at(eye, target, look_at_noise=0.01, view_axis_rot_noise=0.2, device=None)[source]#
Parameters:

  • eye – mean camera position

  • target – mean target position

  • look_at_noise – std of noise added to target in lookat transform

  • view_axis_rot_noise – std of noise added to rotation about the looking direction

Return type:

mani_skill.utils.structs.pose.Pose