mani_skill.envs.utils.randomization.pose#

Functions#

random_quaternions(n[, device, lock_x, lock_y, ...])

Generates random quaternions by generating random euler angles uniformly, with each of

Module Contents#

mani_skill.envs.utils.randomization.pose.random_quaternions(n, device=None, lock_x=False, lock_y=False, lock_z=False, bounds=(0, np.pi * 2))[source]#

Generates random quaternions by generating random euler angles uniformly, with each of the X, Y, Z angles ranging from bounds[0] to bounds[1] radians. Can optionally choose to fix X, Y, and/or Z euler angles to 0 via lock_x, lock_y, lock_z arguments

Parameters:

  • n (int) –

  • device (mani_skill.utils.structs.types.Device) –

  • lock_x (bool) –

  • lock_y (bool) –

  • lock_z (bool) –