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Fix/pose range #309

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Fix/pose range #309

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15 changes: 7 additions & 8 deletions isaaclab_arena/utils/pose.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,22 +81,21 @@ class PoseRange:
Args:
position_xyz_min: The minimum position in x, y, z.
position_xyz_max: The maximum position in x, y, z.
rotation_wxyz_min: The minimum rotation in w, x, y, z.
rotation_wxyz_max: The maximum rotation in w, x, y, z.
rpy_min: The minimum rotation in roll, pitch, yaw.
rpy_max: The maximum rotation in roll, pitch, yaw.
"""

position_xyz_min: tuple[float, float, float] = (0.0, 0.0, 0.0)
position_xyz_max: tuple[float, float, float] = (0.0, 0.0, 0.0)
rotation_wxyz_min: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0)
rotation_wxyz_max: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0)
rpy_min: tuple[float, float, float] = (0.0, 0.0, 0.0) # roll, pitch, yaw
rpy_max: tuple[float, float, float] = (0.0, 0.0, 0.0)

def to_dict(self) -> dict[str, tuple[float, float]]:
return {
"x": (self.position_xyz_min[0], self.position_xyz_max[0]),
"y": (self.position_xyz_min[1], self.position_xyz_max[1]),
"z": (self.position_xyz_min[2], self.position_xyz_max[2]),
"qw": (self.rotation_wxyz_min[0], self.rotation_wxyz_max[0]),
"qx": (self.rotation_wxyz_min[1], self.rotation_wxyz_max[1]),
"qy": (self.rotation_wxyz_min[2], self.rotation_wxyz_max[2]),
"qz": (self.rotation_wxyz_min[3], self.rotation_wxyz_max[3]),
"roll": (self.rpy_min[0], self.rpy_max[0]),
"pitch": (self.rpy_min[1], self.rpy_max[1]),
"yaw": (self.rpy_min[2], self.rpy_max[2]),
}