Merge pull request #123 from microcosmAI/refactor/adapt-size-setter-m…

…ujoco-object Refactor/adapt size setter mujoco object
microcosmAI · May 30, 2023 · 4f99a31 · 4f99a31
2 parents 3bb096c + 4477273
commit 4f99a31
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Showing 2 changed files with 12 additions and 15 deletions.
diff --git a/peters_algorithm/base/asset_parsing/mujoco_object.py b/peters_algorithm/base/asset_parsing/mujoco_object.py
@@ -148,10 +148,7 @@ def size(self) -> float:
     @size.setter
     def size(self, size: float):
         """Set size of object"""
-        mjcf_pos = self.position
-        mjcf_pos[2] = size
-        self.position = mjcf_pos
-        self._mjcf_obj.find("body", self._name.lower()).geom[0].size = [size]
+        self._mjcf_obj.find("body", self._name.lower()).geom[0].size = size
 
     @property
     def tags(self) -> list[str]:

diff --git a/peters_algorithm/base/asset_placement/random_placer.py b/peters_algorithm/base/asset_placement/random_placer.py
@@ -170,14 +170,14 @@ def add(
                 else:
                     mujoco_objects_rule_blueprint.size = sizes[i]
 
-            # Old position is used to keep the z position
-            old_position = mujoco_object_blueprint.position
-
-            # We only want to sample x and y, so we keep the old z position
-            z_position = old_position[2]
+            # Save size of object for setting the z coordinate
+            new_z_position = mujoco_objects_rule_blueprint.size[0]
 
             # Sample a new position
-            mujoco_objects_rule_blueprint.position = [*self.distribution(), z_position]
+            mujoco_objects_rule_blueprint.position = [
+                *self.distribution(),
+                new_z_position,
+            ]
 
             count = 0
             # Ask every validator for approval until all approve or MAX_TRIES is reached, then throw error
@@ -199,7 +199,7 @@ def add(
                 # If placement is not possible, sample a new position
                 mujoco_objects_rule_blueprint.position = [
                     *self.distribution(),
-                    old_position[2],
+                    new_z_position,
                 ]
 
             # Copy the blueprint to avoid changing the original
@@ -214,8 +214,8 @@ def add(
             if sizes is not None:
                 # Exchange parameters i.e. Reset rule blueprint and modify the mujoco_object copy
                 old_size = mujoco_object.size
-                mujoco_object.size = mujoco_objects_rule_blueprint.size[0]
-                mujoco_objects_rule_blueprint.size = old_size[0]
+                mujoco_object.size = mujoco_objects_rule_blueprint.size
+                mujoco_objects_rule_blueprint.size = old_size
 
             mujoco_object.position = mujoco_objects_rule_blueprint.position
 
@@ -300,7 +300,7 @@ def _get_random_sizes(sizes_range: tuple[float, float]):
             random_size = round(
                 np.random.random() * 2, 2
             )  # sets a size between 0 and 2
-            sizes.append(random_size)
-            sizes.append(random_size)
+            sizes.append([random_size])
+            sizes.append([random_size])
 
         return sizes