scene_synthesizer.utils.orientation_generator_stable_poses

scene_synthesizer.utils.orientation_generator_stable_poses(asset, seed=None, **kwargs)

Generator that yields random homogeneous transformations that represent stable poses of an asset. Internally, calls sample_stable_pose of asset.

Parameters:

• asset (scene_synth.Asset) – An asset with a sample_stable_pose(seed) function.

• seed (int, numpy.random._generator.Generator, optional) – A seed or random number generator. Defaults to None which creates a new default random number generator.

Yields:

np.ndarray – A 4x4 homogeneous transform.