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updating rotation matrix function for shapes

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This commit is contained in:
Abhishek Joshi
2024-06-17 12:37:10 +05:30
parent ea128c15de
commit 09b00cec5d
1 changed files with 7 additions and 2 deletions
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python/mujoco/usd/shapes.py
+7 -2
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@@ -159,8 +159,13 @@ def mesh_generator(
if "transform" in config: if "transform" in config:
if "rotate" in config["transform"]: if "rotate" in config["transform"]:
tmp = o3d.geometry.TriangleMesh.create_coordinate_frame() # TODO: add rotation matrix code gen to utils.py R = np.zeros(9)
R = tmp.get_rotation_matrix_from_xyz(config["transform"]["rotate"]) quat = np.zeros(4)
euler = config["transform"]["rotate"]
seq = 'xyz'
mujoco.mju_euler2Quat(quat, euler, seq)
mujoco.mju_quat2Mat(R, quat)
R = R.reshape((3,3))
prim_mesh.rotate(R, center=(0, 0, 0)) prim_mesh.rotate(R, center=(0, 0, 0))
if "scale" in config["transform"]: if "scale" in config["transform"]:
prim_mesh.vertices = o3d.utility.Vector3dVector( prim_mesh.vertices = o3d.utility.Vector3dVector(