adding mujoco uds bridge

python/mujoco/usd_utils.py

@@ -0,0 +1,12 @@
+import numpy as np
+
+def create_transform_matrix(rotation_matrix, translation_vector):
+  # Ensure rotation_matrix and translation_vector are NumPy arrays
+  rotation_matrix = np.array(rotation_matrix)
+  translation_vector = np.array(translation_vector)
+
+  transform_matrix = np.eye(4)
+  transform_matrix[:3, :3] = rotation_matrix
+  transform_matrix[:3, 3] = translation_vector
+
+  return transform_matrix