Merge pull request #1413 from awesome-aj0123:usd-integration

PiperOrigin-RevId: 612933036
Change-Id: Ia29230b1d91508dbc8b1cf7c76ff48c17448bf89

python/mujoco/usd/utils.py

@@ -0,0 +1,27 @@
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+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