hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix wp.index error and minor bugfixes

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2024-01-24 23:15:30 -08:00
parent c09d94908d
commit ec99bfba75
5 changed files with 17 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/curobo/geom/transform.py
View File

@@ -353,10 +353,10 @@ def compute_pose_inverse(
out_q = wp.transform_get_rotation(t_3)
out_v = wp.vec4()
out_v[0] = wp.index(out_q, 3)
out_v[1] = wp.index(out_q, 0)
out_v[2] = wp.index(out_q, 1)
out_v[3] = wp.index(out_q, 2)
out_v[0] = out_q[3]
out_v[1] = out_q[0]
out_v[2] = out_q[1]
out_v[3] = out_q[2]
out_position[b_idx] = wp.transform_get_translation(t_3)
out_quat[b_idx] = out_v
@@ -398,10 +398,10 @@ def compute_matrix_to_quat(
out_q = wp.quat_from_matrix(in_m)
out_v = wp.vec4()
out_v[0] = wp.index(out_q, 3)
out_v[1] = wp.index(out_q, 0)
out_v[2] = wp.index(out_q, 1)
out_v[3] = wp.index(out_q, 2)
out_v[0] = out_q[3]
out_v[1] = out_q[0]
out_v[2] = out_q[1]
out_v[3] = out_q[2]
# write pt:
out_quat[b_idx] = out_v