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owl-project / NVISII

Apache License 2.0
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Apply a base transformation to entity #47

Open TontonTremblay opened 4 years ago

TontonTremblay commented 4 years ago

When loading meshes from URDF (this the robot scene definition) we sometimes have to redfine the origin of the mesh, could we do that in visii as well so it would make it easier to align visii with pybullet in the future.

natevm commented 4 years ago

I think that's a good idea.

What would you image the API for this looking like? Would something like a mesh.apply_transform(visii.mat4()) work? Some example usage might be to do mesh.apply_transform(my_transform.get_local_to_world())

TontonTremblay commented 4 years ago

set_base_transform_position(vec3) and set_base_transform_rotation(quat) might be more useful and embracing quat better. You know I dont like mat4 in general for pose description.