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Merge branch 'local_pose_api' of https://github.com/StanfordVL/OmniGibson into local_pose_api

This commit is contained in:
Cem Gökmen 2024-09-13 16:10:51 -07:00
parent 5210194b95 9afc8e39ab
commit 1b8bed7afc
1 changed files with 2 additions and 6 deletions
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8
omnigibson/prims/xform_prim.py
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@ -217,15 +217,11 @@ class XFormPrim(BasePrim):
properties = self.prim.GetPropertyNames()
position = lazy.pxr.Gf.Vec3d(*position.tolist())
if "xformOp:translate" not in properties:
logger.error(
"Translate property needs to be set for {} before setting its position".format(self.name)
)
logger.error("Translate property needs to be set for {} before setting its position".format(self.name))
self.set_attribute("xformOp:translate", position)
orientation = orientation[[3, 0, 1, 2]].tolist()
if "xformOp:orient" not in properties:
logger.error(
"Orient property needs to be set for {} before setting its orientation".format(self.name)
)
logger.error("Orient property needs to be set for {} before setting its orientation".format(self.name))
xform_op = self._prim.GetAttribute("xformOp:orient")
if xform_op.GetTypeName() == "quatf":
rotq = lazy.pxr.Gf.Quatf(*orientation)