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Isaac Sim Version
[*] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
[*] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: NVIDIA GeForce RTX 4060
- Driver Version: 570.124.04
Topic Description
Detailed Description
The first error is :
I create a camera_view to get camera rgb data and depth data,the camera is created in USD file.
The camera rgb_camera_prim_path=“/World/World0/G1/G1/link_pitch_head/Head_Camera_01”
The code to create camera_view is follow:
camera_view = CameraView(
name=“camera_prim_view”,
camera_resolution=(width,height),
prim_paths_expr=rgb_camera_prim_path,
output_annotators=[“rgb”, “depth”],
)
Then i run world.reset() once and run world.step() in while loop.
After world.step(), i get camera_view local position and rotation by camera_local_positions, camera_local_quaternions = camera_view.get_local_poses().
The position data is the same with UI,but the quaternions data is not.
The second error is :
I use follow code to get prim transform:
prim_path = “/World/scene/scene/_11_banana”
prim = get_prim_at_path(banana_prim_path)
xform = UsdGeom.Xformable(prim)
world_transform = xform.ComputeLocalToWorldTransform(0)
object_position_world = np.array(world_transform.ExtractTranslation())
rot_matrix = np.array(world_transform.ExtractRotationMatrix())
the position is the same with UI,
but the euler from rot_matrix is the opposite number with the euler from UI.
What caused this situation? And which value is right?
Steps to Reproduce
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Error Messages
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Screenshots or Videos
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Additional Information
What I’ve Tried
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Related Issues
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Additional Context
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