scene_synthesizer.utils.collision_manager_get_transforms

scene_synthesizer.utils.collision_manager_get_transforms(collision_manager)

Helper function to get a dictionary of all object transformations in a collision manager.

Parameters:

collision_manager (trimesh.collision.CollisionManager) – A trimesh collision manager.

Returns:

A dictionary of all transforms in the collision manager indexed by the object’s name.

Return type:

transforms (dict[str, np.ndarray])