scene_synthesizer.utils.collision_manager_set_transforms

scene_synthesizer.utils.collision_manager_set_transforms(collision_manager, transforms)

Helper function to set all transformations in a collision manager.

Parameters:

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

• transforms (dict[str, np.ndarray]) – A dictionary of all transforms in the collision manager indexed by the object’s name.