scene_synthesizer.utils.collision_manager_transform

scene_synthesizer.utils.collision_manager_transform(collision_manager, transform, premultiply=False)

Helper function to transform all objects of a collision manager.

Parameters:

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

• transform (np.ndarray) – A 4x4 homogeneous transform matrix.

• premultiply (bool, optional) – Whether to post- or pre-multiply the transform. Defaults to False, i.e., post-multiplication.