scene_synthesizer.utils.construct_obj_collision_manager

scene_synthesizer.utils.construct_obj_collision_manager(scene, transform)

Return a trimesh collision manager for a trimesh scene, with a pre-multiplied transform for all objects.

Parameters:

• scene (trimesh.Scene) – A scene.

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

Returns:

A collision manager of the scene. dict (str: str): A dictionary that maps scene nodes to names for objects in the collision manager.

Return type:

trimesh.CollisionManager