scene_synthesizer.utils.distribute_center_mass

scene_synthesizer.utils.distribute_center_mass(center_mass, geoms)

Return center-of-masses for each geom_type_etry based on a single desired joint CoM.

Parameters:

• center_mass (list[float]) – 3D center of mass vector.

• geoms (list[trimesh.Geometry]) – List of trimesh geometries.

Returns:

Nx3 matrix of center-of-masses. N equals len(geoms).

Return type:

np.ndarray