Fix camera pose output from keyboard control tool#137
Conversation
There was a problem hiding this comment.
Pull request overview
Fixes the camera pose values printed by the keyboard-control utility so the reported rotation matches the expected coordinate convention used elsewhere in the simulator/tooling.
Changes:
- Adjust pose printing on
Pkey to apply a Y/Z axis flip before computing quaternion/Euler output.
Comments suppressed due to low confidence (1)
embodichain/lab/sim/utility/keyboard_utils.py:19
- Import of 'np' is not used.
import numpy as np
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
| new_pose_print = new_pose.copy() | ||
| new_pose_print[:3, 1] = -new_pose_print[:3, 1] | ||
| new_pose_print[:3, 2] = -new_pose_print[:3, 2] |
There was a problem hiding this comment.
The Y/Z axis sign flip here is doing an implicit OpenGL↔OpenCV coordinate-system conversion, but that intent isn’t documented and the same conversion appears elsewhere in the codebase. Consider adding a short comment clarifying which frame new_pose is in and which frame is being printed, and/or factoring this into a small shared helper (to avoid future mismatches).
1 participant
Description
Same as title
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
black .command to format the code base.