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Fix camera pose output from keyboard control tool #137

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Merged
yuecideng merged 1 commit into from
Feb 13, 2026
Merged

Fix camera pose output from keyboard control tool #137

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7 changes: 5 additions & 2 deletions embodichain/lab/sim/utility/keyboard_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -196,8 +196,11 @@ def run_keyboard_control_for_camera(
pose_changed = True
log_info("Reset to initial pose")
elif key == ord("p"):
translation = new_pose[:3, 3]
rot = R.from_matrix(new_pose[:3, :3])
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]
Comment on lines +199 to +201
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Copilot AI Feb 13, 2026

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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).

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translation = new_pose_print[:3, 3]
rot = R.from_matrix(new_pose_print[:3, :3])
quaternion = rot.as_quat()
log_info("Current Camera pose:")
log_info(f"Translation: {translation}")
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