def rotate_callback(viewer, key, rot, stf):
rot.rotation = RigidTransform.z_axis_rotation(np.pi / 2.0).dot(
rot.rotation)
vis.get_object(key).T_obj_world = rot.dot(stf)
def rescale_callback(viewer, key, rot, stf, adder):
if stf.scale + adder <= 0:
return
stf.scale += adder
vis.get_object(key).T_obj_world = rot.dot(stf)
