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)