def plot_traj_obj_kinbodies(self):
if self.obj_clones is None:
self.create_obj_clones()
for t in range(self.T):
ot = self.obj_traj.get_value()[:, t : t + 1]
transform = transform_from_obj_pose(ot)
self.obj_clones[t].SetTransform(transform)
return self.obj_clones
def set_pose(self, env, pose):
transform = transform_from_obj_pose(pose)
# ipdb.set_trace()
obj = self.get_env_body(env)
obj.SetTransform(transform)
