fix transform bug

jmatejcz · jmatejcz · commit 702bb00bd08a · 2025-02-20T18:07:22.000+01:00
diff --git a/src/rai_sim/rai_sim/o3de/o3de_bridge.py b/src/rai_sim/rai_sim/o3de/o3de_bridge.py
@@ -175,6 +175,9 @@ def get_object_pose(self, entity: SpawnedEntity) -> PoseModel:
         ros2_pose = do_transform_pose(
             Pose(), self.connector.get_transform(object_frame + "odom", object_frame)
         )
+        ros2_pose = do_transform_pose(
+            ros2_pose, self.connector.get_transform("world", "odom")
+        )
         return self.from_ros2_pose(ros2_pose)
 
     def get_scene_state(self) -> SceneState:

Original file line number	Diff line number	Diff line change
`@@ -175,6 +175,9 @@ def get_object_pose(self, entity: SpawnedEntity) -> PoseModel:`
`175`	`175`	`ros2_pose = do_transform_pose(`
`176`	`176`	`Pose(), self.connector.get_transform(object_frame + "odom", object_frame)`
`177`	`177`	`)`
	`178`	`+ ros2_pose = do_transform_pose(`
	`179`	`+ ros2_pose, self.connector.get_transform("world", "odom")`
	`180`	`+ )`
`178`	`181`	`return self.from_ros2_pose(ros2_pose)`
`179`	`182`
`180`	`183`	`def get_scene_state(self) -> SceneState:`