orthonormalize the rotationShear() part of transforms #1720
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| @@ -14,6 +14,10 @@ | |||
| import numpy as np | |||
| import quaternion as qt | |||
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| from habitat_sim._ext.habitat_sim_bindings.core import ( # noqa: F401 | |||
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@erikwijmans Actually, just realized that this should have been imported via bindings/__init__.py this should have been caught by the import-linter, but I suppose moving the python to src_python may have broken it.
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Examples and tests shouldn't, but I think it's fine to important from the bindings directly with src_python. I didn't import this in bindings/__init__.py as I think this function's canonical home should be here as this is where we have other rigid transform utils.
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Motivation and Context
When setting scene graph transformations, we need to explicitly normalize the rotation component to be orthonormal as sometimes floating point errors accumulate.
I also preemptively added an orthornomalize call when updating the camera positions for a robot as that seems like it'll be prone to this issue.
How Has This Been Tested
This was discovered in facebookresearch/habitat-lab#697, so I used the repro script there.
Types of changes
Bug fix (non-breaking change which fixes an issue)