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add get local pose #3

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Oct 8, 2024
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add get local pose #3

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18 changes: 18 additions & 0 deletions source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -435,6 +435,24 @@ def get_world_poses(self, env_ids: Sequence[int] | None = None):
positions, orientations = self._view.get_world_poses(indices=env_ids)
return positions, orientations

def get_local_poses(self, env_ids: Sequence[int] | None = None):
"""Get the local pose of the camera.

Args:
env_ids: indices to specify which prims to query. Defaults to None, which means all sensor indices.

Raises:
RuntimeError: If the camera prim is not set. Need to call :meth:`initialize` method first.

Returns: the position and orientation of the local camera pose. quaternion is scalar-first (w, x, y, z)
"""
# resolve env_ids
if env_ids is None:
env_ids = self._ALL_INDICES
# set camera poses using the view
positions, orientations = self._view.get_local_poses(indices=env_ids)
return positions, orientations

"""
Operations
"""
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