Merge branch 'main' into lgulich/fix-configclass-dict-serialization

isaac-sim · Dec 13, 2024 · c28f84a · c28f84a
2 parents 41600dd + 37e0a79
commit c28f84a
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py
@@ -175,6 +175,9 @@ def _initialize_warp_meshes(self):
                 mesh_prim = UsdGeom.Mesh(mesh_prim)
                 # read the vertices and faces
                 points = np.asarray(mesh_prim.GetPointsAttr().Get())
+                transform_matrix = np.array(omni.usd.get_world_transform_matrix(mesh_prim)).T
+                points = np.matmul(points, transform_matrix[:3, :3].T)
+                points += transform_matrix[:3, 3]
                 indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get())
                 wp_mesh = convert_to_warp_mesh(points, indices, device=self.device)
                 # print info