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Bug in amp task poselib rotation3d `rot_matrix_from_quaternion` #233

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thomas-rkk opened this issue Aug 23, 2024 · 0 comments

thomas-rkk commented Aug 23, 2024 •

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The rotation matrix returned is not normalized or orthogonal.
Here:

IsaacGymEnvs/isaacgymenvs/tasks/amp/poselib/poselib/core/rotation3d.py

Line 419 in aeed298

R2 = torch.stack([R10, R21, R22], dim=-1)

Should have been:

R2 = torch.stack([R20, R21, R22], dim=-1)

The text was updated successfully, but these errors were encountered:

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