[BUG FIX] Correct -Z orientation & vertex color#1540
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duburcqa merged 3 commits intoGenesis-Embodied-AI:mainfrom Aug 12, 2025
Merged
[BUG FIX] Correct -Z orientation & vertex color#1540duburcqa merged 3 commits intoGenesis-Embodied-AI:mainfrom
duburcqa merged 3 commits intoGenesis-Embodied-AI:mainfrom
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Should the same fallback-axis strategy be propagated to other rotation-matrix utilities in the codebase? |
duburcqa
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Aug 11, 2025
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Yes, this is necessary. |
duburcqa
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Aug 12, 2025
YilingQiao
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Aug 22, 2025
…1540) * Handle -Z direction correctly when z is parallel to up axis * Add missing vertex colors in utils.mesh.create_line --------- Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com>
winnieyangwannan
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Sep 14, 2025
…1540) * Handle -Z direction correctly when z is parallel to up axis * Add missing vertex colors in utils.mesh.create_line --------- Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com>
Kashu7100
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Jan 26, 2026
…1540) * Handle -Z direction correctly when z is parallel to up axis * Add missing vertex colors in utils.mesh.create_line --------- Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com>
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Description
_np_z_up_to_Rnow re-computes the orthogonal basis using the world X-axis as a fallback when the first cross-product is near-zero, guaranteeing a correct rotation matrix for all directions.colorargument intocreate_cylinderRelated Issue
Resolves #1516
Motivation and Context
_np_z_up_to_Rin file utils/geom.py returned the identity matrix when the target vector was anti-parallel to the reference up axis, losing the required 180° rotation.create_linein file utils/mesh.pygenerated a cylinder but never applied the requested color.Checklist:
Submitting Code Changessection of CONTRIBUTING document.