Pybullet world to local coordinate transfer

Official Python bindings with a focus on reinforcement learning and robotics.
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ShravanTata
Posts: 3
Joined: Wed Jul 24, 2019 5:07 pm

Pybullet world to local coordinate transfer

Post by ShravanTata »

Hi Everyone,

I am trying to convert some global coordinates defined in a link into its local coordinate system.
This issue was raised earlier in [viewtopic.php?t=8881].

Like in the example code below, is there also a python API for the same? Especially getCenterOfMassTransform().inverse()

Code: Select all

btVector3 RagdollDemo::pointWorldToLocal(int bodyIndex, btVector3 worldPoint)
{
        return body[bodyIndex]->getCenterOfMassTransform().inverse()(worldPoint);
}
Thank you,
Shravan
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