mujoco

# Copyright 2024 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
import numpy as np


def create_transform_matrix(rotation_matrix, translation_vector):
  # Ensure rotation_matrix and translation_vector are NumPy arrays
  rotation_matrix = np.array(rotation_matrix)
  translation_vector = np.array(translation_vector)

  transform_matrix = np.eye(4)
  transform_matrix[:3, :3] = rotation_matrix
  transform_matrix[:3, 3] = translation_vector

  return transform_matrix