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Fixed np.math.atan2 issue with np.arctan2 in utils.py #21

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Fixed np.math.atan2 issue with np.arctan2 in utils.py #21

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4cacb04
Fixed np.math.atan2 issue with np.arctan2 in utils.py
ShadidYousuf Nov 6, 2025
2c507bd
Converted lists to np arrays for operations: in test_turtlebot.py
ShadidYousuf Nov 6, 2025
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4 changes: 2 additions & 2 deletions examples/test_turtlebot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,8 @@ def main(floor_width=2.0):

robot_aabb = get_subtree_aabb(robot, base_link) # Computes the robot's axis-aligned bounding box (AABB)
lower, upper = robot_aabb # Decomposing the AABB into the lower and upper extrema
center = (lower + upper)/2. # Computing the center of the AABB
extent = upper - lower # Computing the dimensions of the AABB
center = (np.array(lower) + np.array(upper)) / 2.0# Computing the center of the AABB
extent = np.array(upper) - np.array(lower) # Computing the dimensions of the AABB
handles.extend(draw_point(center))
handles.extend(draw_aabb(robot_aabb))

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5 changes: 3 additions & 2 deletions pybullet_tools/utils.py
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Expand Up @@ -1387,11 +1387,12 @@ def set_camera(yaw, pitch, distance, target_position=np.zeros(3)):

def get_pitch(point):
dx, dy, dz = point
return np.math.atan2(dz, np.sqrt(dx ** 2 + dy ** 2))
return np.arctan2(dz, np.sqrt(dx ** 2 + dy ** 2))

def get_yaw(point):
dx, dy = point[:2]
return np.math.atan2(dy, dx)
#return np.math.atan2(dy, dx)
return np.arctan2(dy, dx)

def set_camera_pose(camera_point, target_point=np.zeros(3)):
delta_point = np.array(target_point) - np.array(camera_point)
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