Can I change or retrieve the global coordinate system of the scene?

[theklwa]

Thank you for your work. I have a question I'd like to ask. Can I change or retrieve the global coordinate system of the scene?

[aclegg3]

Hey @theklwa,

Habitat engine coordinate system assumes Y up, -Z forward always. There are some parts of the system (e.g. gravity, camera "up", snapping utilities) which can be configured, but will likely cause issues if you try to use another coordinate system with a different "up" basis vector.

That said, you can control some things. For example, the Stage (static background mesh) has configurable origin and basis as described in the config system docs: https://aihabitat.org/docs/habitat-sim/attributesJSON.html#stageattributes. Using 'up', 'front', and 'origin' you can manipulate the relative transformation of the asset. If your "scene" is a scan, this should be enough to effectively change the coordinate system of the scene. This can also be done for objects, but takes place in the local space of each object, so global placement transforms will need to be adjusted on your end..

At the end of the day there is a lot you can configure, but some things are likely to give you headaches. Feel free to provide more specifics or issues you run into while trying things and we can attempt to provide more detailed advice.