3D Spatial Reasoning

Core spatial math for placing objects correctly in OpenUSD scenes.

Coordinate System

• Stage: Z-up, metersPerUnit=1.0 (meters)
• All placement coordinates are in meters
• Rotations: always AddRotateXYZOp() — never individual axis ops

metersPerUnit Conversion (CRITICAL)

Assets have their own metersPerUnit. Common values:

• 1.0 = meters (robots, environments)
• 0.01 = centimeters (most KION lightspeed assets, SimModelAnimation, compositions)