How to Fix One Object and Rotate Another in Open3D Visualizer?

[jackyyeh5111]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

How can I fix one object at a specific position and rotate another object dynamically within the Open3D visualizer?

I would like to do icp alignment in open3D. But before that, I want to have users to drag-and-drop for coarsely aligning two objects. Just like this video shows.

For instance, I'm looking for solution something similar to:

vis = o3d.visualization.Visualizer()
vis.create_window()

# Add two geometries to the visualizer
vis.add_geometry(mesh1, fixed=true)    # Fixed object
vis.add_geometry(mesh2, fixed=false)  # Rotating object

vis.run()
vis.destroy_window()