Correct typo in renderer

The matrix_world of the camera in Blender is column-major ordered and not row-ordered as in python
Thus the tranpose is given as matrix_world

navipy/resources/configs/BlenderRender.yaml

@@ -16,4 +16,6 @@ BlenderRender:
   # Number of rays (samples) used for redering
   # Higher number give better results, but
   # require more computation time. 
-  samples: 30
+  samples: 30
\ No newline at end of file
+  # maximum possible distance
+  worldlimit: 100
\ No newline at end of file

navipy/sensors/renderer.py

@@ -549,13 +549,15 @@ class BlenderRender(AbstractRender):
                 'posorient must be of type array, list, or pandas Series')
         # Render
         rotmat = compose_matrix(
-            angles=[0, 0, 0],  # posorient.loc[convention],
+            angles=posorient.loc[convention],
             translate=posorient.loc['location'],
             axes=convention)
         if self._renderaxis == '+x':
             initrot = quatmatrix([0.5, 0.5, -0.5, -0.5])
             rotmat[:3, :3] = rotmat[:3, :3].dot(initrot[:3, :3])
-        self.camera.matrix_world = rotmat
+        # matrix_world in blender are column-major order
+        # and numpy row-major order
+        self.camera.matrix_world = np.transpose(rotmat)
         bpy.ops.render.render()
 
     def scene(self, posorient):

tutorials/01-building-arena.ipynb

@@ -103,7 +103,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.5"
+   "version": "3.6.3"
   }
  },
  "nbformat": 4,