def CoppeliaUtils_addOrModifyDummy(self, type, name, pose):
if not Dummy.exists(name):
dummy = Dummy.create(0.1)
dummy.set_name(name)
else:
dummy = Dummy("target")
#parent_frame_object = None
parent_frame_object = Shape("gen3")
#print("Coppelia ", name, pose.x/1000, pose.y/1000, pose.z/1000)
#dummy.set_position([pose.x / 1000., pose.y / 1000., pose.z / 1000.], parent_frame_object)
dummy.set_position([pose.x, pose.y, pose.z], parent_frame_object)
print(pose.x, pose.y, pose.z)
print(dummy.get_position())
dummy.set_orientation([pose.rx, pose.ry, pose.rz],
parent_frame_object)
def CoppeliaUtils_addOrModifyDummy(self, type, name, pose):
if not Dummy.exists(name):
dummy = Dummy.create(0.1)
# one color for each type of dummy
if type == RoboCompCoppeliaUtils.TargetTypes.Info:
pass
if type == RoboCompCoppeliaUtils.TargetTypes.Hand:
pass
if type == RoboCompCoppeliaUtils.TargetTypes.HeadCamera:
pass
dummy.set_name(name)
else:
dummy = Dummy(name)
parent_frame_object = None
if type == RoboCompCoppeliaUtils.TargetTypes.HeadCamera:
parent_frame_object = Dummy("viriato_head_camera_pan_tilt")
#print("Coppelia ", name, pose.x/1000, pose.y/1000, pose.z/1000)
dummy.set_position(
[pose.x / 1000., pose.y / 1000., pose.z / 1000.],
parent_frame_object)
dummy.set_orientation([pose.rx, pose.ry, pose.rz],
parent_frame_object)
