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)