def cheat_update_obj(obj): C.addFrame(obj) C.frame(obj).setPosition(S.getGroundTruthPosition(obj)) C.frame(obj).setShape(ry.ST.box, size=S.getGroundTruthSize(obj)) C.frame(obj).setQuaternion( quaternion_from_matrix(S.getGroundTruthRotationMatrix(obj))) C.frame(obj).setContact(1)
def cheat_update_obj(obj): C.addFrame(obj) C.frame(obj).setPosition(S.getGroundTruthPosition(obj)) size = S.getGroundTruthSize(obj) if len(size) == 3: C.frame(obj).setShape(ry.ST.box, size=size) else: C.frame(obj).setShape(ry.ST.ssBox, size=size) C.frame(obj).setQuaternion( quaternion_from_matrix(S.getGroundTruthRotationMatrix(obj))) C.frame(obj).setContact(1) return obj
def cheat_update_goal(goal): goal.setPosition(S.getGroundTruthPosition("obj0")) goal.setShape(ry.ST.ssBox, size=S.getGroundTruthSize("obj0")) goal.setQuaternion(quaternion_from_matrix(S.getGroundTruthRotationMatrix("obj0")))