Annotations - dfki-ric/phobos GitHub Wiki
Annotation macros
Within a macro you can use any of the following string keys to have them replaced on export. For this to happen select include_transform and/or include_parent in your annotation.
$transform
Allows to print the transform of the object your annotation is parented to.
Available Properties
$transform.xyz
Position as [x, y, z]
e.g. [7.686421001143203, 4.140792890676663, 1.2034385204315186]
$transform.position
Position as [x y z]. $transform.position limits the digits behind the digital point
e.g. [7.686421 4.14079289 1.20343852]
$transform.rpy or $transform.rotation
Rotation as [x, y, z]
e.g. [0.0, 0.0, 1.0920987065103218]
$transform.vec
$transform.xyz and $transform.rpy in a single list
e.g. [7.686421001143203, 4.140792890676663, 1.2034385204315186, 0.0, 0.0, 1.0920987065103218]
$transform.quaternion
Quaternion as [x y z w]
e.g. [ 0. 0. -0.17364815 0.98480776]
$transform.quaternion_dict
Quaternion as ['x': x, 'y': y, 'z': z, 'w': w]
e.g. {'x': 0.0, 'y': 0.0, 'z': -0.17364815093563182, 'w': 0.9848077577256569}
$transform.angle_axis
Rotation in angle axis representation as (rotation, axis [x y z])
e.g. (1.0920987065103218, [0. 0. 1.])
$parent
This allows to print the custom properties of the parent object. $parent prints the name of the parent. To get the value of a custom property type $transform.{name}. e.g. $transform.{mass}