Add setters for object pose robot and global

source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp

 #include "ObjectPose.h"
 
+#include <SimoxUtility/math/pose/invert.h>
+
 #include <VirtualRobot/Robot.h>
 #include <VirtualRobot/RobotConfig.h>
 
@@ -100,6 +102,26 @@ namespace armarx::objpose
         objpose::fromIce(provided.localOOBB, localOOBB);
     }
 
+    void ObjectPose::setObjectPoseRobot(
+        const Eigen::Matrix4f& objectPoseRobot, bool updateObjectPoseGlobal)
+    {
+        this->objectPoseRobot = objectPoseRobot;
+        if (updateObjectPoseGlobal)
+        {
+            this->objectPoseGlobal = robotPose * objectPoseRobot;
+        }
+    }
+
+    void ObjectPose::setObjectPoseGlobal(
+        const Eigen::Matrix4f& objectPoseGlobal, bool updateObjectPoseRobot)
+    {
+        this->objectPoseGlobal = objectPoseGlobal;
+        if (updateObjectPoseRobot)
+        {
+            this->objectPoseRobot = simox::math::inverted_pose(robotPose) * objectPoseGlobal;
+        }
+    }
+
 
     std::optional<simox::OrientedBoxf> ObjectPose::oobbRobot() const
     {

source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h

@@ -39,6 +39,9 @@ namespace armarx::objpose
 
         void fromProvidedPose(const data::ProvidedObjectPose& provided, VirtualRobot::RobotPtr robot);
 
+        void setObjectPoseRobot(const Eigen::Matrix4f& objectPoseRobot, bool updateObjectPoseGlobal = true);
+        void setObjectPoseGlobal(const Eigen::Matrix4f& objectPoseGlobal, bool updateObjectPoseRobot = true);
+
 
         /// Name of the providing component.
         std::string providerName;