From 4f843d607a2287b15228599b025089cde811837c Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 24 Sep 2024 12:20:13 +0200
Subject: [PATCH] fix: used wrong robot
---
.../hand/common/AbstractHandControllerWrapper.cpp | 10 +++++++---
.../hand/common/AbstractHandUnitControllerWrapper.h | 4 +++-
2 files changed, 10 insertions(+), 4 deletions(-)
diff --git a/source/devices/ethercat/hand/common/AbstractHandControllerWrapper.cpp b/source/devices/ethercat/hand/common/AbstractHandControllerWrapper.cpp
index 9de48e27..014ba711 100644
--- a/source/devices/ethercat/hand/common/AbstractHandControllerWrapper.cpp
+++ b/source/devices/ethercat/hand/common/AbstractHandControllerWrapper.cpp
@@ -24,13 +24,15 @@ namespace devices::ethercat::hand::common
auto robotToUse = robot;
if(forceRobotFileReload)
{
- ARMARX_INFO << "Reloading robot model `" << robot->getFilename() << "`";
+ ARMARX_VERBOSE << "Reloading robot model `" << robot->getFilename() << "`";
robotToUse = VirtualRobot::RobotIO::loadRobot(robot->getFilename(), VirtualRobot::BaseIO::eStructure);
}
- const auto eef = robot->getEndEffector(eefName);
+ const auto eef = robotToUse->getEndEffector(eefName);
const std::vector<std::string> preshapeNames = eef->getPreshapes();
+ ARMARX_VERBOSE << handName;
+
for (const auto& preshapeName : preshapeNames)
{
const VirtualRobot::RobotConfigPtr preshape = eef->getPreshape(preshapeName);
@@ -41,9 +43,11 @@ namespace devices::ethercat::hand::common
std::map<std::string, float> preshapeMap;
for (const auto& pair : jointValues)
{
- preshapeMap[simox::alg::remove_prefix(pair.first, handName)] = pair.second;
+ const std::string jointName = simox::alg::remove_prefix(pair.first, handName);
+ preshapeMap[jointName] = pair.second;
}
+ ARMARX_VERBOSE << preshapeName << ": " << preshapeMap;
preshapesByName.emplace(preshapeName, preshapeMap);
}
diff --git a/source/devices/ethercat/hand/common/AbstractHandUnitControllerWrapper.h b/source/devices/ethercat/hand/common/AbstractHandUnitControllerWrapper.h
index 35902146..a18d9af7 100644
--- a/source/devices/ethercat/hand/common/AbstractHandUnitControllerWrapper.h
+++ b/source/devices/ethercat/hand/common/AbstractHandUnitControllerWrapper.h
@@ -24,7 +24,9 @@ namespace devices::ethercat::hand::common
virtual std::map<std::string, float> getShapeJointValues(const std::string& shape) = 0;
// virtual void reloadPreshapes() = 0;
- virtual void reloadPreshapes() {};
+ virtual void reloadPreshapes() {
+ ARMARX_WARNING << "NYI";
+ };
virtual std::string
describeHandState() const
--
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