bugfix: grasp sets might have similar names for different robots: using robot...

bugfix: grasp sets might have similar names for different robots: using robot name prefix in local map

source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp

@@ -3,6 +3,8 @@
 #include <VirtualRobot/XML/ObjectIO.h>
 
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <ArmarXCore/core/exceptions/LocalException.h>
+#include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
 
 namespace armarx::armem::grasping::segment
@@ -71,12 +73,16 @@ namespace armarx::armem::grasping::segment
 
                         retGraspSet.grasps.push_back(retGrasp);
                     }
-                    ret.graspSets[retGraspSet.name] = retGraspSet;
+
+                    ARMARX_CHECK(ret.graspSets.count(retGraspSet.robot + "/" + retGraspSet.name) == 0) 
+                        << "The grasp set `" << retGraspSet.robot + "/" + retGraspSet.name << "` was defined twice!";
+
+                    ret.graspSets[retGraspSet.robot + "/" + retGraspSet.name] = retGraspSet;
                 }
                 return ret;
 
             } catch (...) {
-                ARMARX_WARNING << graspFilePath << " is not a manipulation object!";
+                ARMARX_WARNING << graspFilePath << " is not a manipulation object!" << GetHandledExceptionString();
                 return std::nullopt;
             }
         }
@@ -109,6 +115,16 @@ namespace armarx::armem::grasping::segment
                 {
                     knownGraspCandidate->toAron()
                 };
+
+                ARMARX_VERBOSE << VAROUT(knownGraspCandidate->graspSets.size());
+                for(const auto& gs : knownGraspCandidate->graspSets)
+                {
+                    ARMARX_VERBOSE << VAROUT(gs.second.grasps.size());
+                    for(const auto& grasp : gs.second.grasps)
+                    {
+                        ARMARX_VERBOSE << VAROUT(grasp.name);
+                    }
+                }
             }
         }
         ARMARX_INFO << "Loaded " << commit.updates.size() << " grasp candidates from object classes from '" << objectFinder.getPackageName() << "'.";