diff --git a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
index 0da706a1ce8dca46808b7f2e5a4c26664b74a819..29e894703a635024b3f31bffd08f447ad26dc2e3 100644
--- a/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
+++ b/source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt
@@ -10,9 +10,13 @@ set(COMPONENT_LIBS
set(SOURCES
ObjectPoseObserver.cpp
+
+ ObjectFinder.cpp
)
set(HEADERS
ObjectPoseObserver.h
+
+ ObjectFinder.h
)
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a6924f75836f04b4a9b5ecfaef9976f44dff3a59
--- /dev/null
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.cpp
@@ -0,0 +1,184 @@
+#include "ObjectFinder.h"
+
+#include <SimoxUtility/filesystem/list_directory.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/util/StringHelpers.h>
+
+
+namespace armarx
+{
+ namespace fs = std::filesystem;
+
+ ObjectInfo::ObjectInfo(const ObjectInfo::path& rootPath, const std::string& project, const std::string& name) :
+ rootPath(rootPath), project(project), name(name)
+ {
+ path autoObjectDir = getObjectDirectory();
+ if (std::filesystem::is_directory(autoObjectDir))
+ {
+ this->objectDirectory = autoObjectDir;
+ }
+ }
+
+ ObjectInfo::path ObjectInfo::getObjectDirectory() const
+ {
+ return objectDirectory.empty() ? (rootPath / project / name) : objectDirectory;
+ }
+
+ ObjectInfo::path ObjectInfo::getFile(const std::string& _extension, const std::string& suffix) const
+ {
+ std::string extension = _extension;
+ if (extension.at(0) != '.')
+ {
+ extension = "." + extension;
+ }
+ std::string filename = name + suffix + extension;
+
+ return getObjectDirectory() / filename;
+ }
+
+ ObjectInfo::path ObjectInfo::getSimoxXML() const
+ {
+ return getFile(".xml");
+ }
+
+ ObjectInfo::path ObjectInfo::getWavefrontObj() const
+ {
+ return getFile(".obj");
+ }
+
+ bool ObjectInfo::checkPaths()
+ {
+ namespace fs = std::filesystem;
+
+ if (!fs::is_regular_file(getSimoxXML()))
+ {
+ ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << getSimoxXML();
+ return false;
+ }
+ if (!fs::is_regular_file(getWavefrontObj()))
+ {
+ ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << getWavefrontObj();
+ return false;
+ }
+
+ return true;
+ }
+
+
+ ObjectFinder::ObjectFinder(const std::string& objectsPackageName) : packageFinder(objectsPackageName)
+ {
+ Logging::setTag("ObjectFinder");
+
+ rootPath = path(packageFinder.getDataDir()) / objectsPackageName;
+ ARMARX_VERBOSE << "Object root directory: " << rootPath;
+ ARMARX_CHECK(rootPath.is_absolute()) << rootPath;
+ }
+
+ std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& project, const std::string& name)
+ {
+ if (!project.empty())
+ {
+ return ObjectInfo(rootPath, project, name);
+ }
+ // Search for object in projects.
+ const auto& projects = getProjects();
+ for (const path& project : projects)
+ {
+ if (fs::is_directory(rootPath / project / name))
+ {
+ return ObjectInfo(rootPath, project, name);
+ }
+ }
+
+ std::stringstream ss;
+ ss << "Did not find object '" << name << "' in any of these projects:\n";
+ for (const path& project : projects)
+ {
+ ss << "- " << project << "\n";
+ }
+ ss << "Root directory: " << rootPath;
+ ARMARX_WARNING << ss.str();
+
+ return std::nullopt;
+ }
+
+ std::optional<ObjectInfo> ObjectFinder::findObject(const std::string& nameOrID)
+ {
+ if (nameOrID.find("/") != nameOrID.npos)
+ {
+ const std::vector<std::string> split = armarx::split(nameOrID, "/", true);
+ ARMARX_CHECK_EQUAL(split.size(), 2) << "Expected ID of format 'Project/Name', but got: '" << nameOrID
+ << "' (too many '/').";
+ return findObject(split[0], split[1]);
+ }
+ else
+ {
+ return findObject("", nameOrID);
+ }
+ }
+
+ std::vector<std::string> ObjectFinder::getProjects()
+ {
+ static const bool local = true;
+ std::vector<path> paths = simox::fs::list_directory(rootPath, local);
+ return std::vector<std::string>(paths.begin(), paths.end());
+ }
+
+ std::vector<ObjectFinder::path> ObjectFinder::getProjectDirectories()
+ {
+ static const bool local = false;
+ return simox::fs::list_directory(rootPath, local);
+ }
+
+ std::vector<ObjectInfo> ObjectFinder::findAllObjects()
+ {
+ bool local = true;
+ std::vector<ObjectInfo> objects;
+ for (const path& projectDir : simox::fs::list_directory(rootPath, local))
+ {
+ if (fs::is_directory(rootPath / projectDir))
+ {
+ std::vector<ObjectInfo> project = findAllObjectsOfProject(projectDir);
+ objects.insert(objects.end(), project.begin(), project.end());
+ }
+ }
+ return objects;
+ }
+
+ std::vector<ObjectInfo> ObjectFinder::findAllObjectsOfProject(const std::string& project)
+ {
+ path projectDir = rootPath / project;
+ if (!fs::is_directory(projectDir))
+ {
+ ARMARX_WARNING << "Expected project directory for project '" << project << "': \n"
+ << projectDir;
+ return {};
+ }
+
+ std::vector<ObjectInfo> objects;
+ bool local = true;
+ for (const path& dir : simox::fs::list_directory(projectDir, local))
+ {
+ if (fs::is_directory(projectDir / dir))
+ {
+ ObjectInfo object(rootPath, project, dir.filename());
+ if (object.checkPaths())
+ {
+ objects.push_back(object);
+ }
+ }
+ }
+ return objects;
+ }
+}
+
+namespace armarx
+{
+ std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs)
+ {
+ return os << "'" << rhs.project << "/" << rhs.name << "'";
+ }
+}
+
diff --git a/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
new file mode 100644
index 0000000000000000000000000000000000000000..88b639da815384f540a4f288d8a6ae4a2811d86d
--- /dev/null
+++ b/source/RobotAPI/components/ObjectPoseObserver/ObjectFinder.h
@@ -0,0 +1,78 @@
+#pragma once
+
+#include <filesystem>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+
+
+namespace armarx
+{
+
+ class ObjectInfo
+ {
+ public:
+ using path = std::filesystem::path;
+
+ public:
+
+ ObjectInfo(const path& rootPath, const std::string& project, const std::string& name);
+
+ path getObjectDirectory() const;
+ path getFile(const std::string& extension, const std::string& suffix = "") const;
+
+ path getSimoxXML() const;
+ path getWavefrontObj() const;
+
+ virtual bool checkPaths();
+
+
+ public:
+
+ path rootPath;
+ path objectDirectory;
+
+ std::string project;
+ std::string name;
+
+
+ private:
+
+ path _simoxXML;
+ path _wavefrontObj;
+
+
+ };
+
+ std::ostream& operator<<(std::ostream& os, const ObjectInfo& rhs);
+
+
+ class ObjectFinder : Logging
+ {
+ public:
+ using path = std::filesystem::path;
+
+
+ public:
+
+ ObjectFinder(const std::string& objectsPackageName = "ArmarXObjects");
+
+ std::optional<ObjectInfo> findObject(const std::string& project, const std::string& name);
+ std::optional<ObjectInfo> findObject(const std::string& nameOrID);
+
+
+ std::vector<std::string> getProjects();
+ std::vector<path> getProjectDirectories();
+
+ std::vector<ObjectInfo> findAllObjects();
+ std::vector<ObjectInfo> findAllObjectsOfProject(const std::string& project);
+
+
+ private:
+
+ CMakePackageFinder packageFinder;
+ path rootPath;
+
+ };
+
+}