diff --git a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
index ce2498f12be6b0ce2cd02bfab3ebdc4140a797ca..70e2058fb47f4e30049a02831a4dcd08291144d5 100644
--- a/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
+++ b/scenarios/ArMemObjectMemory/config/ArticulatedObjectLocalizerExample.cfg
@@ -93,6 +93,22 @@ ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName
# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.class:
+# Attributes:
+# - Default: mobile-dishwasher
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.class = mobile-dishwasher
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset:
+# Attributes:
+# - Default: Kitchen
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset = Kitchen
+
+
# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
# - Default: DebugObserver
diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index 9afe99824d427e88708b43ddea4810c20a9a54ec..e7d8b1893f25e727867713fce421bab5ca60ae9c 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -150,6 +150,22 @@
# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+# ArmarX.ObjectMemory.mem..marker.Name: Marker Memory Name
+# Attributes:
+# - Default: Marker
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem..marker.Name = Marker
+
+
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize: Maximum marker memory history size
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem..marker.maxHistorySize = -1
+
+
# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
# Attributes:
# - Default: Object
@@ -375,9 +391,12 @@ ArmarX.ObjectMemory.mem.inst.robots.FallbackName = CameraOnTripod
# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
-# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
-# You can also specify paths relative to 'Package/scenes/'.
-# You can also specify a ; separated list of scenes.
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene(s) to load on startup.
+# Specify multiple scenes in a ; separated list.
+# Each entry must be one of the following:
+# (1) A scene file in 'Package/scenes/' (with or without '.json' extension), e.g. 'MyScene', 'MyScene.json'
+# (2) A path to a scene file relative to 'Package/scenes/' (with or without '.json' extension), e.g. 'path/to/MyScene', 'path/to/MyScene.json'
+# (3) An ArmarX data path to a scene file, e.g. 'Package/scenes/path/to/MyScene.json'
# Attributes:
# - Default: ""
# - Case sensitivity: yes
@@ -496,13 +515,39 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003
# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
-# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show: Show arrows linearly predicting object positions.
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha: Alpha of linear prediction ghosts.
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha = 0.699999988
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow: Show arrows from current object poses to the linearly predicted ones.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame: Show frames at linearly predicted object poses.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost: Show ghosts at linearly predicted object poses.
# Attributes:
# - Default: false
# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show = false
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost = false
# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset: The offset (in seconds) to the current time to make predictions for.
diff --git a/scenarios/ArMemObjectMemory/config/RobotStateMemory.cfg b/scenarios/ArMemObjectMemory/config/RobotStateMemory.cfg
index 56578126f5f55af02b52434b880195abfa39465d..6628b865775889f4fb61656c27a3bb98d59b3d2f 100644
--- a/scenarios/ArMemObjectMemory/config/RobotStateMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/RobotStateMemory.cfg
@@ -274,6 +274,15 @@
# ArmarX.RobotStateMemory.mem.visu.enabled = true
+# ArmarX.RobotStateMemory.mem.visu.famesEnabled: Enable or disable visualization of frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.visu.famesEnabled = false
+
+
# ArmarX.RobotStateMemory.mem.visu.frequenzyHz: Frequency of visualization.
# Attributes:
# - Default: 25
@@ -300,6 +309,14 @@
# ArmarX.RobotStateMemory.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.RobotStateMemory.prediction.TimeWindow: Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.prediction.TimeWindow = 2
+
+
# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
diff --git a/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg b/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
index 55fd820ebb611bf06941cf5c250e8621b825ce1d..12d7610381208f1735c56021f1614810335aa8da 100644
--- a/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
+++ b/scenarios/ArMemObjectMemory/config/SimpleVirtualRobot.cfg
@@ -170,6 +170,14 @@
# ArmarX.SimpleVirtualRobot.p.oneShot = true
+# ArmarX.SimpleVirtualRobot.p.robot.jointValues: Specify a certain joint configuration.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SimpleVirtualRobot.p.robot.jointValues = ""
+
+
# ArmarX.SimpleVirtualRobot.p.robot.name: Optional override for the robot name. If not set, the default name from the robot model is used.
# Attributes:
# - Default: ""
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index a55ed916713ec93627c5275d548897a8cc2a6401..4f9ab4cf19073ef86e7ecabe892a3880760943d3 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -119,10 +119,20 @@ namespace armarx::armem::server::obj::instance
"Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.");
defs->optional(p.sceneSnapshotsDirectory, prefix + "scene.11_Directory",
"Directory in Package/data/Package/ containing the scene snapshots.");
- defs->optional(p.sceneSnapshotToLoad, prefix + "scene.12_SnapshotToLoad",
- "Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').\n"
- "You can also specify paths relative to 'Package/scenes/'. \n"
- "You can also specify a ; separated list of scenes.");
+
+ std::vector<std::string> sceneSnapshotToLoadDescription =
+ {
+ "Scene(s) to load on startup.",
+ "Specify multiple scenes in a ; separated list.",
+ "Each entry must be one of the following:",
+ "(1) A scene file in 'Package/scenes/' (with or without '.json' extension), "
+ "e.g. 'MyScene', 'MyScene.json'",
+ "(2) A path to a scene file relative to 'Package/scenes/' (with or without '.json' extension), "
+ "e.g. 'path/to/MyScene', 'path/to/MyScene.json'",
+ "(3) An ArmarX data path to a scene file, e.g. 'Package/scenes/path/to/MyScene.json'",
+ };
+ defs->optional(p.sceneSnapshotsToLoad, prefix + "scene.12_SnapshotToLoad",
+ simox::alg::join(sceneSnapshotToLoadDescription, " \n"));
decay.defineProperties(defs, prefix + "decay.");
}
@@ -132,10 +142,10 @@ namespace armarx::armem::server::obj::instance
{
SpecializedCoreSegment::init();
- if (not p.sceneSnapshotToLoad.empty())
+ if (not p.sceneSnapshotsToLoad.empty())
{
bool trim = true;
- const std::vector<std::string> scenes = simox::alg::split(p.sceneSnapshotToLoad, ";", trim);
+ const std::vector<std::string> scenes = simox::alg::split(p.sceneSnapshotsToLoad, ";", trim);
for (const std::string& scene : scenes)
{
const bool lockMemory = false;
@@ -934,7 +944,7 @@ namespace armarx::armem::server::obj::instance
void Segment::storeScene(const std::string& filename, const armarx::objects::Scene& scene)
{
- if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
+ if (const std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
ARMARX_INFO << "Storing scene snapshot at: \n" << path.value();
@@ -953,7 +963,7 @@ namespace armarx::armem::server::obj::instance
std::optional<armarx::objects::Scene>
Segment::loadScene(const std::string& filename)
{
- if (const std::optional<std::filesystem::path> path = resolveSceneFilename(filename))
+ if (const std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
return loadScene(path.value());
}
@@ -983,17 +993,18 @@ namespace armarx::armem::server::obj::instance
std::optional<std::filesystem::path>
- Segment::resolveSceneFilename(const std::string& _filename)
+ Segment::resolveSceneFilepath(const std::string& _filename)
{
- std::string filename = _filename;
+ std::string filepath = _filename;
- filename = simox::alg::replace_all(filename, timestampPlaceholder,
+ filepath = simox::alg::replace_all(filepath, timestampPlaceholder,
Time::Now().toString("%Y-%m-%d_%H-%M-%S"));
- if (not simox::alg::ends_with(filename, ".json"))
+ if (not simox::alg::ends_with(filepath, ".json"))
{
- filename += ".json";
+ filepath += ".json";
}
+ // Try to interprete it as relative to 'Package/scenes/'.
if (!finder)
{
finder.reset(new CMakePackageFinder(p.sceneSnapshotsPackage));
@@ -1004,14 +1015,26 @@ namespace armarx::armem::server::obj::instance
}
if (finder->packageFound())
{
- std::filesystem::path dataDir = finder->getDataDir();
- std::filesystem::path path = dataDir / p.sceneSnapshotsPackage / p.sceneSnapshotsDirectory / filename;
- return path;
+ std::filesystem::path absDataDir = finder->getDataDir();
+ std::filesystem::path absPath = absDataDir / p.sceneSnapshotsPackage
+ / p.sceneSnapshotsDirectory / filepath;
+ if (std::filesystem::is_regular_file(absPath))
+ {
+ return absPath;
+ }
}
- else
+
+ // Try to interprete it as ArmarXDataPath.
{
- return std::nullopt;
+ std::string resolved = ArmarXDataPath::resolvePath(filepath);
+ if (resolved != filepath)
+ {
+ return resolved;
+ }
}
+
+ // Else: Fail
+ return std::nullopt;
}
@@ -1114,25 +1137,40 @@ namespace armarx::armem::server::obj::instance
void Segment::commitSceneSnapshotFromFilename(const std::string& filename, bool lockMemory)
{
- ARMARX_INFO << "Loading scene snapshot '" << filename << "' ...";
- if (auto path = resolveSceneFilename(filename))
+ std::stringstream ss;
+ ss << "Loading scene '" << filename << "' ...";
+ if (std::optional<std::filesystem::path> path = resolveSceneFilepath(filename))
{
+ ARMARX_INFO << ss.str() << "\nfrom " << path.value();
+
if (const auto snapshot = loadScene(path.value()))
{
- std::filesystem::path filename = path->filename();
- filename.replace_extension(); // Removes extension
+ auto makeSceneName = [](const std::filesystem::path& path)
+ {
+ std::filesystem::path filename = path.filename();
+ filename.replace_extension(); // Removes extension
+ return filename.string();
+ };
+ std::string sceneName = makeSceneName(path.value());
// The check seems useless?
if (lockMemory)
{
- commitSceneSnapshot(snapshot.value(), filename.string());
+ segmentPtr->doLocked([this,&snapshot, &sceneName]()
+ {
+ commitSceneSnapshot(snapshot.value(), sceneName);
+ });
}
else
{
- commitSceneSnapshot(snapshot.value(), filename.string());
+ commitSceneSnapshot(snapshot.value(), sceneName);
}
}
}
+ else
+ {
+ ARMARX_INFO << ss.str() << " failed: Could not resolve scene name or path.";
+ }
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index b9c5a6d374cd1f40fed8013d2581c8996a2e26e2..c5e62d975ca161773c9ae4e8b7d7f5352f0f1922 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -160,7 +160,7 @@ namespace armarx::armem::server::obj::instance
void storeScene(const std::string& filename, const armarx::objects::Scene& scene);
std::optional<armarx::objects::Scene> loadScene(const std::string& filename);
std::optional<armarx::objects::Scene> loadScene(const std::filesystem::path& path);
- std::optional<std::filesystem::path> resolveSceneFilename(const std::string& filename);
+ std::optional<std::filesystem::path> resolveSceneFilepath(const std::string& filename);
armarx::objects::Scene getSceneSnapshot() const;
void commitSceneSnapshot(const armarx::objects::Scene& scene, const std::string& sceneName);
@@ -200,7 +200,7 @@ namespace armarx::armem::server::obj::instance
/// Package containing the scene snapshots
std::string sceneSnapshotsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
std::string sceneSnapshotsDirectory = "scenes";
- std::string sceneSnapshotToLoad = "";
+ std::string sceneSnapshotsToLoad = "";
};
Properties p;