articulated object class segment: provider id: dataset/name

source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.cpp

@@ -65,13 +65,13 @@ namespace armarx::armem::server::obj::articulated_object_class
     {
         ObjectFinder finder(package);
 
-        const auto knownArticulatedObjectDescriptions = finder.findAllArticulatedObjects(true);
+        const auto knownArticulatedObjectDescriptions = finder.findAllArticulatedObjectsByDataset(true);
         ARMARX_INFO << "Found " << knownArticulatedObjectDescriptions.size() << " articulated objects";
 
         loadObjectsIntoMemory(knownArticulatedObjectDescriptions, package);
     }
 
-    void Segment::loadObjectsIntoMemory(const std::vector<armem::articulated_object::ArticulatedObjectDescription>& descriptions, const std::string& package)
+    void Segment::loadObjectsIntoMemory(const std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>>& datasets, const std::string& package)
     {
         const Time now = TimeUtil::GetTime();
 
@@ -81,19 +81,26 @@ namespace armarx::armem::server::obj::articulated_object_class
         // ARMARX_INFO << "Loading up to " << infos.size() << " object classes from '"
         //             << objectFinder.getPackageName() << "' ...";
         Commit commit;
-        for (const armem::articulated_object::ArticulatedObjectDescription& desc : descriptions)
+
+        for (const auto& [datasetName, descriptions] : datasets)
         {
-            EntityUpdate& update = commit.updates.emplace_back();
-            update.entityID = providerID.withEntityName(desc.name);
-            update.timeArrived = update.timeCreated = update.timeSent = now;
 
-            arondto::RobotDescription aronRobotDescription;
-            toAron(aronRobotDescription, desc);
+            for (const armem::articulated_object::ArticulatedObjectDescription& desc : descriptions)
+            {
+                EntityUpdate& update = commit.updates.emplace_back();
+                update.entityID = providerID.withEntityName(datasetName + "/" + desc.name);
+                update.timeArrived = update.timeCreated = update.timeSent = now;
+
+                arondto::RobotDescription aronRobotDescription;
+                toAron(aronRobotDescription, desc);
+                aronRobotDescription.timestamp = now;
+
+                update.instancesData = { aronRobotDescription.toAron()};
+            }
 
-            update.instancesData = { aronRobotDescription.toAron()};
+            ARMARX_INFO << "Loaded " << commit.updates.size() << " articulated object classes from '"
+                        << package << "' in dataset '" << datasetName << "'.";
         }
-        ARMARX_INFO << "Loaded " << commit.updates.size() << " articulated object classes from '"
-                    << package << "'.";
         iceMemory.commit(commit);
     }
 

source/RobotAPI/libraries/armem_objects/server/articulated_object_class/Segment.h

@@ -75,7 +75,7 @@ namespace armarx::armem::server::obj::articulated_object_class
 
     private:
         void loadByObjectFinder(const std::string& package);
-        void loadObjectsIntoMemory(const std::vector<armem::articulated_object::ArticulatedObjectDescription>& descriptions, const std::string& package);
+        void loadObjectsIntoMemory(const std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>>& datasets, const std::string& package);
 
         server::MemoryToIceAdapter& iceMemory;
         wm::CoreSegment* coreSegment = nullptr;