diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index b0335a392cdc7eef28caf85ba2d36dae2011cfea..fab91a6927b88f7bf0bacff9d3e569907413cad6 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -19,8 +19,9 @@ add_subdirectory(ObjectPoseGui)
add_subdirectory(CartesianImpedanceController)
add_subdirectory(BimanualCartesianAdmittanceControllerGui)
-
add_subdirectory(ArVizDrawerGui)
add_subdirectory(FTSensorCalibrationGui)
add_subdirectory(SkillObserverMonitor)
+add_subdirectory(GraspCandidateViewer)
add_subdirectory(BoxToGraspCandidates)
+
diff --git a/source/RobotAPI/gui-plugins/GraspCandidateViewer/CMakeLists.txt b/source/RobotAPI/gui-plugins/GraspCandidateViewer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f929d1a40cce30263eab1cdf0dca4d71c2d49d6
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/GraspCandidateViewer/CMakeLists.txt
@@ -0,0 +1,15 @@
+set(LIB_NAME "GraspCandidateViewerGuiPlugin")
+armarx_set_target("${LIB_NAME}")
+
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+set(SOURCES GraspCandidateViewerWidgetController.cpp)
+set(HEADERS GraspCandidateViewerWidgetController.h)
+set(GUI_UIS GraspCandidateViewerWidget.ui)
+
+set(COMPONENT_LIBS RobotAPIComponentPlugins SimpleConfigDialog GraspingUtility)
+
+if(ArmarXGui_FOUND)
+ armarx_gui_plugin("${LIB_NAME}" "${SOURCES}" "" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
+
diff --git a/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidget.ui b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..d69a5d6aa2bb70aec0981896adb77c38974a0134
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidget.ui
@@ -0,0 +1,413 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>GraspCandidateViewerWidget</class>
+ <widget class="QWidget" name="GraspCandidateViewerWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1620</width>
+ <height>881</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>GraspCandidateViewerWidget</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <widget class="QWidget" name="widget" native="true">
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="1" column="0">
+ <widget class="QTreeWidget" name="treeWidgetGC">
+ <property name="uniformRowHeights">
+ <bool>true</bool>
+ </property>
+ <attribute name="headerVisible">
+ <bool>false</bool>
+ </attribute>
+ <column>
+ <property name="text">
+ <string notr="true">1</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="pushButtonUpdateGC">
+ <property name="text">
+ <string>Update</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="widget_2" native="true">
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="6" column="5">
+ <widget class="QLabel" name="labelRPoseRY">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLabel" name="labelGApprTX">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="0" colspan="7">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QLabel" name="labelGPoseTY">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="4">
+ <widget class="QLabel" name="label_38">
+ <property name="text">
+ <string>RX</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="5">
+ <widget class="QLabel" name="label_39">
+ <property name="text">
+ <string>RY</string>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="1" colspan="6">
+ <widget class="QLabel" name="labelSrcFrame">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLabel" name="labelGPoseTX">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1" colspan="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QLabel" name="labelGCIdx">
+ <property name="text">
+ <string>TextLabel</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>/</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="labelNumGC">
+ <property name="text">
+ <string>---</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="0" colspan="7">
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="0">
+ <widget class="QLabel" name="label_16">
+ <property name="text">
+ <string>grasp probability</string>
+ </property>
+ </widget>
+ </item>
+ <item row="10" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>target frame</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="4">
+ <widget class="QLabel" name="labelGPoseRX">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Grasp pose (X,Y,Z / R,P,Y)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="4">
+ <widget class="QLabel" name="labelRPoseRX">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Candidate</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="6">
+ <widget class="QLabel" name="labelGPoseRZ">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Robot Pose (X,Y,Z / R,P,Y)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="6">
+ <widget class="QLabel" name="label_28">
+ <property name="text">
+ <string>RZ</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <widget class="QLabel" name="labelRPoseTZ">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="0">
+ <widget class="QLabel" name="label_19">
+ <property name="text">
+ <string>provider name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>side</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="5">
+ <widget class="QLabel" name="labelGPoseRY">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="17" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="14" column="1" colspan="6">
+ <widget class="QLabel" name="labelGraspObjType">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Approach Vector (X,Y,Z / R,P,Y)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="2">
+ <widget class="QLabel" name="labelGApprTY">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="2">
+ <widget class="QLabel" name="labelRPoseTY">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="1" colspan="6">
+ <widget class="QLabel" name="labelGraspProb">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="10" column="1" colspan="6">
+ <widget class="QLabel" name="labelTrgFrame"/>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="label_26">
+ <property name="text">
+ <string>TX</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="3">
+ <widget class="QLabel" name="labelGPoseTZ">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="1" colspan="6">
+ <widget class="QLabel" name="labelGraspProviderName">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QLabel" name="label_37">
+ <property name="text">
+ <string>TZ</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="6">
+ <widget class="QLabel" name="labelRPoseRZ">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="1" colspan="6">
+ <widget class="QLabel" name="labelSide"/>
+ </item>
+ <item row="14" column="0">
+ <widget class="QLabel" name="label_15">
+ <property name="text">
+ <string>object type</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="3">
+ <widget class="QLabel" name="labelGApprTZ">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLabel" name="label_27">
+ <property name="text">
+ <string>TY</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLabel" name="labelRPoseTX">
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>source frame</string>
+ </property>
+ </widget>
+ </item>
+ <item row="13" column="0">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>group nr</string>
+ </property>
+ </widget>
+ </item>
+ <item row="13" column="1" colspan="6">
+ <widget class="QLabel" name="labelGraspgroupNr">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a46e191dcc34615698951568a86ceddac3231ac3
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.cpp
@@ -0,0 +1,276 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::GraspCandidateViewerWidgetController
+ * \author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * \date 2020
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <string>
+
+#include <SimoxUtility/math/convert/quat_to_rpy.h>
+
+#include <RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h>
+#include "GraspCandidateViewerWidgetController.h"
+
+//setting management
+namespace armarx
+{
+ void GraspCandidateViewerWidgetController::loadSettings(QSettings* settings)
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ getRobotStateComponentPlugin().setRobotStateComponentName(settings->value("rsc", "Armar6StateComponent").toString().toStdString());
+ getGraspCandidateObserverComponentPlugin().setGraspCandidateObserverName(settings->value("gco", "GraspCandidateObserver").toString().toStdString());
+
+ }
+ void GraspCandidateViewerWidgetController::saveSettings(QSettings* settings)
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ settings->setValue("rsc", QString::fromStdString(getRobotStateComponentPlugin().getRobotStateComponentName()));
+ settings->setValue("rsc", QString::fromStdString(getGraspCandidateObserverComponentPlugin().getGraspCandidateObserverName()));
+
+ }
+ QPointer<QDialog> GraspCandidateViewerWidgetController::getConfigDialog(QWidget* parent)
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ if (!_dialog)
+ {
+ _dialog = new SimpleConfigDialog(parent);
+ _dialog->addProxyFinder<RobotStateComponentInterfacePrx>("rsc", "Robot State Component", "*Component");
+ _dialog->addProxyFinder<grasping::GraspCandidateObserverInterfacePrx>("gco", "Grasp Candidate Observer", "*Observer");
+ }
+ return qobject_cast<SimpleConfigDialog*>(_dialog);
+ }
+ void GraspCandidateViewerWidgetController::configured()
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ getRobotStateComponentPlugin().setRobotStateComponentName(_dialog->getProxyName("rsc"));
+ getGraspCandidateObserverComponentPlugin().setGraspCandidateObserverName(_dialog->getProxyName("gco"));
+ }
+}
+//ctor
+namespace armarx
+{
+ GraspCandidateViewerWidgetController::GraspCandidateViewerWidgetController()
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ _ui.setupUi(getWidget());
+
+ connect(_ui.pushButtonUpdateGC, &QPushButton::clicked,
+ this, &GraspCandidateViewerWidgetController::update_gc);
+ connect(_ui.treeWidgetGC, &QTreeWidget::itemSelectionChanged,
+ this, &GraspCandidateViewerWidgetController::selected_item_changed);
+
+ connect(_ui.treeWidgetGC, SIGNAL(itemChanged(QTreeWidgetItem*, int)),
+ this, SLOT(check_state_changed()));
+ }
+
+ GraspCandidateViewerWidgetController::~GraspCandidateViewerWidgetController()
+ {}
+
+ void GraspCandidateViewerWidgetController::update_gc()
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ if (!getGraspCandidateObserver())
+ {
+ return;
+ }
+ //clean
+ {
+ _ui.treeWidgetGC->clear();
+ for (auto& [prname, pr] : _providers)
+ {
+ pr.candidates.clear();
+ pr.item = nullptr;
+ }
+ _tree_item_to_gc.clear();
+ }
+ //fill
+ {
+ for (const auto& gc : getGraspCandidateObserver()->getAllCandidates())
+ {
+ ARMARX_CHECK_NOT_NULL(gc);
+ const auto& pname = gc->providerName;
+ auto& pr = _providers[pname];
+ pr.provider_name = pname;
+ if (!pr.item)
+ {
+ pr.item = new QTreeWidgetItem;
+ pr.item->setCheckState(0, Qt::Unchecked);
+ _ui.treeWidgetGC-> addTopLevelItem(pr.item);
+ pr.item->setText(0, QString::fromStdString(pname));
+ }
+
+ auto& gcdata = pr.candidates.emplace_back();
+ gcdata.gc = gc;
+ gcdata.idx = pr.candidates.size() - 1;
+ gcdata.provider = ≺
+ gcdata.item = new QTreeWidgetItem;
+ gcdata.item->setCheckState(0, Qt::Unchecked);
+ pr.item->addChild(gcdata.item);
+ gcdata.item->setText(0, QString::fromStdString(gcdata.name()));
+ _tree_item_to_gc[gcdata.item] = &gcdata;
+ }
+ }
+ }
+
+ void GraspCandidateViewerWidgetController::check_state_changed()
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ synchronizeLocalClone(_robot);
+ armarx::grasp_candidate_drawer gc_drawer{getRobotNameHelper(), _robot};
+
+ std::vector<viz::Layer> layers;
+ for (const auto& [pname, pr] : _providers)
+ {
+ layers.emplace_back(getArvizClient().layer(pname));
+ auto& l = layers.back();
+ for (const auto& gc : pr.candidates)
+ {
+ if (gc.item->checkState(0) == Qt::Unchecked)
+ {
+ gc_drawer.draw(gc.gc, l);
+ }
+ }
+ }
+ getArvizClient().commit(layers);
+ }
+ void GraspCandidateViewerWidgetController::selected_item_changed()
+ {
+ ARMARX_TRACE;
+ std::lock_guard g{_mutex};
+ const auto& selected = _ui.treeWidgetGC->selectedItems();
+ ARMARX_CHECK_GREATER(2, selected.size());
+ if (selected.empty())
+ {
+ show_entry(nullptr);
+ //clear
+ }
+ else if (_tree_item_to_gc.count(selected.value(0)))
+ {
+ show_entry(_tree_item_to_gc.at(selected.value(0)));
+ }
+ //provider item selected -> do nothing
+ }
+
+ void GraspCandidateViewerWidgetController::show_entry(entry_gc* e)
+ {
+ if (!e)
+ {
+ _ui.labelGCIdx ->setText("-");
+ _ui.labelNumGC ->setText("-");
+
+ _ui.labelGPoseTX ->setText("-");
+ _ui.labelGPoseTY ->setText("-");
+ _ui.labelGPoseTZ ->setText("-");
+ _ui.labelGPoseRX ->setText("-");
+ _ui.labelGPoseRY ->setText("-");
+ _ui.labelGPoseRZ ->setText("-");
+
+ _ui.labelRPoseTX ->setText("-");
+ _ui.labelRPoseTY ->setText("-");
+ _ui.labelRPoseTZ ->setText("-");
+ _ui.labelRPoseRX ->setText("-");
+ _ui.labelRPoseRY ->setText("-");
+ _ui.labelRPoseRZ ->setText("-");
+
+ _ui.labelGApprTX ->setText("-");
+ _ui.labelGApprTY ->setText("-");
+ _ui.labelGApprTZ ->setText("-");
+
+ _ui.labelSrcFrame ->setText("-");
+ _ui.labelTrgFrame ->setText("-");
+ _ui.labelSide ->setText("-");
+ _ui.labelGraspProb ->setText("-");
+ _ui.labelGraspgroupNr ->setText("-");
+ _ui.labelGraspObjType ->setText("-");
+ _ui.labelGraspProviderName->setText("-");
+ return;
+ }
+ ARMARX_CHECK_NOT_NULL(e->gc);
+ ARMARX_CHECK_NOT_NULL(e->gc->graspPose->position);
+ ARMARX_CHECK_NOT_NULL(e->gc->robotPose->position);
+ ARMARX_CHECK_NOT_NULL(e->gc->graspPose->orientation);
+ ARMARX_CHECK_NOT_NULL(e->gc->robotPose->orientation);
+ ARMARX_CHECK_NOT_NULL(e->gc->approachVector);
+ _ui.labelGCIdx ->setText(QString::number(e->idx + 1));
+ _ui.labelNumGC ->setText(QString::number(e->provider->candidates.size()));
+
+ _ui.labelGPoseTX ->setText(QString::number(e->gc->graspPose->position->x));
+ _ui.labelGPoseTY ->setText(QString::number(e->gc->graspPose->position->y));
+ _ui.labelGPoseTZ ->setText(QString::number(e->gc->graspPose->position->z));
+ const Eigen::Vector3f vec_g = simox::math::quat_to_rpy(
+ {
+ e->gc->graspPose->orientation->qw,
+ e->gc->graspPose->orientation->qx,
+ e->gc->graspPose->orientation->qy,
+ e->gc->graspPose->orientation->qz
+
+ }
+ );
+ _ui.labelGPoseRX ->setText(QString::number(vec_g(0)));
+ _ui.labelGPoseRY ->setText(QString::number(vec_g(1)));
+ _ui.labelGPoseRZ ->setText(QString::number(vec_g(2)));
+
+ _ui.labelRPoseTX ->setText(QString::number(e->gc->robotPose->position->x));
+ _ui.labelRPoseTY ->setText(QString::number(e->gc->robotPose->position->y));
+ _ui.labelRPoseTZ ->setText(QString::number(e->gc->robotPose->position->z));
+ const Eigen::Vector3f vec_r = simox::math::quat_to_rpy(
+ {
+ e->gc->robotPose->orientation->qw,
+ e->gc->robotPose->orientation->qx,
+ e->gc->robotPose->orientation->qy,
+ e->gc->robotPose->orientation->qz
+
+ }
+ );
+ _ui.labelRPoseRX ->setText(QString::number(vec_r(0)));
+ _ui.labelRPoseRY ->setText(QString::number(vec_r(1)));
+ _ui.labelRPoseRZ ->setText(QString::number(vec_r(2)));
+
+ _ui.labelGApprTX ->setText(QString::number(e->gc->approachVector->x));
+ _ui.labelGApprTY ->setText(QString::number(e->gc->approachVector->y));
+ _ui.labelGApprTZ ->setText(QString::number(e->gc->approachVector->z));
+
+ _ui.labelSrcFrame ->setText(QString::fromStdString(e->gc->sourceFrame));
+ _ui.labelTrgFrame ->setText(QString::fromStdString(e->gc->targetFrame));
+ _ui.labelSide ->setText(QString::fromStdString(e->gc->side));
+ _ui.labelGraspProb ->setText(QString::number(e->gc->graspSuccessProbability));
+ _ui.labelGraspgroupNr ->setText(QString::number(e->gc->groupNr));
+ switch (e->gc->objectType)
+ {
+ case grasping::ObjectTypeEnum::AnyObject :
+ _ui.labelGraspObjType->setText("AnyObject");
+ break;
+ case grasping::ObjectTypeEnum::KnownObject :
+ _ui.labelGraspObjType->setText("KnownObject");
+ break;
+ case grasping::ObjectTypeEnum::UnknownObject :
+ _ui.labelGraspObjType->setText("UnknownObject");
+ break;
+ }
+ _ui.labelGraspProviderName->setText(QString::fromStdString(e->gc->providerName));
+ }
+
+}
diff --git a/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.h b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..72cd448b1d63b8047fde3bd84873b129223e2f38
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/GraspCandidateViewer/GraspCandidateViewerWidgetController.h
@@ -0,0 +1,140 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::GraspCandidateViewerWidgetController
+ * @author Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date 2020
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#pragma once
+
+#include <deque>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/components/ArViz/Client/Layer.h>
+#include <RobotAPI/components/ArViz/Client/elements/Robot.h>
+
+#include <RobotAPI/gui-plugins/GraspCandidateViewer/ui_GraspCandidateViewerWidget.h>
+
+namespace armarx
+{
+ /**
+ \page RobotAPI-GuiPlugins-GraspCandidateViewer GraspCandidateViewer
+ \brief The GraspCandidateViewer allows visualizing ...
+
+ \image html GraspCandidateViewer.png
+ The user can
+
+ API Documentation \ref GraspCandidateViewerWidgetController
+
+ \see GraspCandidateViewerGuiPlugin
+ */
+
+
+ /**
+ * \class GraspCandidateViewerGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief GraspCandidateViewerGuiPlugin brief description
+ *
+ * Detailed description
+ */
+
+ /**
+ * \class GraspCandidateViewerWidgetController
+ * \brief GraspCandidateViewerWidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ GraspCandidateViewerWidgetController:
+ public armarx::ArmarXComponentWidgetControllerTemplate < GraspCandidateViewerWidgetController >,
+ virtual public RobotStateComponentPluginUser,
+ virtual public ArVizComponentPluginUser,
+ virtual public GraspCandidateObserverComponentPluginUser
+ {
+ Q_OBJECT
+
+ struct entry_gc;
+ struct entry_prov;
+ public:
+ explicit GraspCandidateViewerWidgetController();
+ virtual ~GraspCandidateViewerWidgetController();
+
+ static QString GetWidgetName()
+ {
+ return "Grasping.GraspCandidateViewer";
+ }
+
+ void onInitComponent() override {}
+ void onConnectComponent() override
+ {
+ _robot = addRobot("state robot", VirtualRobot::RobotIO::eStructure);
+ }
+ void onDisconnectComponent() override {}
+ void onExitComponent() override {}
+ public:
+ void loadSettings(QSettings* settings) override;
+ void saveSettings(QSettings* settings) override;
+ QPointer<QDialog> getConfigDialog(QWidget* parent) override;
+ void configured() override;
+ public slots:
+ void update_gc();
+ void selected_item_changed();
+ void check_state_changed();
+
+ private:
+ void show_entry(entry_gc* e);
+ private:
+
+ struct entry_prov
+ {
+ QTreeWidgetItem* item = nullptr;
+ std::string provider_name;
+ std::deque<entry_gc> candidates;
+ };
+
+ struct entry_gc
+ {
+ QTreeWidgetItem* item = nullptr;
+ grasping::GraspCandidatePtr gc = nullptr;
+ entry_prov* provider = nullptr;
+ int idx = -1;
+ bool show = false;
+
+ std::string name() const
+ {
+ return provider->provider_name + "_" + std::to_string(idx + 1);
+ }
+ };
+
+ mutable std::recursive_mutex _mutex;
+ QPointer<SimpleConfigDialog> _dialog;
+ Ui::GraspCandidateViewerWidget _ui;
+ VirtualRobot::RobotPtr _robot;
+ std::map<std::string, entry_prov> _providers;
+ std::map<QTreeWidgetItem*, entry_gc*> _tree_item_to_gc;
+ };
+}
+
+