From fc32519af5832acd3853aea8a8af8e757eda526a Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 8 Feb 2022 11:54:48 +0100
Subject: [PATCH] updates to known grasps (need to be ordered)
---
.../aron/KnownGraspCandidate.xml | 19 +++++++++++--------
.../server/KnownGraspProviderSegment.cpp | 6 +++---
2 files changed, 14 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml b/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
index 8397a5d2c..17247c71f 100644
--- a/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
+++ b/source/RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.xml
@@ -6,7 +6,6 @@
</AronIncludes>
<GenerateTypes>
<Object name='armarx::armem::grasping::arondto::KnownGrasp'>
-
<ObjectChild key='name'>
<string />
</ObjectChild>
@@ -22,25 +21,30 @@
<ObjectChild key='pose'>
<Pose />
</ObjectChild>
-
</Object>
+ <!-- A Grasp set is a set of grasps that need to be executed to grasp an object. The order is important! -->
<Object name='armarx::armem::grasping::arondto::KnownGraspSet'>
-
<ObjectChild key='name'>
<string />
</ObjectChild>
+ <ObjectChild key='robot'>
+ <string />
+ </ObjectChild>
+
+ <ObjectChild key='endeffector'>
+ <string />
+ </ObjectChild>
+
<ObjectChild key='grasps'>
- <Dict>
+ <List>
<armarx::armem::grasping::arondto::KnownGrasp />
- </Dict>
+ </List>
</ObjectChild>
-
</Object>
<Object name='armarx::armem::grasping::arondto::KnownGraspInfo'>
-
<ObjectChild key='correspondingObject'>
<armarx::armem::arondto::MemoryID />
</ObjectChild>
@@ -54,7 +58,6 @@
<ObjectChild key='xml'>
<armarx::arondto::PackagePath />
</ObjectChild>
-
</Object>
</GenerateTypes>
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index 5b8aaafea..e66a190bd 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -50,8 +50,8 @@ namespace armarx::armem::grasping::segment
arondto::KnownGraspSet retGraspSet;
retGraspSet.name = graspSetNode.attribute_value("name");
- //std::string robotType = graspSetNode.attribute_value("RobotType");
- //std::string endEffector = graspSetNode.attribute_value("EndEffector");
+ retGraspSet.robot = graspSetNode.attribute_value("RobotType");
+ retGraspSet.endeffector = graspSetNode.attribute_value("EndEffector");
for (const auto& graspNode : graspSetNode.nodes())
{
@@ -97,7 +97,7 @@ namespace armarx::armem::grasping::segment
ARMARX_INFO << "Found grasp '" << retGrasp.name << "' in set '" << retGraspSet.name << "' for obj '" << objectClassName << "' with pose \n" << retGrasp.pose;
- retGraspSet.grasps[retGrasp.name] = retGrasp;
+ retGraspSet.grasps.push_back(retGrasp);
}
ret.graspSets[retGraspSet.name] = retGraspSet;
}
--
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