Object memory and pose gui improvements

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

@@ -1201,6 +1201,12 @@ namespace armarx::armem::server::obj::instance
         HBoxLayout storeLoadLineLayout({storeLoadLine, Label(".json")});
         HBoxLayout storeLoadButtonsLayout({loadButton, storeButton});
 
+        detachAllObjectsButton.setLabel("Detach All Objects");
+        detachAllObjectsCommitAttachedPoseCheckBox.setValue(true);
+        HBoxLayout detachAllObjectsCommitAttachedPoseLayout(
+            {detachAllObjectsCommitAttachedPoseCheckBox, Label("Commit Attached Pose")});
+
+
         GridLayout grid;
         int row = 0;
 
@@ -1217,6 +1223,9 @@ namespace armarx::armem::server::obj::instance
             .add(discardSnapshotsWhileAttached, {row, 1});
         row++;
 
+        grid.add(detachAllObjectsButton, {row, 0})
+            .add(detachAllObjectsCommitAttachedPoseLayout, {row, 1});
+
         group.setLabel("Data");
         group.addChild(grid);
     }
@@ -1258,6 +1267,16 @@ namespace armarx::armem::server::obj::instance
                         discardSnapshotsWhileAttached.getValue();
                 });
         }
+
+        if (detachAllObjectsButton.wasClicked())
+        {
+            objpose::DetachAllObjectsFromRobotNodesInput input;
+            input.commitAttachedPose = detachAllObjectsCommitAttachedPoseCheckBox.getValue();
+
+            objpose::DetachAllObjectsFromRobotNodesOutput output = segment.doLocked(
+                [&segment, &input]() { return segment.detachAllObjectsFromRobotNodes(input); });
+            (void)output;
+        }
     }
 
     VirtualRobot::RobotPtr