From 2770cec6114b5aad31bf7fe070c5640e84c7ebdd Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 5 Dec 2024 10:17:25 +0100
Subject: [PATCH] CollisionModelHelper: obstacle name is now full object id
string (dataset/class/instance) instead of only ambiguous instance name
---
.../libraries/obstacle_avoidance/CollisionModelHelper.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
index 0f1f8047f..05a230a8e 100644
--- a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
+++ b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
@@ -62,7 +62,7 @@ namespace armarx::obstacle_avoidance
if (auto obstacle = finder.loadManipulationObject(objectPose))
{
obstacle->setGlobalPose(objectPose.objectPoseGlobal);
- obstacle->setName(objectPose.objectID.instanceName());
+ obstacle->setName(objectPose.objectID.str());
sceneObjects->addSceneObject(obstacle);
}
}
@@ -104,7 +104,6 @@ namespace armarx::obstacle_avoidance
Eigen::Affine3f world_T_obj = world_T_map * map_T_obj;
- // ARMARX_INFO << world_T_obj.translation();
auto cube = factory.createBox(boxSize, boxSize, boxSize);
@@ -177,4 +176,4 @@ namespace armarx::obstacle_avoidance
arviz.commitLayerContaining("CollisionModel", mesh);
}
-} // namespace armarx::obstacle_avoidance
\ No newline at end of file
+} // namespace armarx::obstacle_avoidance
--
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