implemented RelaxHand-skill

source/armarx/control/components/control_skill_provider/Component.cpp

@@ -4,6 +4,7 @@
 
 #include <armarx/control/skills/skills/MoveJointsToPosition.h>
 #include <armarx/control/skills/skills/MoveJointsWithVelocity.h>
+#include <armarx/control/skills/skills/RelaxHand.h>
 #include <armarx/control/skills/skills/ShapeHand.h>
 
 namespace armarx::control::components::control_skill_provider
@@ -42,13 +43,13 @@ namespace armarx::control::components::control_skill_provider
                 addSkillFactory<armarx::control::skills::skills::MoveJointsToPosition>(skillRemote);
             }
             {
-                armarx::control::skills::Remote skillRemote{remote.kinematicUnit};
+                armarx::control::skills::KinematicUnitRemote skillRemote{remote.kinematicUnit};
                 addSkillFactory<armarx::control::skills::skills::MoveJointsWithVelocity>(
                     skillRemote);
             }
             {
-                armarx::control::skills::skills::ShapeHand::Remote skillRemote{
-                    remote.leftHandUnit, remote.rightHandUnit};
+                armarx::control::skills::HandUnitRemote skillRemote{remote.leftHandUnit,
+                                                                    remote.rightHandUnit};
                 addSkillFactory<armarx::control::skills::skills::ShapeHand>(skillRemote);
             }
             {
@@ -57,6 +58,11 @@ namespace armarx::control::components::control_skill_provider
             {
                 addSkillFactory<armarx::control::skills::skills::CloseHand>();
             }
+            {
+                armarx::control::skills::HandUnitRemote skillRemote{remote.leftHandUnit,
+                                                                    remote.rightHandUnit};
+                addSkillFactory<armarx::control::skills::skills::RelaxHand>(skillRemote);
+            }
         }
     }
 

source/armarx/control/skills/CMakeLists.txt

@@ -2,7 +2,9 @@ armarx_add_aron_library(skills_aron
     ARON_FILES
         skills/aron/MoveJointsToPositionParams.xml
         skills/aron/MoveJointsWithVelocityParams.xml
+        skills/aron/HandParam.xml
         skills/aron/ShapeHandParams.xml
+        skills/aron/RelaxHandParams.xml
 )
 
 armarx_add_library(skills
@@ -11,12 +13,14 @@ armarx_add_library(skills
         skills/MoveJointsToPosition.cpp
         skills/MoveJointsWithVelocity.cpp
         skills/ShapeHand.cpp
+        skills/RelaxHand.cpp
 
     HEADERS
         skills.h
         skills/MoveJointsToPosition.h
         skills/MoveJointsWithVelocity.h
         skills/ShapeHand.h
+        skills/RelaxHand.h
 
     DEPENDENCIES_PUBLIC
 

source/armarx/control/skills/skills.h

@@ -2,13 +2,35 @@
 
 #include <string>
 
+#include <RobotAPI/interface/units/HandUnitInterface.h>
 #include <RobotAPI/interface/units/KinematicUnitInterface.h>
 
+#include <armarx/control/skills/skills/aron/ShapeHandParams.aron.generated.h>
+
 namespace armarx::control::skills
 {
-    struct Remote
+    struct KinematicUnitRemote
     {
         ::armarx::KinematicUnitInterfacePrx kinematicUnit;
     };
 
+    struct HandUnitRemote
+    {
+        ::armarx::HandUnitInterfacePrx& leftHandUnit;
+        ::armarx::HandUnitInterfacePrx& rightHandUnit;
+
+        ::armarx::HandUnitInterfacePrx&
+        getHandUnit(const skills::Hand hand)
+        {
+            if (hand == skills::Hand::Left)
+            {
+                return leftHandUnit;
+            }
+            else // hand == Hand::Right
+            {
+                return rightHandUnit;
+            }
+        }
+    };
+
 } // namespace armarx::control::skills

source/armarx/control/skills/skills/MoveJointsToPosition.h

@@ -25,7 +25,7 @@ namespace armarx::control::skills::skills
     {
 
     public:
-        struct Remote : public armarx::control::skills::Remote
+        struct Remote : public armarx::control::skills::KinematicUnitRemote
         {
             ::armarx::armem::robot_state::VirtualRobotReader virtualRobotReader;
             std::string robotName;

source/armarx/control/skills/skills/MoveJointsWithVelocity.cpp

@@ -5,7 +5,7 @@
 namespace armarx::control::skills::skills
 {
 
-    MoveJointsWithVelocity::MoveJointsWithVelocity(const Remote& r) :
+    MoveJointsWithVelocity::MoveJointsWithVelocity(const KinematicUnitRemote& r) :
         ::armarx::skills::SimpleSpecializedSkill<ParamType>(GetSkillDescription()), remote(r)
     {
     }

source/armarx/control/skills/skills/MoveJointsWithVelocity.h

@@ -35,7 +35,7 @@ namespace armarx::control::skills::skills
                 .parametersType = ParamType::ToAronType()};
         }
 
-        MoveJointsWithVelocity(const Remote&);
+        MoveJointsWithVelocity(const KinematicUnitRemote&);
 
 
     private:
@@ -53,7 +53,7 @@ namespace armarx::control::skills::skills
                         const armarx::core::time::Duration& dur);
 
     private:
-        Remote remote;
+        KinematicUnitRemote remote;
     };
 
 } // namespace armarx::control::skills::skills

source/armarx/control/skills/skills/RelaxHand.cpp

+#include "RelaxHand.h"
+
+namespace armarx::control::skills::skills
+{
+    RelaxHand::RelaxHand(const HandUnitRemote& r) :
+        ::armarx::skills::SimpleSpecializedSkill<RelaxHandParams>(GetSkillDescription()), remote(r)
+    {
+    }
+
+    armarx::skills::Skill::MainResult
+    RelaxHand::main(const SpecializedMainInput& in)
+    {
+        HandUnitInterfacePrx& handUnit = remote.getHandUnit(in.parameters.hand);
+
+        ARMARX_INFO << "Setting shape of hand '" << handUnit->getHandName() << "' to 'Relax'.";
+        handUnit->setShape("Relax");
+        return MakeSucceededResult();
+    }
+
+} // namespace armarx::control::skills::skills

source/armarx/control/skills/skills/RelaxHand.h

+#pragma once
+
+#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
+
+#include <armarx/control/skills/skills/aron/RelaxHandParams.aron.generated.h>
+
+#include "../skills.h"
+
+namespace armarx::control::skills::skills
+{
+
+    class RelaxHand : public ::armarx::skills::SimpleSpecializedSkill<RelaxHandParams>
+    {
+
+    public:
+        static ::armarx::skills::SkillDescription
+        GetSkillDescription()
+        {
+            return ::armarx::skills::SkillDescription{.skillId = {.skillName = "RelaxHand"},
+                                                      .description = "Relaxes hand joints",
+                                                      .timeout = ::armarx::Duration::Seconds(1),
+                                                      .parametersType = ParamType::ToAronType()};
+        }
+
+        RelaxHand(const HandUnitRemote&);
+
+    private:
+        ::armarx::skills::Skill::MainResult main(const SpecializedMainInput& in) override;
+
+    private:
+        HandUnitRemote remote;
+    };
+
+} // namespace armarx::control::skills::skills

source/armarx/control/skills/skills/ShapeHand.cpp

@@ -4,7 +4,7 @@
 
 namespace armarx::control::skills::skills
 {
-    ShapeHand::ShapeHand(const Remote& r) :
+    ShapeHand::ShapeHand(const HandUnitRemote& r) :
         ::armarx::skills::SpecializedSkill<ShapeHandParams>(GetSkillDescription()), remote(r)
     {
     }
@@ -28,7 +28,7 @@ namespace armarx::control::skills::skills
 
         // set shape/joinAngles
 
-        auto& handUnit = getHandUnit(getParameters().hand);
+        auto& handUnit = remote.getHandUnit(getParameters().hand);
 
         if (getParameters().shapeName)
         {
@@ -80,7 +80,7 @@ namespace armarx::control::skills::skills
     armarx::skills::Skill::MainResult
     ShapeHand::waitUntilFinished(const NameValueMap& targetAngles)
     {
-        auto& handUnit = getHandUnit(getParameters().hand);
+        auto& handUnit = remote.getHandUnit(getParameters().hand);
         const auto movementTimeout = getParameters().waitUntilFinished->movementTimeout;
 
         ARMARX_INFO << "Waiting until target position is reached"
@@ -162,19 +162,6 @@ namespace armarx::control::skills::skills
         return MakeSucceededResult();
     }
 
-    HandUnitInterfacePrx&
-    ShapeHand::getHandUnit(const Hand hand)
-    {
-        if (hand == ::armarx::control::skills::skills::Hand::Left)
-        {
-            return remote.leftHandUnit;
-        }
-        else
-        {
-            return remote.rightHandUnit;
-        }
-    }
-
     float
     ShapeHand::getAccuracy(const std::string& jointName)
     {

source/armarx/control/skills/skills/ShapeHand.h

 #pragma once
 
-#include <RobotAPI/interface/units/HandUnitInterface.h>
 #include <RobotAPI/libraries/skills/provider/SpecializedSkill.h>
 
 #include <armarx/control/skills/skills/aron/ShapeHandParams.aron.generated.h>
 
+#include "../skills.h"
+
 namespace armarx::control::skills::skills
 {
 
@@ -23,21 +24,14 @@ namespace armarx::control::skills::skills
                 .parametersType = ParamType::ToAronType()};
         }
 
-        struct Remote
-        {
-            ::armarx::HandUnitInterfacePrx& leftHandUnit;
-            ::armarx::HandUnitInterfacePrx& rightHandUnit;
-        };
-
-        ShapeHand(const Remote&);
+        ShapeHand(const HandUnitRemote&);
 
     private:
         ::armarx::skills::Skill::MainResult main() override;
         Skill::MainResult waitUntilFinished(const NameValueMap& targetAngles);
 
     private:
-        Remote remote;
-        ::armarx::HandUnitInterfacePrx& getHandUnit(const Hand);
+        HandUnitRemote remote;
 
         float getAccuracy(const std::string& jointName);
     };

source/armarx/control/skills/skills/aron/HandParam.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <GenerateTypes>
+
+        <IntEnum name="::armarx::control::skills::skills::Hand">
+            <EnumValue key="Left" value="0"/>
+            <EnumValue key="Right" value="1"/>
+        </IntEnum>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/armarx/control/skills/skills/aron/RelaxHandParams.xml

+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+    <AronIncludes>
+        <Include include="armarx/control/skills/skills/aron/HandParam.xml" />
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <!-- 'RelaxHand'-skill parameters -->
+        <Object name="::armarx::control::skills::skills::RelaxHandParams">
+
+            <ObjectChild key="hand">
+                <::armarx::control::skills::skills::Hand />
+            </ObjectChild>
+
+        </Object>
+
+    </GenerateTypes>
+</AronTypeDefinition>

source/armarx/control/skills/skills/aron/ShapeHandParams.xml

 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
-    <GenerateTypes>
 
-        <IntEnum name="::armarx::control::skills::skills::Hand">
-            <EnumValue key="Left" value="0"/>
-            <EnumValue key="Right" value="1"/>
-        </IntEnum>
+    <AronIncludes>
+        <Include include="armarx/control/skills/skills/aron/HandParam.xml" />
+    </AronIncludes>
+
+    <GenerateTypes>
 
         <!-- Parameters to define when the skill should terminate (if waiting) -->
         <Object name="::armarx::control::skills::skills::WaitUntilFinishedParams">