From f07ea54f7a77eacdb422a4eb2d6ce053e650423f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Mon, 6 Mar 2023 16:55:35 +0100
Subject: [PATCH] almost fixed component. still need to work on aron json
loading
---
.../articulated_objects_skill_provider/Component.cpp | 4 +++-
.../components/articulated_objects_skill_provider/Component.h | 1 -
source/armarx/manipulation/core/Robot.cpp | 2 ++
source/armarx/manipulation/skills/ReachGrasp.h | 4 +++-
4 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
index c75696b4..afda85c2 100644
--- a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
+++ b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
@@ -92,7 +92,9 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
core::Robot::InjectedServices injectedServices{.proxies = robotProxies,
.memoryNameSystem = memoryNameSystem()};
- robot = std::make_unique<core::Robot>(injectedServices, properties.robotName);
+ const std::string robotName = robotProxies.robotUnitPrx->getKinematicUnit()->getRobotName();
+
+ robot = std::make_unique<core::Robot>(injectedServices, robotName);
//
// Private skills
diff --git a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
index 4f8f2c1e..3fda19c8 100644
--- a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
+++ b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
@@ -113,7 +113,6 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
struct Properties
{
- std::string robotName = "Armar6";
};
Properties properties;
/* Use a mutex if you access variables from different threads
diff --git a/source/armarx/manipulation/core/Robot.cpp b/source/armarx/manipulation/core/Robot.cpp
index 2bf1dc90..0877467a 100644
--- a/source/armarx/manipulation/core/Robot.cpp
+++ b/source/armarx/manipulation/core/Robot.cpp
@@ -170,6 +170,8 @@ namespace armarx::manipulation::core
bool
Robot::synchronize(const armarx::core::time::DateTime& timestamp)
{
+ ARMARX_CHECK_NOT_NULL(virtualRobot);
+
if (robotReader.synchronizeRobot(*virtualRobot, timestamp))
{
syncTime = timestamp;
diff --git a/source/armarx/manipulation/skills/ReachGrasp.h b/source/armarx/manipulation/skills/ReachGrasp.h
index 0881816d..627fa28e 100644
--- a/source/armarx/manipulation/skills/ReachGrasp.h
+++ b/source/armarx/manipulation/skills/ReachGrasp.h
@@ -100,10 +100,12 @@ namespace armarx::manipulation::skills
virtual bool initController(const ParamsT& params) {return true;};
virtual bool updateControllerTcpTarget(const core::Pose& global_T_tcp) {return true;};
- private:
+ protected:
Context ctx;
Parameters parameters;
+ private:
+
VirtualRobot::RobotPtr object;
VirtualRobot::GraspPtr grasp;
--
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