diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index df483eb31778702f71c8a1ff6c13bf260f86c605..b8a602e969d23f0e85cb0be79d4471a271fd8885 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -193,10 +193,10 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.articulated.cls.ObjectsPackage: Name of the objects package to load from.
# Attributes:
-# - Default: ArmarXObjects
+# - Default: PriorKnowledgeData
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.articulated.cls.ObjectsPackage = ArmarXObjects
+# ArmarX.ObjectMemory.mem.articulated.cls.ObjectsPackage = PriorKnowledgeData
# ArmarX.ObjectMemory.mem.articulated.inst.CoreSegmentName: Name of the object instance core segment.
@@ -293,10 +293,10 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
# Attributes:
-# - Default: ArmarXObjects
+# - Default: PriorKnowledgeData
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = ArmarXObjects
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
# ArmarX.ObjectMemory.mem.inst.CoreSegmentName: Name of the object instance core segment.
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.cpp b/source/RobotAPI/components/ArViz/Client/Elements.cpp
index 3ce3ea6f48c69658788abc3ba2ed00c6a81e1002..daec8bc655e0f6431dc531f0401478838e7f053b 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.cpp
+++ b/source/RobotAPI/components/ArViz/Client/Elements.cpp
@@ -9,15 +9,18 @@ namespace armarx::viz
{
const std::string Object::DefaultObjectsPackage = armarx::ObjectFinder::DefaultObjectsPackageName;
+ const std::string Object::DefaultRelativeObjectsDirectory = armarx::ObjectFinder::DefaultObjectsDirectory;
- Object& Object::fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage)
+ Object& Object::fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage,
+ const std::string& relativeObjectsDirectory)
{
- return this->fileByObjectFinder(armarx::ObjectID(objectID), objectsPackage);
+ return this->fileByObjectFinder(armarx::ObjectID(objectID), objectsPackage, relativeObjectsDirectory);
}
- Object& Object::fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage)
+ Object& Object::fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage,
+ const std::string& relativeObjectsDirectory)
{
- ObjectInfo info(objectsPackage, "", objectID);
+ ObjectInfo info(objectsPackage, "", relativeObjectsDirectory, objectID);
armarx::PackageFileLocation file = info.simoxXML();
return this->file(file.package, file.relativePath);
}
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 66f07992e0ba2dc0c382b3a9742a5413c9f192b6..e9157a24d9f60b9ba71d70cccd2141b0258665c3 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -461,6 +461,7 @@ namespace armarx::viz
{
private:
static const std::string DefaultObjectsPackage;
+ static const std::string DefaultRelativeObjectsDirectory;
public:
using ElementOps::ElementOps;
@@ -483,8 +484,12 @@ namespace armarx::viz
* @param objectsPackage The objects package ("ArmarXObjects" by default)
* @see <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
*/
- Object& fileByObjectFinder(const armarx::ObjectID& objectID, const std::string& objectsPackage = DefaultObjectsPackage);
- Object& fileByObjectFinder(const std::string& objectID, const std::string& objectsPackage = DefaultObjectsPackage);
+ Object& fileByObjectFinder(const armarx::ObjectID& objectID,
+ const std::string& objectsPackage = DefaultObjectsPackage,
+ const std::string& relativeObjectsDirectory = DefaultRelativeObjectsDirectory);
+ Object& fileByObjectFinder(const std::string& objectID,
+ const std::string& objectsPackage = DefaultObjectsPackage,
+ const std::string& relativeObjectsDirectory = DefaultRelativeObjectsDirectory);
Object& alpha(float alpha);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index 2e026dd211cf6906d8b54b468ad6eebfff12141b..53642e1f5b16ca8c18a405a2bdcd1199e0c7df37 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -1,12 +1,10 @@
#include <VirtualRobot/XML/ObjectIO.h>
-#include <boost/algorithm/string.hpp>
+#include <set>
#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/filesystem/list_directory.h>
-#include <VirtualRobot/XML/RobotIO.h>
-
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
@@ -17,7 +15,9 @@ namespace armarx
{
namespace fs = std::filesystem;
- ObjectFinder::ObjectFinder(const std::string& objectsPackageName) : packageName(objectsPackageName)
+
+ ObjectFinder::ObjectFinder(const std::string& objectsPackageName, const ObjectFinder::path& relObjectsDir) :
+ packageName(objectsPackageName), relObjectsDir(relObjectsDir)
{
Logging::setTag("ObjectFinder");
}
@@ -25,7 +25,7 @@ namespace armarx
void ObjectFinder::setPath(const std::string& path)
{
packageName = path;
- packageDataDir.clear();
+ absPackageDataDir.clear();
}
std::string ObjectFinder::getPackageName() const
@@ -35,11 +35,11 @@ namespace armarx
void ObjectFinder::init() const
{
- if (packageDataDir.empty())
+ if (absPackageDataDir.empty())
{
CMakePackageFinder packageFinder(packageName);
- packageDataDir = packageFinder.getDataDir();
- if (packageDataDir.empty())
+ absPackageDataDir = packageFinder.getDataDir();
+ if (absPackageDataDir.empty())
{
ARMARX_WARNING << "Could not find package '" << packageName << "'.";
// throw LocalException() << "Could not find package '" << packageName << "'.";
@@ -49,7 +49,7 @@ namespace armarx
ARMARX_VERBOSE << "Objects root directory: " << _rootDirAbs();
// make sure this data path is available => e.g. for findArticulatedObjects
- armarx::ArmarXDataPath::addDataPaths(std::vector<std::string> {packageDataDir});
+ armarx::ArmarXDataPath::addDataPaths(std::vector<std::string> {absPackageDataDir});
}
}
}
@@ -57,7 +57,7 @@ namespace armarx
bool ObjectFinder::isDatasetDirValid(const path& path) const
{
- return path.filename() != "Scenes" and std::filesystem::is_directory(path);
+ return std::filesystem::is_directory(path);
}
@@ -70,7 +70,7 @@ namespace armarx
}
if (!dataset.empty())
{
- return ObjectInfo(packageName, packageDataDir, dataset, name);
+ return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, dataset, name);
}
// Search for object in datasets.
const std::vector<std::string>& datasets = getDatasets();
@@ -78,7 +78,7 @@ namespace armarx
{
if (fs::is_directory(_rootDirAbs() / dataset / name))
{
- return ObjectInfo(packageName, packageDataDir, dataset, name);
+ return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, dataset, name);
}
}
@@ -217,7 +217,7 @@ namespace armarx
{
if (fs::is_directory(datasetDir / dir))
{
- ObjectInfo object(packageName, packageDataDir, dataset, dir.filename());
+ ObjectInfo object(packageName, absPackageDataDir, relObjectsDir, dataset, dir.filename());
if (!checkPaths || object.checkPaths())
{
objects.push_back(object);
@@ -268,51 +268,22 @@ namespace armarx
return {};
}
- const std::vector<std::string> validExtensions{".urdf", ".xml"};
-
- const auto hasValidExtension = [&](const std::string & file) -> bool
- {
- return std::find(validExtensions.begin(), validExtensions.end(), boost::algorithm::to_lower_copy(std::filesystem::path(file).extension().string())) != validExtensions.end();
- };
-
std::vector<armem::articulated_object::ArticulatedObjectDescription> objects;
const bool local = true;
for (const path& dir : simox::fs::list_directory(datasetDir, local))
{
- if (not fs::is_directory(datasetDir / dir))
- {
- continue;
- }
-
- for (const auto& file : std::filesystem::directory_iterator(datasetDir / dir))
+ if (fs::is_directory(datasetDir / dir))
{
- const std::string xml = std::filesystem::path(file).string();
-
- if (hasValidExtension(xml))
+ ObjectInfo object(packageName, absPackageDataDir, relObjectsDir, dataset, dir.filename());
+ std::optional<PackageFileLocation> modelFile = object.getArticulatedModel();
+ if (modelFile.has_value())
{
- try
+ objects.emplace_back(armem::articulated_object::ArticulatedObjectDescription
{
- const auto robot = VirtualRobot::RobotIO::loadRobot(xml, VirtualRobot::RobotIO::RobotDescription::eStructure);
- if (robot != nullptr && robot->isPassive())
- {
- const std::string relativeXMLPath = armarx::ArmarXDataPath::getRelativeArmarXPath(xml);
-
- objects.emplace_back(armem::articulated_object::ArticulatedObjectDescription
- {
- .name = robot->getName(),
- .xml = {packageName, relativeXMLPath}
- // .dataset = dataset
- });
- }
- }
- catch (const armarx::LocalException& ex)
- {
- ARMARX_WARNING << ex.what();
- }
- catch (...)
- {
-
- }
+ .name = object.idStr(),
+ .xml = {modelFile->package, modelFile->relativePath}
+ // .dataset = dataset
+ });
}
}
}
@@ -401,7 +372,7 @@ namespace armarx
ObjectFinder::path ObjectFinder::_rootDirAbs() const
{
- return packageDataDir / packageName;
+ return absPackageDataDir / packageName / relObjectsDir;
}
ObjectFinder::path ObjectFinder::_rootDirRel() const
@@ -411,7 +382,7 @@ namespace armarx
bool ObjectFinder::_ready() const
{
- return !packageDataDir.empty();
+ return !absPackageDataDir.empty();
}
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index 0bef0667120ee99e7d65f575f1c9b61b446ffe6f..0dcf339d342edcaf5f1c6dab3d4e74868acedf3c 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -7,26 +7,31 @@
#include <ArmarXCore/core/logging/Logging.h>
+#include <RobotAPI/libraries/armem_objects/types.h>
+
#include "ObjectInfo.h"
#include "ObjectPose.h"
-#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx
{
/**
- * @brief Used to find objects in the ArmarX objects repository [1].
+ * @brief Used to find objects in the ArmarX objects repository [1] (formerly [2]).
*
- * @see [1] https://gitlab.com/ArmarX/ArmarXObjects
+ * @see [1] https://gitlab.com/ArmarX/PriorKnowledgeData
+ * @see [2] https://gitlab.com/ArmarX/ArmarXObjects
*/
class ObjectFinder : Logging
{
public:
using path = std::filesystem::path;
- inline static const std::string DefaultObjectsPackageName = "ArmarXObjects";
+ inline static const std::string DefaultObjectsPackageName = "PriorKnowledgeData";
+ inline static const std::string DefaultObjectsDirectory = "objects";
public:
- ObjectFinder(const std::string& objectsPackageName = DefaultObjectsPackageName);
+
+ ObjectFinder(const std::string& objectsPackageName = DefaultObjectsPackageName,
+ const path& relObjectsDir = DefaultObjectsDirectory);
ObjectFinder(ObjectFinder&&) = default;
ObjectFinder(const ObjectFinder&) = default;
@@ -108,7 +113,10 @@ namespace armarx
* @brief Absolute path to data directory (e.g. "/.../repos/ArmarXObjects/data").
* Empty if package could not be found.
*/
- mutable path packageDataDir;
+ mutable path absPackageDataDir;
+
+ /// Path to the directory containing objects in the package's data directory.
+ path relObjectsDir;
};
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
index 348a5b25419813a22717f71c92d0c3484042361c..162f4570fdd05d71e5ba6fb0e8cb1b922fdd3eca 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp
@@ -14,14 +14,17 @@ namespace armarx
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
- const ObjectID& id) :
- _packageName(packageName), _packageDataDir(packageDataDir), _id(id)
+ const path& relObjectsPath, const ObjectID& id) :
+ _packageName(packageName), _absPackageDataDir(packageDataDir),
+ _relObjectsPath(relObjectsPath), _id(id)
{
}
ObjectInfo::ObjectInfo(const std::string& packageName, const ObjectInfo::path& packageDataDir,
- const std::string& dataset, const std::string& name) :
- _packageName(packageName), _packageDataDir(packageDataDir), _id(dataset, name)
+ const path& relObjectsPath,
+ const std::string& dataset, const std::string& className) :
+ _packageName(packageName), _absPackageDataDir(packageDataDir),
+ _relObjectsPath(relObjectsPath), _id(dataset, className)
{
}
@@ -40,7 +43,7 @@ namespace armarx
return _id.dataset();
}
- std::string ObjectInfo::name() const
+ std::string ObjectInfo::className() const
{
return _id.className();
}
@@ -57,7 +60,7 @@ namespace armarx
ObjectInfo::path ObjectInfo::objectDirectory() const
{
- return path(_packageName) / _id.dataset() / _id.className();
+ return path(_packageName) / _relObjectsPath / _id.dataset() / _id.className();
}
PackageFileLocation ObjectInfo::file(const std::string& _extension, const std::string& suffix) const
@@ -72,7 +75,7 @@ namespace armarx
PackageFileLocation loc;
loc.package = _packageName;
loc.relativePath = objectDirectory() / filename;
- loc.absolutePath = _packageDataDir / loc.relativePath;
+ loc.absolutePath = _absPackageDataDir / loc.relativePath;
return loc;
}
@@ -81,6 +84,38 @@ namespace armarx
return file(".xml");
}
+ PackageFileLocation ObjectInfo::articulatedSimoxXML() const
+ {
+ return file(".xml", "_articulated");
+ }
+
+ PackageFileLocation ObjectInfo::articulatedUrdf() const
+ {
+ return file(".urdf", "_articulated");
+ }
+
+ std::optional<PackageFileLocation> ObjectInfo::getArticulatedModel() const
+ {
+ if (fs::is_regular_file(articulatedSimoxXML().absolutePath))
+ {
+ return articulatedSimoxXML();
+ }
+ else if (fs::is_regular_file(articulatedUrdf().absolutePath))
+ {
+ return articulatedUrdf();
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ PackageFileLocation ObjectInfo::meshWrl() const
+ {
+ return file(".wrl");
+ }
+
PackageFileLocation ObjectInfo::wavefrontObj() const
{
return file(".obj");
@@ -232,15 +267,15 @@ namespace armarx
{
if (_logError)
{
- ARMARX_WARNING << "Expected simox object file for object '" << *this << "': " << simoxXML().absolutePath;
+ ARMARX_WARNING << "Expected simox object file for object " << *this << ": " << simoxXML().absolutePath;
}
result = false;
}
- if (!fs::is_regular_file(wavefrontObj().absolutePath))
+ if (false and not fs::is_regular_file(wavefrontObj().absolutePath))
{
if (_logError)
{
- ARMARX_WARNING << "Expected wavefront object file (.obj) for object '" << *this << "': " << wavefrontObj().absolutePath;
+ ARMARX_WARNING << "Expected wavefront object file (.obj) for object " << *this << ": " << wavefrontObj().absolutePath;
}
result = false;
}
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
index 634944e4cc52379977f784c370f48af1e84ed28d..e55c21dc004e70784cd5ff4362fef163bab4cdde 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.h
@@ -41,10 +41,19 @@ namespace armarx
public:
+ /**
+ * @brief ObjectInfo
+ *
+ * @param packageName The ArmarX package.
+ * @param absPackageDataDir Absolute path to the package's data directory.
+ * @param localObjectsPath The path where objects are stored in the data directory.
+ * @param id The object class ID (with dataset and class name).
+ */
+ ObjectInfo(const std::string& packageName, const path& absPackageDataDir,
+ const path& relObjectsPath, const ObjectID& id);
ObjectInfo(const std::string& packageName, const path& packageDataDir,
- const ObjectID& id);
- ObjectInfo(const std::string& packageName, const path& packageDataDir,
- const std::string& dataset, const std::string& name);
+ const path& relObjectsPath,
+ const std::string& dataset, const std::string& className);
virtual ~ObjectInfo() = default;
@@ -56,7 +65,13 @@ namespace armarx
std::string package() const;
std::string dataset() const;
- std::string name() const;
+ std::string className() const;
+ [[deprecated("This function is deprecated. Use className() instead.")]]
+ std::string name() const
+ {
+ return className();
+ }
+
/// Return "dataset/name".
ObjectID id() const;
std::string idStr() const;
@@ -64,6 +79,13 @@ namespace armarx
PackageFileLocation file(const std::string& extension, const std::string& suffix = "") const;
PackageFileLocation simoxXML() const;
+
+ PackageFileLocation articulatedSimoxXML() const;
+ PackageFileLocation articulatedUrdf() const;
+ /// Return the articulated Simox XML or URDF, if one exists.
+ std::optional<PackageFileLocation> getArticulatedModel() const;
+
+ PackageFileLocation meshWrl() const;
PackageFileLocation wavefrontObj() const;
PackageFileLocation boundingBoxJson() const;
@@ -113,7 +135,8 @@ namespace armarx
private:
std::string _packageName;
- path _packageDataDir;
+ path _absPackageDataDir;
+ path _relObjectsPath;
ObjectID _id;
diff --git a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
index 0af92b11dcd764b7ab376f07a5869cb1962e5f4f..85ca31bec07bbe8af4108a64a24805da44dd19d5 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
@@ -29,8 +29,80 @@
#include <iostream>
-BOOST_AUTO_TEST_CASE(testExample)
+#include <RobotAPI/libraries/ArmarXObjects/aron/ObjectPose.aron.generated.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+
+
+namespace fs = std::filesystem;
+
+
+BOOST_AUTO_TEST_SUITE(arondto_ObjectPose_test)
+
+
+BOOST_AUTO_TEST_CASE(test_ObjectType_copy_assignment)
+{
+ BOOST_TEST_MESSAGE("Constructor");
+ armarx::objpose::arondto::ObjectType lhs, rhs;
+
+ BOOST_TEST_MESSAGE("Assignment");
+ BOOST_CHECK_NO_THROW(lhs = rhs);
+
+ BOOST_TEST_MESSAGE("Done");
+}
+
+BOOST_AUTO_TEST_CASE(test_ObjectAttachmentInfo_copy_assignment)
+{
+ BOOST_TEST_MESSAGE("Constructor");
+ armarx::objpose::arondto::ObjectAttachmentInfo lhs, rhs;
+
+ BOOST_TEST_MESSAGE("Assignment");
+ BOOST_CHECK_NO_THROW(lhs = rhs);
+
+ BOOST_TEST_MESSAGE("Done");
+}
+
+BOOST_AUTO_TEST_CASE(test_ObjectPose_copy_assignment)
{
+ BOOST_TEST_MESSAGE("Constructor");
+ armarx::objpose::arondto::ObjectPose lhs, rhs;
- BOOST_CHECK_EQUAL(true, true);
+ BOOST_TEST_MESSAGE("Assignment");
+ BOOST_CHECK_NO_THROW(lhs = rhs);
+
+ BOOST_TEST_MESSAGE("Done");
+}
+
+
+BOOST_AUTO_TEST_SUITE_END()
+
+
+
+BOOST_AUTO_TEST_SUITE(ObjectFinderTest)
+
+
+BOOST_AUTO_TEST_CASE(test_find)
+{
+ using namespace armarx;
+
+ ObjectFinder finder;
+
+ bool checkPaths = false;
+ std::vector<ObjectInfo> objects = finder.findAllObjects(checkPaths);
+ BOOST_CHECK_GT(objects.size(), 0);
+
+ for (const ObjectInfo& object : objects)
+ {
+ fs::path simoxXML = object.simoxXML().absolutePath;
+ fs::path objectDir = simoxXML.parent_path();
+ BOOST_TEST_CONTEXT("Object: " << object.id() << " at " << objectDir)
+ {
+ BOOST_CHECK(fs::is_directory(objectDir));
+ BOOST_CHECK(fs::is_regular_file(simoxXML)
+ || fs::is_regular_file(object.articulatedSimoxXML().absolutePath));
+ }
+ }
}
+
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
index d8ae0a10b97825f924d7e1605dc4687dcce9bfee..d491662edda9ff00244178735c0c84c26a923688 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.cpp
@@ -3,6 +3,7 @@
#include <SimoxUtility/json.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
// #include <RobotAPI/libraries/armem/core/json_conversions.h>
@@ -15,6 +16,20 @@ namespace armarx::armem::obj
return ObjectID(className);
}
+
+ ObjectID SceneSnapshot::Object::getClassID(ObjectFinder& finder) const
+ {
+ ObjectID id = getClassID();
+ if (id.dataset().empty())
+ {
+ if (std::optional<ObjectInfo> info = finder.findObject(id.className()))
+ {
+ return info->id();
+ }
+ }
+ return id;
+ }
+
}
diff --git a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
index 2baa2cd3c323794aa4112bbc5df8c3353073dc61..add5f1f183d15b6ec7c0588a5d4a9abc7e558d82 100644
--- a/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
+++ b/source/RobotAPI/libraries/armem_objects/SceneSnapshot.h
@@ -29,6 +29,7 @@
namespace armarx
{
class ObjectID;
+ class ObjectFinder;
}
namespace armarx::armem::obj
{
@@ -44,6 +45,7 @@ namespace armarx::armem::obj
Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
ObjectID getClassID() const;
+ ObjectID getClassID(ObjectFinder& finder) const;
};
std::vector<Object> objects;
};
diff --git a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
index 650082eb4ef8b924c8368fdd6cdf8da4578e105a..cb3c418e68b53cb24b781b22ff057386f995d2dc 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml
@@ -31,6 +31,10 @@ Core segment type of Object/Class.
<armarx::arondto::PackagePath />
</ObjectChild>
+ <ObjectChild key="articulatedSimoxXmlPath">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+
<ObjectChild key="meshWrlPath">
<armarx::arondto::PackagePath />
</ObjectChild>
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
index 4c3be719fce4148970fa0ef16d8465d2df7a10d3..dcce63977438bdd0d646b50aa8e5dd9679354df8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.h
@@ -41,9 +41,9 @@ namespace armarx::armem::server::obj::clazz
{
bool show = true;
- std::string entityName = "Environment/floor-20x20";
+ std::string entityName = "Building/floor-20x20";
std::string layerName = "Floor";
- bool height = 1;
+ float height = -1;
void define(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "");
};
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 323a4df0d37cbf5d8177e763dddb9b58091bf4de..eb998a190a45003bb9bb60d07f4df356d8ddf058 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -172,18 +172,23 @@ namespace armarx::armem::server::obj::clazz
toAron(data.id, info.id());
- if (fs::is_regular_file(info.simoxXML().absolutePath))
+ auto setPathIfExists = [](
+ armarx::arondto::PackagePath & aron,
+ const PackageFileLocation & location)
{
- toAron(data.simoxXmlPath, info.simoxXML());
- }
- if (fs::is_regular_file(info.wavefrontObj().absolutePath))
- {
- toAron(data.meshObjPath, info.wavefrontObj());
- }
- if (fs::is_regular_file(info.file(".wrl").absolutePath))
- {
- toAron(data.meshWrlPath, info.file(".wrl"));
- }
+ if (fs::is_regular_file(location.absolutePath))
+ {
+ toAron(aron, location);
+ }
+ else
+ {
+ toAron(aron, PackageFileLocation());
+ }
+ };
+ setPathIfExists(data.simoxXmlPath, info.simoxXML());
+ setPathIfExists(data.articulatedSimoxXmlPath, info.articulatedSimoxXML());
+ setPathIfExists(data.meshObjPath, info.wavefrontObj());
+ setPathIfExists(data.meshWrlPath, info.meshWrl());
auto aabb = info.loadAABB();
toAron(data.aabb, aabb ? aabb.value() : simox::AxisAlignedBoundingBox());
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index eb81a73dc3fa4b949dbdf880a9023b51d02d7320..4e0e7429a61b4efc02ee0a783fad91ec86ea9944 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -843,7 +843,7 @@ namespace armarx::armem::server::obj::instance
for (const auto& object : scene.objects)
{
- const ObjectID classID = object.getClassID();
+ const ObjectID classID = object.getClassID(objectFinder);
objpose::ObjectPose& pose = objectPoses.emplace_back();