Add isStatic to Scene

source/RobotAPI/libraries/ArmarXObjects/Scene.h

@@ -43,6 +43,7 @@ namespace armarx::objects
         Eigen::Vector3f position = Eigen::Vector3f::Zero();
         Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity();
 
+        std::optional<bool> isStatic;
         std::map<std::string, float> jointValues;
 
         ObjectID getClassID() const;

source/RobotAPI/libraries/ArmarXObjects/json_conversions.cpp

@@ -79,31 +79,51 @@ void armarx::objpose::from_json(const nlohmann::json& j, ObjectPose& op)
 
 void armarx::objects::to_json(nlohmann::json& j, const SceneObject& rhs)
 {
-    //     j["instanceID"] = rhs.instanceID;
     j["class"] = rhs.className;
     j["instanceName"] = rhs.instanceName;
     j["collection"] = rhs.collection;
     j["position"] = rhs.position;
     j["orientation"] = rhs.orientation;
+    if (rhs.isStatic.has_value())
+    {
+        j["isStatic"] = rhs.isStatic.value();
+    }
     j["jointValues"] = rhs.jointValues;
 }
 
 
 void armarx::objects::from_json(const nlohmann::json& j, SceneObject& rhs)
 {
-    //     j.at("instanceID").get_to(rhs.instanceID);
     j.at("class").get_to(rhs.className);
     if (j.count("instanceName"))
     {
         j["instanceName"].get_to(rhs.instanceName);
     }
+    else
+    {
+        rhs.instanceName.clear();
+    }
     j.at("collection").get_to(rhs.collection);
     j.at("position").get_to(rhs.position);
     j.at("orientation").get_to(rhs.orientation);
+
+    if (j.count("isStatic"))
+    {
+        rhs.isStatic = j.at("isStatic").get<bool>();
+    }
+    else
+    {
+        rhs.isStatic = std::nullopt;
+    }
+
     if (j.count("jointValues"))
     {
         j.at("jointValues").get_to(rhs.jointValues);
     }
+    else
+    {
+        rhs.jointValues.clear();
+    }
 }