ObjectFinder: + findAllArticulatedObjectsByDataset

source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp

@@ -221,6 +221,29 @@ namespace armarx
         return objects;
     }
 
+    std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>> ObjectFinder::findAllArticulatedObjectsByDataset(bool checkPaths) const
+    {
+        init();
+        if (!_ready())
+        {
+            return {};
+        }
+
+        const bool local = true;
+
+        std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>> datasets;
+        for (const path& datasetDir : simox::fs::list_directory(_rootDirAbs(), local))
+        {
+            if (fs::is_directory(_rootDirAbs() / datasetDir))
+            {
+                const auto dataset = findAllArticulatedObjectsOfDataset(datasetDir, checkPaths);
+                datasets[datasetDir] = dataset;
+            }
+        }
+        return datasets;
+    }
+
+
     std::vector<armem::articulated_object::ArticulatedObjectDescription> ObjectFinder::findAllArticulatedObjectsOfDataset(const std::string& dataset, bool checkPaths) const
     {
         init();
@@ -269,6 +292,7 @@ namespace armarx
                             {
                                 .name = robot->getName(),
                                 .xml = {packageName, relativeXMLPath}
+                                // .dataset = dataset
                             });
                         }
                     }

source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h

 #pragma once
 
 #include <filesystem>
+#include <unordered_map>
 
 #include <VirtualRobot/VirtualRobot.h>
 
@@ -50,6 +51,7 @@ namespace armarx
 
         std::vector<armem::articulated_object::ArticulatedObjectDescription> findAllArticulatedObjects(bool checkPaths) const;
         std::vector<armem::articulated_object::ArticulatedObjectDescription> findAllArticulatedObjectsOfDataset(const std::string& dataset, bool checkPaths) const;
+        std::unordered_map<std::string, std::vector<armem::articulated_object::ArticulatedObjectDescription>> findAllArticulatedObjectsByDataset(bool checkPaths = true) const;
 
         VirtualRobot::ManipulationObjectPtr
         static loadManipulationObject(const std::optional<ObjectInfo>& ts);