Merge branch 'armar7-zeiss' into 'master'

Changes for ARMAR-7

See merge request sw/armarx/robot-api!417

scenarios/memory_to_debug_observer/config/MemoryToDebugObserver.cfg

@@ -163,10 +163,18 @@
 
 # ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson:  Configuration of MemoryToDebugObserver in JSON format.
 #  Attributes:
-#  - Default:            {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+#  - Default:            {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+# ArmarX.MemoryToDebugObserver.p.memoryToDebugObserverJson = {"plottedValues":[{"aronPath":["joints","position","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_1_Yaw"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_1_Yaw.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_2_Hemisphere_A"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_2_Hemisphere_A.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","position","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","positionTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","relativePosition","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocity","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","velocityTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","torque","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","motorCurrent","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["joints","currentTarget","Neck_3_Hemisphere_B"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]},{"aronPath":["extraLongs","Neck_3_Hemisphere_B.absoluteEncoderTicks"],"entityID":["RobotState","Proprioception","Armar7","Armar7"]}]}
+
+
+# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz:  
+#  Attributes:
+#  - Default:            30
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.MemoryToDebugObserver.p.pollFrequencyHz = 30
 
 
 # ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog

source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp

@@ -49,7 +49,13 @@ namespace armarx::memory_to_debug_observer
             {
                 std::vector<std::string> attributes{
                     "position",
+                    "positionTarget",
+                    "relativePosition",
                     "velocity",
+                    "velocityTarget",
+                    "torque",
+                    "motorCurrent",
+                    "currentTarget",
                 };
                 for (const std::string& attribute : attributes)
                 {
@@ -57,6 +63,10 @@ namespace armarx::memory_to_debug_observer
                         .entityID = robotEntityId,
                         .aronPath = {{"joints", attribute, jointName}},
                     });
+                    properties.memoryToDebugObserver.plottedValues.push_back({
+                        .entityID = robotEntityId,
+                        .aronPath = {{"extraLongs", jointName + ".absoluteEncoderTicks"}},
+                    });
                 }
             }
 

source/RobotAPI/libraries/armem_objects/client/class/ClassReader.cpp

@@ -35,7 +35,7 @@ namespace armarx::armem::obj::clazz
     ClassReader::getObjectClasses(const std::vector<ObjectID>& objectIDs)
     {
         armem::client::query::Builder builder;
-        auto entities = builder.coreSegments()
+        auto& entities = builder.coreSegments()
                             .withName(properties().coreSegmentName)
                             .providerSegments()
                             .all()

source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp

@@ -243,6 +243,7 @@ namespace armarx
                 {
                     std::string message = "SkillError 201: The prepare method of skill '" +
                                           skillName + "' did not succeed.";
+                    ARMARX_ERROR_S << message;
                     return exitAndMakeFailedResult(message);
                 }
             }