diff --git a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
index 77b3f690f0906f31315d4f51d744bc02ab0bfe8c..df483eb31778702f71c8a1ff6c13bf260f86c605 100644
--- a/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
+++ b/scenarios/ArMemObjectMemory/config/ObjectMemory.cfg
@@ -215,6 +215,22 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.articulated.inst.MaxHistorySize = -1
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Attachments
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments
+
+
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
+
+
# ArmarX.ObjectMemory.mem.cls.CoreSegmentName: Name of the object clazz core segment.
# Attributes:
# - Default: Class
@@ -303,10 +319,10 @@ ArmarX.AdditionalPackages = ArmarXObjects
# ArmarX.ObjectMemory.mem.inst.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
# Attributes:
-# - Default: -1
+# - Default: 25
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = -1
+# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = 25
# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 5a21a1cd4e02935799bdd4788aa7e2cac5ca12c8..d79d9a4ba4e3ee75d0860328997112e864c008d3 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -15,6 +15,7 @@ set(SOURCES
Client/elements/Mesh.cpp
Client/elements/Robot.cpp
Client/elements/RobotHand.cpp
+ Client/drawer/ArVizDrawerBase.cpp
Coin/ElementVisualizer.cpp
@@ -75,6 +76,8 @@ set(HEADERS
Client/elements/Robot.h
Client/elements/RobotHand.h
+ Client/drawer/ArVizDrawerBase.h
+
Client/elements/point_cloud_type_traits.hpp
Introspection/ElementJsonSerializers.h
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a19032cd088ccdf49e16af5ea394d73a92b30878
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
@@ -0,0 +1,29 @@
+#include "ArVizDrawerBase.h"
+
+#include "RobotAPI/components/ArViz/Client/Client.h"
+#include "RobotAPI/components/ArViz/Client/Layer.h"
+
+namespace armarx
+{
+
+ ArVizDrawerBase::ArVizDrawerBase(armarx::viz::Client &arviz) : arvizClient(arviz) {}
+
+ ArVizDrawerBase::~ArVizDrawerBase() = default;
+
+ viz::Client &ArVizDrawerBase::arviz() { return arvizClient; }
+
+ const viz::Client &ArVizDrawerBase::arviz() const { return arvizClient; }
+
+ void ArVizDrawerBase::commit(const viz::Layer &layer)
+ {
+ std::lock_guard guard{layerMtx};
+ arvizClient.commit(layer);
+ }
+
+ void ArVizDrawerBase::commit(const std::vector<viz::Layer> &layers)
+ {
+ std::lock_guard guard{layerMtx};
+ arvizClient.commit(layers);
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
new file mode 100644
index 0000000000000000000000000000000000000000..f7c813be72283ec4899f402a1133c41ab5a381e2
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
@@ -0,0 +1,62 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <vector>
+
+namespace armarx
+{
+ // forward declaration
+ namespace viz
+ {
+ class Client;
+ struct Layer;
+ } // namespace viz
+
+ /**
+ * @brief The ArVizDrawerBase class. Use this class to draw arbitrary objects.
+ *
+ * Instead of implementing arviz drawing in the component itself, this class helps to
+ * decouple drawing from "component / processing logic".
+ *
+ */
+ class ArVizDrawerBase
+ {
+ public:
+ ArVizDrawerBase(armarx::viz::Client &arviz);
+ virtual ~ArVizDrawerBase();
+
+ protected:
+ viz::Client &arviz();
+ const viz::Client &arviz() const;
+
+ void commit(const viz::Layer &layer);
+ void commit(const std::vector<viz::Layer> &layers);
+
+ private:
+ viz::Client &arvizClient;
+
+ std::mutex layerMtx;
+ };
+
+} // namespace armarx
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 90d9708139772ff7e9a1627db7bbe84209d2e49b..2a3d01143be737e9afb7ce5c27253e2cb6d4891e 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -23,36 +23,34 @@
#include "RobotStateMemory.h"
// STD
-#include <Eigen/src/Geometry/Transform.h>
-#include <SimoxUtility/math/convert/rpy_to_mat3f.h>
#include <algorithm>
#include <iostream>
#include <fstream>
+#include <memory>
-// Header
-#include "ArmarXCore/core/logging/Logging.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h"
-#include "RobotAPI/libraries/core/Pose.h"
+// Eigen
+#include <Eigen/Core>
+#include <Eigen/Geometry>
// Simox
#include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/math/convert/rpy_to_mat3f.h>
// ArmarX
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
-
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
-
#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
-
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
-
#include <RobotAPI/libraries/core/FramedPose.h>
-#include <memory>
+#include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/primitive/Primitive.h>
+#include <RobotAPI/libraries/core/Pose.h>
namespace armarx::armem::server::robot_state
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index b80a0a07c82ac6ee452b7cab489cee1f12e11b3b..d11b7421313e4586e4347b31c9f8c79c09f169f5 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -6,14 +6,13 @@
#include "ArmarXCore/core/logging/Logging.h"
#include <ArmarXCore/core/PackagePath.h>
-#include "RobotAPI/libraries/armem/core/Time.h"
#include "RobotAPI/libraries/armem/client/query/Builder.h"
+#include "RobotAPI/libraries/armem/core/Time.h"
#include "RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h"
-#include "RobotAPI/libraries/armem_robot/robot_conversions.h"
#include "RobotAPI/libraries/armem_robot/aron_conversions.h"
+#include "RobotAPI/libraries/armem_robot/robot_conversions.h"
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
-
namespace fs = ::std::filesystem;
namespace armarx::armem::articulated_object
@@ -38,7 +37,6 @@ namespace armarx::armem::articulated_object
def->optional(properties.providerName, prefix + "ProviderName");
}
-
void Reader::connect()
{
// Wait for the memory to become available and add it as dependency.
@@ -55,7 +53,7 @@ namespace armarx::armem::articulated_object
memoryReader.setReadingMemory(result.proxy);
armem::MemoryID id = armem::MemoryID();
- id.memoryName = properties.memoryName;
+ id.memoryName = properties.memoryName;
id.coreSegmentName = properties.coreClassSegmentName;
// listen to all provider segments!
@@ -72,7 +70,8 @@ namespace armarx::armem::articulated_object
// TODO(fabian.reister): implement
}
- void Reader::updateKnownObjects(const armem::MemoryID& subscriptionID, const std::vector<armem::MemoryID>& snapshotIDs)
+ void Reader::updateKnownObjects(const armem::MemoryID& subscriptionID,
+ const std::vector<armem::MemoryID>& snapshotIDs)
{
ARMARX_INFO << "New objects available!";
@@ -89,15 +88,14 @@ namespace armarx::armem::articulated_object
// const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
-
// std::for_each(snapshotIDs.begin(), snapshotIDs.end(), [&](const auto & snapshotID)
// {
// updateKnownObject(snapshotID);
// });
}
-
- std::optional<ArticulatedObject> Reader::get(const std::string& name, const armem::Time& timestamp)
+ std::optional<ArticulatedObject> Reader::get(const std::string& name,
+ const armem::Time& timestamp)
{
const auto description = queryDescription(name, timestamp);
@@ -110,17 +108,13 @@ namespace armarx::armem::articulated_object
return get(*description, timestamp);
}
-
ArticulatedObject Reader::get(const ArticulatedObjectDescription& description,
const armem::Time& timestamp)
{
- ArticulatedObject obj
- {
- .description = description,
- .instance = "", // TODO(fabian.reister):
- .config = {}, // will be populated by synchronize
- .timestamp = timestamp
- };
+ ArticulatedObject obj{.description = description,
+ .instance = "", // TODO(fabian.reister):
+ .config = {}, // will be populated by synchronize
+ .timestamp = timestamp};
synchronize(obj, timestamp);
@@ -165,7 +159,8 @@ namespace armarx::armem::articulated_object
return getRobotDescriptions(qResult.memory);
}
- std::optional<robot::RobotDescription> Reader::queryDescription(const std::string& name, const armem::Time& timestamp)
+ std::optional<robot::RobotDescription> Reader::queryDescription(const std::string& name,
+ const armem::Time& timestamp)
{
// Query all entities from provider.
armem::client::query::Builder qb;
@@ -174,8 +169,8 @@ namespace armarx::armem::articulated_object
qb
.coreSegments().withName(properties.coreClassSegmentName)
.providerSegments().all() // TODO(fabian.reister): think about this: which authority is trustworthy?
- .entities().withName(name)
- .snapshots().atTime(timestamp);
+ .entities().all() // withName(name)
+ .snapshots().latest();
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
@@ -184,13 +179,15 @@ namespace armarx::armem::articulated_object
if (not qResult.success) /* c++20 [[unlikely]] */
{
+ ARMARX_WARNING << qResult.errorMessage;
return std::nullopt;
}
return getRobotDescription(qResult.memory);
}
- std::optional<robot::RobotState> Reader::queryState(const robot::RobotDescription& description, const armem::Time& timestamp)
+ std::optional<robot::RobotState> Reader::queryState(const robot::RobotDescription& description,
+ const armem::Time& timestamp)
{
// TODO(fabian.reister): how to deal with multiple providers?
@@ -200,9 +197,9 @@ namespace armarx::armem::articulated_object
// clang-format off
qb
.coreSegments().withName(properties.coreInstanceSegmentName)
- .providerSegments().withName(properties.providerName) // agent
+ .providerSegments().all() // withName(properties.providerName) // agent
.entities().withName(description.name)
- .snapshots().atTime(timestamp);
+ .snapshots().latest();
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
@@ -217,76 +214,91 @@ namespace armarx::armem::articulated_object
return getRobotState(qResult.memory);
}
-
- std::optional<robot::RobotState> Reader::getRobotState(const armarx::armem::wm::Memory& memory) const
+ std::optional<robot::RobotState>
+ Reader::getRobotState(const armarx::armem::wm::Memory& memory) const
{
// clang-format off
- const armem::wm::ProviderSegment& providerSegment = memory
- .getCoreSegment(properties.coreInstanceSegmentName)
- .getProviderSegment(properties.providerName);
+ const armem::wm::CoreSegment& coreSegment = memory
+ .getCoreSegment(properties.coreInstanceSegmentName);
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ for (const auto &[_, providerSegment] : coreSegment.providerSegments())
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
- }
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
+ const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entitySnapshots.empty())
- {
- ARMARX_WARNING << "No entity snapshots found";
- return std::nullopt;
- }
+ if (entities.empty())
+ {
+ ARMARX_WARNING << "No entity found";
+ continue;
+ }
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
+ const auto entitySnapshots = simox::alg::get_values(entities.front().history());
- return robot::convertRobotState(instance);
- }
+ if (entitySnapshots.empty())
+ {
+ ARMARX_WARNING << "No entity snapshots found";
+ continue;
+ }
+ // TODO(fabian.reister): check if 0 available
+ const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
+ return robot::convertRobotState(instance);
+ }
+
+ return std::nullopt;
+ }
- std::optional<robot::RobotDescription> Reader::getRobotDescription(const armarx::armem::wm::Memory& memory) const
+ std::optional<robot::RobotDescription>
+ Reader::getRobotDescription(const armarx::armem::wm::Memory& memory) const
{
// clang-format off
- const armem::wm::ProviderSegment& providerSegment = memory
- .getCoreSegment(properties.coreClassSegmentName)
- .getProviderSegment(properties.providerName); // TODO(fabian.reister): all
+ const armem::wm::CoreSegment& coreSegment = memory
+ .getCoreSegment(properties.coreClassSegmentName);
+ // .getProviderSegment(properties.providerName); // TODO(fabian.reister): all
// clang-format on
- const auto entities = simox::alg::get_values(providerSegment.entities());
- if (entities.empty())
+ for (const auto &[_, providerSegment] : coreSegment.providerSegments())
{
- ARMARX_WARNING << "No entity found";
- return std::nullopt;
- }
+ const auto entities = simox::alg::get_values(providerSegment.entities());
+
+ if (entities.empty())
+ {
+ ARMARX_WARNING << "No entity found";
+ continue;
+ // return std::nullopt;
+ }
- const auto entitySnapshots = simox::alg::get_values(entities.front().history());
+ const auto entitySnapshots = simox::alg::get_values(entities.front().history());
- if (entitySnapshots.empty())
- {
- ARMARX_WARNING << "No entity snapshots found";
- return std::nullopt;
- }
+ if (entitySnapshots.empty())
+ {
+ ARMARX_WARNING << "No entity snapshots found";
+ continue;
+ // return std::nullopt;
+ }
+
+ // TODO(fabian.reister): check if 0 available
+ const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
- // TODO(fabian.reister): check if 0 available
- const armem::wm::EntityInstance& instance = entitySnapshots.front().getInstance(0);
+ return robot::convertRobotDescription(instance);
+ }
- return robot::convertRobotDescription(instance);
+ return std::nullopt;
}
- std::vector<robot::RobotDescription> Reader::getRobotDescriptions(const armarx::armem::wm::Memory& memory) const
+ std::vector<robot::RobotDescription>
+ Reader::getRobotDescriptions(const armarx::armem::wm::Memory& memory) const
{
std::vector<robot::RobotDescription> descriptions;
- const armem::wm::CoreSegment& coreSegment = memory.getCoreSegment(properties.coreClassSegmentName);
+ const armem::wm::CoreSegment& coreSegment =
+ memory.getCoreSegment(properties.coreClassSegmentName);
- for (const auto& [providerName, providerSegment] : coreSegment.providerSegments())
+ for (const auto &[providerName, providerSegment] : coreSegment.providerSegments())
{
- for (const auto& [name, entity] : providerSegment.entities())
+ for (const auto &[name, entity] : providerSegment.entities())
{
if (entity.empty())
{
@@ -309,5 +321,4 @@ namespace armarx::armem::articulated_object
return descriptions;
}
-
} // namespace armarx::armem::articulated_object
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index 703ef91aa2eea9d00ea09b88255b68ffacba68bc..9062747de124ac3db5ba37e3f14f2b8cdfc7b692 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -34,7 +34,7 @@ namespace armarx::armem::articulated_object
def->optional(properties.coreClassSegmentName,
prefix + "CoreSegment",
"Name of the memory core segment to use for object classes.");
- def->optional(properties.providerName, prefix + "ProviderName");
+ def->required(properties.providerName, prefix + "ProviderName", "Name of this provider");
}
void Writer::connect()
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
index 7e450b0464d1b571791392beb4622afc77444f5b..f2031dd402e546a21a80a17c28f8b2e4107f9059 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.h
@@ -70,7 +70,7 @@ namespace armarx::armem::articulated_object
std::string memoryName = "Object";
std::string coreInstanceSegmentName = "ArticulatedObjectInstance";
std::string coreClassSegmentName = "ArticulatedObjectClass";
- std::string providerName = "ArmarXObjects";
+ std::string providerName;
bool allowClassCreation = false;
} properties;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index 54314054a38f5f104552c045fe37eb8b401651ae..5b7c268bb28530b82906bc07cee31431d6738f5c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -159,7 +159,8 @@ namespace armarx::armem::server::obj::instance
struct Properties
{
std::string coreSegmentName = "Instance";
- long maxHistorySize = -1;
+ // -1 would be infinite, but this can let the RAM grow quickly.
+ long maxHistorySize = 25;
bool discardSnapshotsWhileAttached = true;
};
Properties p;
diff --git a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
index 6c05e89e038c6f80f61e3e9c47f25bf8b2f1335f..3bf4171486e35c33a1cca23a666baac2233a8356 100644
--- a/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot/robot_conversions.cpp
@@ -43,10 +43,10 @@ namespace armarx::armem::robot
std::optional<RobotState> convertRobotState(const armem::wm::EntityInstance& instance)
{
- arondto::RobotState aronRobotState;
+ arondto::Robot aronRobot;
try
{
- aronRobotState.fromAron(instance.data());
+ aronRobot.fromAron(instance.data());
}
catch (...)
{
@@ -55,7 +55,7 @@ namespace armarx::armem::robot
}
RobotState robotState;
- fromAron(aronRobotState, robotState);
+ fromAron(aronRobot.state, robotState);
return robotState;
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index 108c8069178d9da7b1142d22e649dd80a7e03bd4..5ba879601c461906e546930b4ef3dacea7a78899 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -1,20 +1,27 @@
#include "Segment.h"
-#include <Eigen/src/Geometry/Transform.h>
-#include <IceUtil/Time.h>
-#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
+// STL
+
#include <iterator>
#include <sstream>
-#include "ArmarXCore/core/logging/Logging.h"
+// Ice
+#include <IceUtil/Time.h>
+
+// Eigen
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include "RobotAPI/libraries/aron/common/aron_conversions.h"
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem/core/Time.h"
-#include "RobotAPI/libraries/armem_robot/robot_conversions.h"
-#include "RobotAPI/libraries/core/FramedPose.h"
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/client/Writer.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -22,12 +29,11 @@
#include <RobotAPI/libraries/armem/core/workingmemory/Visitor.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
-#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
-
-#include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>