From c23799d3793d630532f6278a006c0e9bf2587be3 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Wed, 17 May 2023 09:22:48 +0200
Subject: [PATCH] Add object ID to obstacles
---
.../libraries/obstacle_avoidance/CollisionModelHelper.cpp | 1 +
1 file changed, 1 insertion(+)
diff --git a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
index d53a8dd6a..0f1f8047f 100644
--- a/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
+++ b/source/RobotAPI/libraries/obstacle_avoidance/CollisionModelHelper.cpp
@@ -62,6 +62,7 @@ namespace armarx::obstacle_avoidance
if (auto obstacle = finder.loadManipulationObject(objectPose))
{
obstacle->setGlobalPose(objectPose.objectPoseGlobal);
+ obstacle->setName(objectPose.objectID.instanceName());
sceneObjects->addSceneObject(obstacle);
}
}
--
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