4 #include <Eigen/Geometry>
6 #include <VirtualRobot/Robot.h>
20 const std::vector<std::string> packages =
22 const std::string
package = armarx::ArmarXDataPath::getProject(packages, obj.getFilename());
25 const std::string fileRelPath = [&obj, &package]() -> std::string
30 const std::string fixedFilename = obj.getFilename().substr(package.size() + 1, -1);
34 return obj.getFilename();
42 .instance = obj.getName(),
43 .config = {.timestamp = timestamp,
44 .globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
45 .jointMap = obj.getJointValues(),
46 .proprioception = std::nullopt},
47 .timestamp = timestamp};
60 return store(armemArticulatedObject);