14 #include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
16 #include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
32 const std::string prefix = propertyPrefix;
34 def->optional(properties.memoryName, prefix +
"MemoryName");
36 def->optional(properties.coreSegmentName,
37 prefix +
"CoreSegment",
38 "Name of the memory core segment to use for object instances.");
45 ARMARX_IMPORTANT <<
"Writer: Waiting for memory '" << properties.memoryName <<
"' ...";
48 memoryWriter = memoryNameSystem.
useWriter(properties.memoryName);
49 ARMARX_IMPORTANT <<
"Writer: Connected to memory '" << properties.memoryName <<
"'";
60 const std::string& provider,
66 e.entityID.memoryName = properties.memoryName;
67 e.entityID.coreSegmentName = properties.coreSegmentName;
68 e.entityID.providerSegmentName = provider;
69 e.entityID.entityName = inst.pose.objectID.dataset +
"/" + inst.pose.objectID.className +
70 "/" + inst.pose.objectID.instanceName;
73 e.instancesData = {inst.toAron()};
75 auto res = memoryWriter.
commit(
c);
77 if (!res.allSuccess())
79 ARMARX_ERROR <<
"Failed to commit an ObjectInstance to memory: "
80 << res.allErrorMessages();