articulated_objects.cpp

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/**
 * 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     Niklas Arlt ( niklas dot arlt at kit dot edu )
 * @date       2026
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "articulated_objects.h"
 
#include <set>
#include <sstream>
 
#include <VirtualRobot/Robot.h>
 
#include <ArmarXCore/core/exceptions/LocalException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/Clock.h>
 
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 
namespace armarx::navigation::util
{
 
    std::string
    ArticulatedObjectsResult::missingToString() const
    {
        std::stringstream ss;
        for (const auto& objectID : missing)
        {
            if (ss.tellp() > 0)
            {
                ss << ", ";
            }
            ss << objectID.str();
        }
        return ss.str();
    }
 
    ArticulatedObjectsResult
    loadArticulatedObjects(armem::articulated_object::ArticulatedObjectReader& reader,
                           const objpose::ObjectPoseSeq& articulatedObjectPoses,
                           VirtualRobot::RobotIO::RobotDescription loadMode)
    {
        ArticulatedObjectsResult result;
 
        for (const auto& objectPose : articulatedObjectPoses)
        {
            const armarx::ObjectID& objectID = objectPose.objectID;
 
            ARMARX_VERBOSE << "Loading articulated object: " << objectID;
 
            VirtualRobot::RobotPtr articulatedObject;
            try
            {
                // The reader has no non-throwing overload: it throws if the object's description
                // or its instance state is not (yet) in the object memory.
                articulatedObject = reader.getArticulatedObject(objectID.getClassID().str(),
                                                                armarx::Clock::Now(),
                                                                std::nullopt,
                                                                objectID.instanceName(),
                                                                loadMode);
            }
            catch (const armarx::LocalException&)
            {
                ARMARX_WARNING << "Could not load articulated object `" << objectID
                               << "`: " << GetHandledExceptionString();
                result.missing.push_back(objectID);
                continue;
            }
 
            if (articulatedObject == nullptr)
            {
                ARMARX_WARNING << "Could not load articulated object `" << objectID
                               << "`: the robot model could not be loaded.";
                result.missing.push_back(objectID);
                continue;
            }
 
            if (not reader.synchronizeArticulatedObject(
                    *articulatedObject, armarx::Clock::Now(), std::nullopt))
            {
                ARMARX_WARNING << "Could not synchronize articulated object `" << objectID
                               << "`: no state available.";
                result.missing.push_back(objectID);
                continue;
            }
 
            if (articulatedObject->getCollisionModels().empty())
            {
                ARMARX_VERBOSE << "The articulated object `" << articulatedObject->getType() << "/"
                               << articulatedObject->getName()
                               << "` does not have a collision model. Using primitive model "
                                  "instead.";
 
                std::set<std::string> primitiveIDs;
                articulatedObject->getPrimitiveApproximationIDs(primitiveIDs);
 
                // use all primitive ids
                // TODO: refine selection?
                const std::vector<std::string> usedPrimitiveModelIDs(primitiveIDs.begin(),
                                                                     primitiveIDs.end());
                articulatedObject->setPrimitiveApproximationModel(usedPrimitiveModelIDs);
            }
 
            result.objects.push_back(articulatedObject);
        }
 
        return result;
    }
 
} // namespace armarx::navigation::util