Merge pull request #151 from mujin/pass-objectType-to-registration

add objectType field in RegisterMinViableRegionInfo

Author: yoshikikanemoto

CHANELOG.md

@@ -1,5 +1,9 @@
 # Changelog
 
+## 0.71.0 (2024-03-26)
+
+- Add objectType field in RegisterMinViableRegionInfo
+
 ## 0.70.2 (2023-11-21)
 
 - Fix memory leak by incorrect usage of `curl_formfree`.

CMakeLists.txt

@@ -18,8 +18,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 # make sure to change the version in docs/Makefile
 set (MUJINCLIENT_VERSION_MAJOR 0)
-set (MUJINCLIENT_VERSION_MINOR 70)
-set (MUJINCLIENT_VERSION_PATCH 3)
+set (MUJINCLIENT_VERSION_MINOR 71)
+set (MUJINCLIENT_VERSION_PATCH 0)
 set (MUJINCLIENT_VERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}.${MUJINCLIENT_VERSION_PATCH})
 set (MUJINCLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
 set (CLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})

include/mujincontrollerclient/binpickingtask.h

@@ -217,6 +217,7 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
             std::array<double, 3> translation; ///< Translation of the 2D MVR plane (height = 0)
             std::array<double, 4> quaternion; ///< Rotation of the 2D MVR plane (height = 0)
             double objectWeight; ///< If non-zero, use this weight fo registration. unit is kg. zero means unknown.
+            std::string objectType; ///< The type of the object
             uint64_t sensorTimeStampMS; ///< Same as DetectedObject's timestamp sent to planning
             double robotDepartStopTimestamp; ///< Force capture after robot stops
             std::array<double, 3> liftedWorldOffset; ///< [dx, dy, dz], mm in world frame

src/binpickingtask.cpp

@@ -83,6 +83,7 @@ BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionInfo& B
     translation = rhs.translation;
     quaternion = rhs.quaternion;
     objectWeight = rhs.objectWeight;
+    objectType = rhs.objectType;
     sensorTimeStampMS = rhs.sensorTimeStampMS;
     robotDepartStopTimestamp = rhs.robotDepartStopTimestamp;
     liftedWorldOffset = rhs.liftedWorldOffset;
@@ -124,6 +125,7 @@ void BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionIn
     SetJsonValueByKey(rInfo, "translation", translation, alloc);
     SetJsonValueByKey(rInfo, "quaternion", quaternion, alloc);
     SetJsonValueByKey(rInfo, "objectWeight", objectWeight, alloc);
+    SetJsonValueByKey(rInfo, "objectType", objectType, alloc);
     SetJsonValueByKey(rInfo, "sensorTimeStampMS", sensorTimeStampMS, alloc);
     SetJsonValueByKey(rInfo, "robotDepartStopTimestamp", robotDepartStopTimestamp, alloc);
 
@@ -171,6 +173,7 @@ void BinPickingTaskResource::ResultGetBinpickingState::RegisterMinViableRegionIn
     LoadJsonValueByKey(rInfo, "translation", translation);
     LoadJsonValueByKey(rInfo, "quaternion", quaternion);
     objectWeight = GetJsonValueByKey<double>(rInfo, "objectWeight", 0);
+    LoadJsonValueByKey(rInfo, "objectType", objectType);
     sensorTimeStampMS = GetJsonValueByKey<uint64_t>(rInfo, "sensorTimeStampMS", 0);
     robotDepartStopTimestamp = GetJsonValueByKey<double>(rInfo, "robotDepartStopTimestamp", 0);