From 8b2cb3059e4267bf320dfe93f7fd355a67bb6f0b Mon Sep 17 00:00:00 2001 From: Eisoku Kuroiwa Date: Tue, 13 Jan 2026 12:39:38 +0900 Subject: [PATCH 1/3] add referenceuri to PickPlaceHistoryItem --- include/mujincontrollerclient/mujindefinitions.h | 1 + src/mujindefinitions.cpp | 3 +++ 2 files changed, 4 insertions(+) diff --git a/include/mujincontrollerclient/mujindefinitions.h b/include/mujincontrollerclient/mujindefinitions.h index d5072d27..55f7ccb1 100644 --- a/include/mujincontrollerclient/mujindefinitions.h +++ b/include/mujincontrollerclient/mujindefinitions.h @@ -135,6 +135,7 @@ class MUJINCLIENT_API PickPlaceHistoryItem : public mujinjson::JsonSerializable std::string containerName; ///< the name of the container where picking occurred for "picked", where placing occurred when "placed", and where touching occurred for "touched" unsigned long long eventTimeStampUS = 0; ///< time that the event ocurred in us (from Linux epoch). For "picked" this is the chuck time, for "placed this is the unchuck time, for "touched" this is the time when the robot supposedly stopped touching/disturbing the object. std::string object_uri; ///< the object uri + std::string referenceuri; ///< the object uri Transform objectpose; ///< 7-values in world, unit is usually mm AABB localaabb; ///< AABB of object in object frame. unsigned long long sensorTimeStampUS = 0; ///< sensor timestamp in us (from Linux epoch) of when the object was detected in the scene diff --git a/src/mujindefinitions.cpp b/src/mujindefinitions.cpp index 374322c3..e22c9b38 100644 --- a/src/mujindefinitions.cpp +++ b/src/mujindefinitions.cpp @@ -25,6 +25,7 @@ void PickPlaceHistoryItem::Reset() containerName.clear(); eventTimeStampUS = 0; object_uri.clear(); + referenceuri.clear(); objectpose = Transform(); localaabb = AABB(); sensorTimeStampUS = 0; @@ -54,6 +55,7 @@ void PickPlaceHistoryItem::LoadFromJson(const rapidjson::Value& rItem) mujinjson::LoadJsonValueByKey(rItem, "containerName", containerName); mujinjson::LoadJsonValueByKey(rItem, "eventTimeStampUS", eventTimeStampUS); mujinjson::LoadJsonValueByKey(rItem, "object_uri", object_uri); + mujinjson::LoadJsonValueByKey(rItem, "referenceuri", referenceuri); const rapidjson::Value::ConstMemberIterator itPose = rItem.FindMember("objectpose"); if( itPose != rItem.MemberEnd() ) { @@ -86,6 +88,7 @@ void PickPlaceHistoryItem::SaveToJson(rapidjson::Value& rItem, rapidjson::Docume mujinjson::SetJsonValueByKey(rItem, "containerName", containerName, alloc); mujinjson::SetJsonValueByKey(rItem, "eventTimeStampUS", eventTimeStampUS, alloc); mujinjson::SetJsonValueByKey(rItem, "object_uri", object_uri, alloc); + mujinjson::SetJsonValueByKey(rItem, "referenceuri", referenceuri, alloc); std::array posearray; posearray[0] = objectpose.quaternion[0]; posearray[1] = objectpose.quaternion[1]; From 9002ee9afec96cc3aea10d305f569d1b42eb3d9b Mon Sep 17 00:00:00 2001 From: Eisoku Kuroiwa Date: Thu, 19 Feb 2026 13:38:09 +0900 Subject: [PATCH 2/3] update version --- CHANGELOG.md | 4 ++++ CMakeLists.txt | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index a55b7e5d..d3879fa7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,9 @@ # Changelog +## 0.82.4 (2026-02-19) + +- Add referenceuri to PickPlaceHistoryItem + ## 0.82.3 (2026-02-04) - Set Accept-Encoding:gzip if the linked libcurl supports it diff --git a/CMakeLists.txt b/CMakeLists.txt index 35a2b16e..7d306e13 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -19,7 +19,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE ) # make sure to change the version in docs/Makefile set (MUJINCLIENT_VERSION_MAJOR 0) set (MUJINCLIENT_VERSION_MINOR 82) -set (MUJINCLIENT_VERSION_PATCH 3) +set (MUJINCLIENT_VERSION_PATCH 4) 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}) From 17450c586555f5307ef97f1401447c7f084b2d71 Mon Sep 17 00:00:00 2001 From: Eisoku Kuroiwa Date: Thu, 19 Feb 2026 13:41:33 +0900 Subject: [PATCH 3/3] bump minor version since it is an ABI breaking change --- CHANGELOG.md | 2 +- CMakeLists.txt | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index d3879fa7..ecf84e25 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,6 @@ # Changelog -## 0.82.4 (2026-02-19) +## 0.83.0 (2026-02-19) - Add referenceuri to PickPlaceHistoryItem diff --git a/CMakeLists.txt b/CMakeLists.txt index 7d306e13..accbbc58 100644 --- a/CMakeLists.txt +++ b/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 82) -set (MUJINCLIENT_VERSION_PATCH 4) +set (MUJINCLIENT_VERSION_MINOR 83) +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})