Merge branch 'production' into fill_vikreturns

rdiankov · Oct 21, 2023 · 60c9232 · 60c9232
2 parents ee6df1b + 61fdf3c
commit 60c9232
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
@@ -10,7 +10,8 @@ Version 0.132.0
 
 - Add IkFilterInfo and IkFailureAccumulator to allow for fast accumulation of IK failures.
 
-=======
+* When loading connected body, also have to prefix "grippername" and "grippernames"
+
 Version 0.131.2
 ===============
 

diff --git a/src/libopenrave/robotconnectedbody.cpp b/src/libopenrave/robotconnectedbody.cpp
@@ -1008,6 +1008,8 @@ void RobotBase::_ComputeConnectedBodiesInformation()
                 RecursivePrefixMatchingField(connectedBody._nameprefix, boost::bind(MatchFieldsCaseInsensitive, _1, std::string("toolnames")), newGripperInfoDoc, newGripperInfoDoc.GetAllocator(), false);
                 RecursivePrefixMatchingField(connectedBody._nameprefix, boost::bind(MatchFieldsCaseInsensitive, _1, std::string("jointname")), newGripperInfoDoc, newGripperInfoDoc.GetAllocator(), false);
                 RecursivePrefixMatchingField(connectedBody._nameprefix, boost::bind(MatchFieldsCaseInsensitive, _1, std::string("jointnames")), newGripperInfoDoc, newGripperInfoDoc.GetAllocator(), false);
+                RecursivePrefixMatchingField(connectedBody._nameprefix, boost::bind(MatchFieldsCaseInsensitive, _1, std::string("grippername")), newGripperInfoDoc, newGripperInfoDoc.GetAllocator(), false);
+                RecursivePrefixMatchingField(connectedBody._nameprefix, boost::bind(MatchFieldsCaseInsensitive, _1, std::string("grippernames")), newGripperInfoDoc, newGripperInfoDoc.GetAllocator(), false);
                 pnewgripperInfo->_docGripperInfo.Swap(newGripperInfoDoc);
             }
             else {