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Add extra information in triggerDetectionCaptureInfo #195

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Merged
yoshikikanemoto merged 3 commits into from
Apr 10, 2026
+12 −2
Merged

Add extra information in triggerDetectionCaptureInfo #195

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ba7efc7
feat: add extra information in triggerDetectionCaptureInfo
Puttichai Jan 30, 2026
b98d64c
Merge remote-tracking branch 'origin/master' into update_trigger_info…
Puttichai Apr 10, 2026
1b48aa6
chore: bump minor version and update changelog
Puttichai Apr 10, 2026
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
# Changelog

## 0.85.0 (2026-04-10)

- Add triggerTiming, currentTriggerIndex, and numTotalTriggers to TriggerDetectionCaptureInfo.

## 0.84.0 (2026-03-31)

- (BREAKING) Remove `lastInsideContainerStampMS` from `LocationTrackingInfo` to migrate it to robotbridge
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -18,7 +18,7 @@ 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 84)
set (MUJINCLIENT_VERSION_MINOR 85)
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})
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5 changes: 4 additions & 1 deletion include/mujincontrollerclient/binpickingtask.h
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Expand Up @@ -255,9 +255,12 @@ class MUJINCLIENT_API BinPickingTaskResource : public TaskResource
struct TriggerDetectionCaptureInfo {
TriggerDetectionCaptureInfo();
double timestamp = 0; ///< timestamp this request was sent. If non-zero, then valid.
std::string triggerType; ///< The type of trigger this is. For now can be: "phase1Detection", "phase2Detection"
std::string triggerType; ///< The type of this. Valid values are: "detection", "runDetectionOnce", "phase1Detection", "phase2Detection", "pointCloudObstacle", "executionVerification"
std::string triggerTiming; ///< The planning trigger timing. Indicates the timing (within a binpicking cycle) of this trigger.
std::string locationName; ///< The name of the location for this detection trigger.
std::string targetUpdateNamePrefix; ///< if not empty, use this new targetUpdateNamePrefix for the triggering, otherwise do not change the original targetUpdateNamePrefix
int currentTriggerIndex = 0; ///< The index of the current trigger for this detection task
int numTotalTriggers = 1; ///< The number of total triggers expected for this detection task
} triggerDetectionCaptureInfo;

std::vector<mujin::PickPlaceHistoryItem> pickPlaceHistoryItems; ///< history of pick/place actions that occurred in planning. Events should be sorted in the order they happen, ie event [0] happens before event [1], meaning event[0].eventTimeStampUS is before event[1].eventTimeStampUS
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3 changes: 3 additions & 0 deletions src/binpickingtask.cpp
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Expand Up @@ -828,8 +828,11 @@ void BinPickingTaskResource::ResultGetBinpickingState::Parse(const rapidjson::Va

triggerDetectionCaptureInfo.timestamp = GetJsonValueByPath<double>(v, "/triggerDetectionCaptureInfo/timestamp", 0);
triggerDetectionCaptureInfo.triggerType = GetJsonValueByPath<std::string>(v, "/triggerDetectionCaptureInfo/triggerType", "");
triggerDetectionCaptureInfo.triggerTiming = GetJsonValueByPath<std::string>(v, "/triggerDetectionCaptureInfo/triggerTiming", "");
triggerDetectionCaptureInfo.locationName = GetJsonValueByPath<std::string>(v, "/triggerDetectionCaptureInfo/locationName", "");
triggerDetectionCaptureInfo.targetUpdateNamePrefix = GetJsonValueByPath<std::string>(v, "/triggerDetectionCaptureInfo/targetUpdateNamePrefix", "");
triggerDetectionCaptureInfo.currentTriggerIndex = GetJsonValueByPath<int>(v, "/triggerDetectionCaptureInfo/currentTriggerIndex", 0);
triggerDetectionCaptureInfo.numTotalTriggers = GetJsonValueByPath<int>(v, "/triggerDetectionCaptureInfo/numTotalTriggers", 1);

activeLocationTrackingInfos.clear();
if( v.HasMember("activeLocationTrackingInfos") && v["activeLocationTrackingInfos"].IsArray()) {
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