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Validate subgroup parsing order issues in SRDF #157

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Merged
sea-bass merged 1 commit into from
Mar 6, 2026
Merged

Validate subgroup parsing order issues in SRDF #157

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9 changes: 7 additions & 2 deletions roboplan/src/core/scene_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,6 @@ std::unordered_map<std::string, JointGroupInfo> createJointGroupInfo(const pinoc
const auto& frame = model.frames.at(cur_frame_id);
const auto parent_joint_id = frame.parentJoint;
const auto& parent_joint_name = model.names.at(parent_joint_id);
// group_info.joint_names.push_back(parent_joint_name);
joint_indices.push_back(parent_joint_id);
cur_frame_id = model.frames.at(model.getFrameId(parent_joint_name)).parentFrame;
if (cur_frame_id == base_frame_id) {
Expand All @@ -99,7 +98,13 @@ std::unordered_map<std::string, JointGroupInfo> createJointGroupInfo(const pinoc
throw std::runtime_error("Group '" + std::string(name) +
"' specifies a subgroup with no name in the SRDF!");
}
const auto& subgroup_info = joint_group_map.at(group_name); // TODO validate
auto it = joint_group_map.find(group_name);
if (it == joint_group_map.end()) {
throw std::runtime_error("Group '" + std::string(name) + "' specifies a subgroup '" +
std::string(group_name) +
"' which has not yet been parsed in the SRDF.");
}
const auto& subgroup_info = it->second;
group_info.joint_names.insert(group_info.joint_names.end(),
subgroup_info.joint_names.begin(),
subgroup_info.joint_names.end());
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