From 52fe8cb900761682c80a271fd42cf6bb70042247 Mon Sep 17 00:00:00 2001
From: Taiju Yamada <taiju.yamada@mujin.co.jp>
Date: Mon, 21 Mar 2022 15:57:20 +0900
Subject: [PATCH 1/2] able to get inner content by utilizing GetJsonValueByPath

---
 include/mujincontrollerclient/mujincontrollerclient.h | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/include/mujincontrollerclient/mujincontrollerclient.h b/include/mujincontrollerclient/mujincontrollerclient.h
index 55aead94..dc8581ab 100644
--- a/include/mujincontrollerclient/mujincontrollerclient.h
+++ b/include/mujincontrollerclient/mujincontrollerclient.h
@@ -696,8 +696,14 @@ class MUJINCLIENT_API WebResource
     template<class T>
     inline T Get(const std::string& field, double timeout = 5.0) {
         rapidjson::Document pt(rapidjson::kObjectType);
-        GetWrap(pt, field, timeout);
-        return mujinjson_external::GetJsonValueByKey<T>(pt, field.c_str());
+        std::string path = field;
+        if(path[0]!='/') {
+            path = std::string("/")+field;
+        }
+        std::string fieldToConstraint = path.substr(1);
+        fieldToConstraint = fieldToConstraint.substr(0, fieldToConstraint.find('/'));
+        GetWrap(pt, fieldToConstraint, timeout);
+        return mujinjson_external::GetJsonValueByPath<T>(pt, path.c_str());
     }
 
     /// \brief sets an attribute of this web resource

From 813c258ee02d652feddb697b04aac636a62c758a Mon Sep 17 00:00:00 2001
From: Taiju Yamada <taiju.yamada@mujin.co.jp>
Date: Wed, 2 Nov 2022 15:35:51 +0900
Subject: [PATCH 2/2] separate to GetPath method

---
 .../mujincontrollerclient.h                   | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/include/mujincontrollerclient/mujincontrollerclient.h b/include/mujincontrollerclient/mujincontrollerclient.h
index dc8581ab..6f8ceb3e 100644
--- a/include/mujincontrollerclient/mujincontrollerclient.h
+++ b/include/mujincontrollerclient/mujincontrollerclient.h
@@ -694,18 +694,21 @@ class MUJINCLIENT_API WebResource
 
     /// \brief gets an attribute of this web resource
     template<class T>
-    inline T Get(const std::string& field, double timeout = 5.0) {
+    inline T GetPath(const std::string& path, double timeout = 5.0) {
         rapidjson::Document pt(rapidjson::kObjectType);
-        std::string path = field;
-        if(path[0]!='/') {
-            path = std::string("/")+field;
-        }
-        std::string fieldToConstraint = path.substr(1);
-        fieldToConstraint = fieldToConstraint.substr(0, fieldToConstraint.find('/'));
-        GetWrap(pt, fieldToConstraint, timeout);
+        std::string fieldToConstraintForCallGet = path.substr(1, path.find('/', 1));
+        GetWrap(pt, fieldToConstraintForCallGet, timeout);
         return mujinjson_external::GetJsonValueByPath<T>(pt, path.c_str());
     }
 
+    /// \brief gets an attribute of this web resource
+    template<class T>
+    inline T Get(const std::string& field, double timeout = 5.0) {
+        rapidjson::Document pt(rapidjson::kObjectType);
+        GetWrap(pt, field, timeout);
+        return mujinjson_external::GetJsonValueByKey<T>(pt, field.c_str());
+    }
+
     /// \brief sets an attribute of this web resource
     virtual void Set(const std::string& field, const std::string& newvalue, double timeout = 5.0);