Support multiple end effectors #4
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ShrutheeshIR
commented
Oct 18, 2025
src/fkcc_gen.cc
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| { | ||
| trace_frame(info.end_effector_index, ad_data, data, n_spheres_data + n_bounding_spheres_data); | ||
| for(size_t i = 0; i < info.end_effector_indexes.size(); i++) | ||
| trace_frame(info.end_effector_indexes[i], ad_data, data, n_spheres_data + n_bounding_spheres_data + 12 *i); |
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important callout, we now return all eef fks as a 12*N array
zkingston
reviewed
Dec 12, 2025
src/fkcc_gen.cc
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| extract_spheres(); | ||
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| if (not end_effector) | ||
| for (const auto end_effector : end_effectors) |
src/fkcc_gen.cc
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| } | ||
| else | ||
| { | ||
| end_effector_names.push_back(end_effector); |
src/fkcc_gen.cc
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| } | ||
| } | ||
| else if (not model.existFrame(*end_effector)) | ||
| if (end_effector_names.size() == 0) |
src/fkcc_gen.cc
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| } | ||
| else | ||
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| for (const auto end_effector_name : end_effector_names) |
src/fkcc_gen.cc
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| for (const auto end_effector_name : end_effector_names) | ||
| { | ||
| end_effector_name = *end_effector; | ||
| end_effector_indexes.push_back(model.getFrameId(end_effector_name)); |
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Support multiple end effectors. The interface is made more generic to support 1+ eefs. Also added a bimanual panda arm.
To reproduce
TODO