Get tip frames from joint model group in kinematics plugin loader #3542
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- enables multiple tip frames for groups with multiple end effectors - uses old method (last link in chain) as fallback
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
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The current implementation of the kinematics plugin loader assumes that the joint model group is a chain and just passes the last link to the kinematics plugin. When trying to create a kinematics plugin for groups with multiple end effectors, it therefore incorrectly only gets one of the end effectors in its initialize method.
I changed the chooseTipFrames method to instead call getEndEffectorTips on the joint model group, which handles groups with multiple end effectors. I kept the old method as a fallback.