Multiple end effectors

[sidtalia]

Hi, does this library support multiple end effectors (in the case of multiple arms on the same robot)?

We have two UR5e's mounted on a Vention frame, and we're interested in using Vamp for planning for them. Both of the arms have end effectors on them.

Thanks,
Regards,
Sidharth Talia.

[zkingston]

We do support multi-arm robots for motion planning (e.g., see the Baxter in VAMP), but we currently don't support multiple end-effectors for attachments - only one frame is marked as the end-effector. If you need to hack it, I would generate two compiled robots, a left and right hand attachment version, and use that.

Having multiple attachment points is a planned feature, but I don't have a timeline for when we will get it done.