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Support multiple end effectors #4

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74f9385
single arm works
ShrutheeshIR Oct 17, 2025
b229bac
added 2nd arm
ShrutheeshIR Oct 17, 2025
2b6ed9b
add 0 eef
ShrutheeshIR Oct 18, 2025
9829fba
clangformatted
ShrutheeshIR Oct 18, 2025
e97a810
reviewed changes
ShrutheeshIR Dec 16, 2025
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6 changes: 3 additions & 3 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -66,15 +66,15 @@ An example for the Franka Panda is given below:
"name": "Panda",
"urdf": "panda/panda_spherized.urdf",
"srdf": "panda/panda.srdf",
"end_effector": "panda_grasptarget",
"end_effectors": ["panda_grasptarget"],
"resolution": 32,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
"output": "panda_fk.hh"
}
```

For a custom robot, you only need to change the `name`, `urdf`, `srdf`, and `end_effector` fields.
For a custom robot, you only need to change the `name`, `urdf`, `srdf`, and `end_effectors` fields.
Some notes:
- If your robot does not have an SRDF, then the script will attempt to guess the self-collisions of the robot by randomly sampling one million configurations and seeing what is always in collision and what never collides. However, this is unreliable and probably should just be done by hand.
- If you do not provide an end-effector, the last frame in the robot will be used. For serial link manipulators, this is probably the tool frame, but you should set this yourself.
Expand Down Expand Up @@ -130,7 +130,7 @@ In addition to the specified input fields from the configuration file, the scrip
- `bound_lower`: lower bound of joint ranges.
- `bound_range`: range between lower and upper bound of joint ranges.
- `measure`: total measure of robot joint space.
- `end_effector_index`: frame index of end-effector.
- `end_effector_indexes`: frame index of end-effector.
- `min_radius`: minimum sphere radius on robot.
- `max_radius`: maximum sphere radius on robot.
- `joint_names`: name of joint corresponding to each DoF.
Expand Down
2 changes: 1 addition & 1 deletion resources/baxter.json
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Expand Up @@ -2,7 +2,7 @@
"name": "Baxter",
"urdf": "baxter/baxter_spherized.urdf",
"srdf": "baxter/baxter.srdf",
"end_effector": "right_gripper",
"end_effectors": ["right_gripper"],
"resolution": 64,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
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10 changes: 10 additions & 0 deletions resources/bipanda.json
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@@ -0,0 +1,10 @@
{
"name": "BimanualPanda",
"urdf": "panda/bipanda_spherized.urdf",
"srdf": "panda/bipanda.srdf",
"end_effectors":["left_panda_grasptarget", "right_panda_grasptarget"],
"resolution": 32,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
"output": "bimanual_panda_fk.hh"
}
2 changes: 1 addition & 1 deletion resources/fetch.json
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Expand Up @@ -2,7 +2,7 @@
"name": "Fetch",
"urdf": "fetch/fetch_spherized.urdf",
"srdf": "fetch/fetch.srdf",
"end_effector": "gripper_link",
"end_effectors": ["gripper_link"],
"resolution": 32,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
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2 changes: 1 addition & 1 deletion resources/fr3.json
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Expand Up @@ -2,7 +2,7 @@
"name": "FR3",
"urdf": "fr3/fr3_spherized.urdf",
"srdf": "fr3/fr3.srdf",
"end_effector": "fr3_hand_tcp",
"end_effectors": ["fr3_hand_tcp"],
"resolution": 32,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
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2 changes: 1 addition & 1 deletion resources/motoman.json
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Expand Up @@ -2,7 +2,7 @@
"name": "Motoman",
"urdf": "motoman/motoman_sda10f_spherized.urdf",
"srdf": "motoman/motoman_sda10f.srdf",
"end_effector": "arm_right_link_tool0",
"end_effectors": ["arm_right_link_tool0"],
"resolution": 64,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
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2 changes: 1 addition & 1 deletion resources/panda.json
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Expand Up @@ -2,7 +2,7 @@
"name": "Panda",
"urdf": "panda/panda_spherized.urdf",
"srdf": "panda/panda.srdf",
"end_effector": "panda_grasptarget",
"end_effectors": ["panda_grasptarget"],
"resolution": 32,
"template": "templates/fk_template.hh",
"subtemplates": [{"name": "ccfk", "template": "templates/ccfk_template.hh"}],
Expand Down
227 changes: 227 additions & 0 deletions resources/panda/bipanda.srdf
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