How to deploy ocs2 on a fixed-base dual-arm robot.

[ppap36]

Question
Hello! I am surprised by the convenience of ocs2 on single-arm robot.
However, when I want to deploy ocs2 on dual-arm robot. I have no idea where to go.
Can someone give me some advice?

Thank you so much!

[HANCKH]

Hello, I am encountering the same question now. May I ask how you deal with these questions?

[ppap36]

do you still need help? I have solved it

[GNMM-mf]

@ppap36 Hi, I am encountering the same question. Could you please introduce your method ? I'm interested, thanks!

[GJtheLearner]

do you still need help? I have solved it

I need you help,bro.I am dying!!!!

[ppap36]

看一下

ocs2_ws/src/ocs2/ocs2_pinocchio/ocs2_pinocchio_interface/src/PinocchioEndEffectorKinematics.cpp

的第一个函数

PinocchioEndEffectorKinematics::PinocchioEndEffectorKinematics(..........)
: pinocchioInterfacePtr_(nullptr), mappingPtr_(mapping.clone()), endEffectorIds_(std::move(endEffectorIds)) {
for (const auto& bodyName : endEffectorIds_) {
endEffectorFrameIds_.push_back(pinocchioInterface.getModel().getBodyId(bodyName));
}
}

这个是一个获取所有末端序号的函数，我是修改了这个函数，直接把两个末端的序号push进去了，但是代码我已经丢失了，而且现在已经不用ocs2，除此之外，还需要修改task.info等其他函数以适配双臂模型。
但是，最最重要的就是我上面写的这个函数。