From a01f71b5d83b1d77e79f3a5f07ec59a9bdbbefc5 Mon Sep 17 00:00:00 2001 From: linbo <1034003879@qq.com> Date: Thu, 27 Aug 2026 11:44:47 +0800 Subject: [PATCH] fix(motor): provide XT ownership query compatibility --- cmvr-es/devices/motor/manager/include/motor_manager.h | 3 +++ 1 file changed, 3 insertions(+) diff --git a/cmvr-es/devices/motor/manager/include/motor_manager.h b/cmvr-es/devices/motor/manager/include/motor_manager.h index 3673355a..0d52d8ea 100644 --- a/cmvr-es/devices/motor/manager/include/motor_manager.h +++ b/cmvr-es/devices/motor/manager/include/motor_manager.h @@ -54,6 +54,9 @@ public: std::vector& positions, std::vector& velocities) const; + // Linbo's arm backend does not use XT's per-joint claim registry. + std::string armOwnerForJoint(const std::string&) const { return {}; } + static std::shared_ptr managerFor(const std::string& id); static std::shared_ptr mujocoWorldFor(const std::string& id); static void setActiveJoints(const std::string& motor_manager_id,