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fix(motor): provide XT ownership query compatibility

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This commit is contained in:
linbo 2026-08-27 11:44:47 +08:00
parent aba0af0817
commit a01f71b5d8
1 changed files with 3 additions and 0 deletions
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cmvr-es/devices/motor/manager/include/motor_manager.h
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@ -54,6 +54,9 @@ public:
std::vector<double>& positions, std::vector<double>& positions,
std::vector<double>& velocities) const; std::vector<double>& 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<MotorManager> managerFor(const std::string& id); static std::shared_ptr<MotorManager> managerFor(const std::string& id);
static std::shared_ptr<simulate::MujocoWorld> mujocoWorldFor(const std::string& id); static std::shared_ptr<simulate::MujocoWorld> mujocoWorldFor(const std::string& id);
static void setActiveJoints(const std::string& motor_manager_id, static void setActiveJoints(const std::string& motor_manager_id,