fix(dual-arm-controller): use tool0 for ur end effector task

ThomasDuvinage · ThomasDuvinage · commit 775650f48075 · 2026-03-02T14:57:57.000+09:00
diff --git a/controllers/dual_arm_controller/python/dual_arm_controller.py b/controllers/dual_arm_controller/python/dual_arm_controller.py
@@ -64,7 +64,7 @@ def run_callback(self):
 
     def reset_callback(self, data):
         self._urEndEffectorTask = mc_tasks.EndEffectorTask(
-            "wrist_3_link", self.robots(), 0, 1
+            "tool0", self.robots(), 0, 1
         )
 
         self._kinovaPostureTask = mc_tasks.PostureTask(

Original file line number	Diff line number	Diff line change
`@@ -64,7 +64,7 @@ def run_callback(self):`
`64`	`64`
`65`	`65`	`def reset_callback(self, data):`
`66`	`66`	`self._urEndEffectorTask = mc_tasks.EndEffectorTask(`
`67`		`- "wrist_3_link", self.robots(), 0, 1`
	`67`	`+ "tool0", self.robots(), 0, 1`
`68`	`68`	`)`
`69`	`69`
`70`	`70`	`self._kinovaPostureTask = mc_tasks.PostureTask(`