arm: add EndEffectorPoseRecord and proto schema#267
Open
abhichothani42 wants to merge 2 commits into
Open
Conversation
This was referenced Jun 28, 2026
Collaborator
Author
This was referenced Jun 28, 2026
abhichothani42
marked this pull request as ready for review
June 28, 2026 21:30
abhichothani42
changed the base branch from
vr-10-example-mobile
to
graphite-base/267
July 10, 2026 14:33
4 tasks
abhichothani42
force-pushed
the
graphite-base/267
branch
from
July 14, 2026 06:00
fef2285 to
adf805d
Compare
abhichothani42
force-pushed
the
eef-01-record-and-proto
branch
from
July 14, 2026 06:00
3d212f9 to
517e781
Compare
abhichothani42
changed the base branch from
graphite-base/267
to
vr-10-example-mobile
July 14, 2026 06:00
This was referenced Jul 14, 2026
This was referenced Jul 14, 2026
abhichothani42
force-pushed
the
vr-10-example-mobile
branch
from
July 17, 2026 14:48
adf805d to
bca3a7b
Compare
abhichothani42
force-pushed
the
eef-01-record-and-proto
branch
from
July 17, 2026 14:48
517e781 to
b70c835
Compare
Adds the EndEffectorPoseRecord data type and its protobuf schema for recording end-effector pose alongside joint state in MCAP files. Registers the new schema in CMakeLists.txt.
abhichothani42
force-pushed
the
vr-10-example-mobile
branch
from
July 17, 2026 15:21
bca3a7b to
e089e4f
Compare
abhichothani42
force-pushed
the
eef-01-record-and-proto
branch
from
July 17, 2026 15:21
b70c835 to
61fcb75
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Defines
EndEffectorPoseRecordand its protobuf schema — the data type used to store end-effector pose in MCAP files. Nothing emits this record yet; this PR just establishes what the data looks like.Changes
EndEffectorPoseRecordstruct torecord.hpp: x, y, z, rotation_x, rotation_y, rotation_z, and gripper_position fields.EndEffectorPose.protowith one named scalar field per axis plus timestamp and sequence number.EndEffectorPose.protoinCMakeLists.txtso it is compiled alongside the other SDK schemas.Test Plan
make build)make test)pre-commit run --all-files)Breaking Changes
None.
Related Issues
Part of the end-effector pose recording feature stack.