get endeffector from HumanMapping

source/armarx/control/pointing/core/Pointing.cpp

@@ -137,13 +137,23 @@ namespace armarx::control::pointing::core
                                   Side side,
                                   const std::string& shapeName)
     {
-        auto eefName = std::string("Hand_") + (side == Side::LEFT ? "L" : "R") + "_EEF"; // TODO
-        auto eef = robot->getEndEffector(eefName);
+        auto humanMapping = robot->getHumanMapping();
+        ARMARX_CHECK(humanMapping) << "Robot '" << robot->getName() << "' has no human mapping";
+        auto armDescription = (side == LEFT) ? humanMapping->leftArm : humanMapping->rightArm;
+        auto tcp = armDescription.segments.tcp.nodeName;
+
+        // get endeffector whichs tcp-name matches the tcp-name of the according hand
+        auto eefs = robot->getEndEffectors();
+        auto eef = std::find_if(eefs.begin(),
+                                eefs.end(),
+                                [&tcp](VirtualRobot::EndEffectorPtr eef)
+                                { return eef->getTcpName() == tcp; });
+        ARMARX_CHECK(eef != eefs.end());
 
-        auto shape = eef->getPreshape(shapeName);
+        auto shape = (*eef)->getPreshape(shapeName);
         if (not shape)
         {
-            ARMARX_ERROR << "Hand '" << eefName << "' has no shape '" << shape << "'";
+            ARMARX_ERROR << "Hand '" << (*eef)->getName() << "' has no shape '" << shapeName << "'";
             throw armarx::exceptions::local::PointingFailedException();
         }
         return shape->getRobotNodeJointValueMap();