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Implement dual-arm teleoperation with RM75 QP controller and MuJoCo backend

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YikaiFu-cart
2026-07-01 11:26:58 +08:00
parent fdf505eac5
commit 5678cc8e69
52 changed files with 612116 additions and 327 deletions
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11
ik_qp/pyproject.toml
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@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
[project]
name = "rm75-ik-qp"
version = "0.1.0"
version = "0.3.0"
description = "Validated Pinocchio and OSQP inverse kinematics for RealMan RM75-B"
readme = "README.md"
requires-python = "==3.10.*"
@ -14,6 +14,9 @@ dependencies = [
"osqp==0.6.2.post8",
"pin==2.6.20",
"PyYAML==6.0.3",
"mujoco==3.10.0",
"Pillow==12.2.0",
"Robotic_Arm==1.1.5",
]
[project.optional-dependencies]
@ -21,10 +24,13 @@ test = ["pytest==7.4.4"]
[project.scripts]
rm75-stage1-validate = "rm75_ik.cli:main"
rm75-stage2-validate = "rm75_ik.stage2_cli:main"
rm75-stage2-demo = "rm75_ik.stage2_demo:main"
rm75-stage3-validate = "rm75_ik.stage3_cli:main"
[tool.setuptools]
package-dir = {"" = "src"}
data-files = {"share/rm75_ik/models" = ["kine_ctrl/urdf_rm75/RM75-B.urdf", "models/dual_arm_mujoco_fixed.urdf"]}
data-files = {"share/rm75_ik/models" = ["kine_ctrl/urdf_rm75/RM75-B.urdf", "models/dual_arm_mujoco_fixed.urdf"], "share/rm75_ik/models/rm75_meshes" = ["kine_ctrl/urdf_rm75/meshes/*.STL"], "share/rm75_ik/models/dual_arm_obj" = ["models/dual_arm_obj/*.obj"]}
[tool.setuptools.packages.find]
where = ["src"]
@ -32,4 +38,3 @@ where = ["src"]
[tool.pytest.ini_options]
testpaths = ["tests"]
addopts = "-ra"