feat: 接入双 RM75 逆解模型

2026-08-03 16:33:57 +08:00
parent 451de103b8
commit 56baabae7a
3 changed files with 16 additions and 7 deletions
@@ -24,6 +24,15 @@ setup(
            f"share/{package_name}/models/rm75/meshes",
            glob("models/rm75/meshes/*.STL"),
        ),
+        (
+            f"share/{package_name}/models/dual_rm75",
+            ["models/dual_rm75/Dual_arm.urdf"],
+        ),
+        (
+            f"share/{package_name}/models/dual_rm75/meshes",
+            glob("models/dual_rm75/meshes/*.STL")
+            + glob("models/dual_rm75/meshes/*.stl"),
+        ),
        (
            f"share/{package_name}/models/rm75_omnipicker/urdf",
            glob("models/rm75_omnipicker/urdf/*.urdf"),
@@ -325,6 +325,7 @@ class SingleArmVelocityTeleop(Node):
        self._ik_solver = PlacoIkSolver(
            str(self.get_parameter("robot_urdf_path").value),
            self._dt,
+            peripheral_arm,
        )
        self._adapter = self._make_adapter()
        self._adapter.connect()