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Add IK types, validation, and tests for RM75 kinematics

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YikaiFu-cart
2026-06-29 20:18:59 +08:00
parent 7255daa69c
commit fdf505eac5
23 changed files with 2583 additions and 1192 deletions
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ik_qp/models/dual_arm_mujoco_fixed.urdf Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot name="frame">
<mujoco>
<compiler meshdir="dual_arm_obj" discardvisual="false" strippath="true" balanceinertia="true" boundmass="0.001" boundinertia="0.000001" />
</mujoco>
<link name="robot_base">
<visual name="frame">
<origin rpy="3.141403 3.190764 1.571314" xyz="-0.027426 0.006053 0.430676" />
<geometry>
<mesh filename="dual_arm_robot_base_vis_1.obj" />
</geometry>
<material name="robot_base_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
<visual name="base_link_left">
<origin rpy="3.141593 1.570796 0.000000" xyz="-0.052856 0.033288 0.701971" />
<geometry>
<mesh filename="dual_arm_base_link_left_vis_1.obj" />
</geometry>
<material name="base_link_left_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
<visual name="base_link_right">
<origin rpy="-3.141593 -1.570796 0.000000" xyz="-0.002856 0.033288 0.701971" />
<geometry>
<mesh filename="dual_arm_base_link_right_vis_1.obj" />
</geometry>
<material name="base_link_right_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint1">
<axis xyz="0 0 1" />
<limit lower="-2.9670597283906" effort="60.0" velocity="0.22689280275928" upper="0.0" />
<parent link="robot_base" />
<child link="link1" />
<origin rpy="3.141589 1.570796 0.000000" xyz="-0.293356 0.033288 0.701971" />
</joint>
<link name="link1">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link1">
<origin rpy="1.570796 3.141593 3.054326" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link1_vis_1.obj" />
</geometry>
<material name="link1_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint2">
<axis xyz="0 0 1" />
<limit lower="0.0" effort="60.0" velocity="0.57595865315817" upper="2.0943951023933" />
<parent link="link1" />
<child link="link2" />
<origin rpy="1.570800 3.141593 3.054326" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link2">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link2">
<origin rpy="-1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link2_vis_1.obj" />
</geometry>
<material name="link2_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint3">
<axis xyz="0 0 1" />
<limit lower="-3.1" effort="30.0" velocity="0.57595865315817" upper="3.1" />
<parent link="link2" />
<child link="link3" />
<origin rpy="-1.570800 3.141593 3.141593" xyz="-0.000000 -0.256000 -0.000000" />
</joint>
<link name="link3">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link3">
<origin rpy="1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link3_vis_1.obj" />
</geometry>
<material name="link3_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint4">
<axis xyz="0 0 1" />
<limit lower="-2.355" effort="30.0" velocity="0.57595865315817" upper="2.355" />
<parent link="link3" />
<child link="link4" />
<origin rpy="1.570800 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link4">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link4">
<origin rpy="-1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link4_vis_1.obj" />
</geometry>
<material name="link4_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint5">
<axis xyz="0 0 1" />
<limit lower="-3.1" effort="10.0" velocity="0.57595865315817" upper="3.1" />
<parent link="link4" />
<child link="link5" />
<origin rpy="-1.570800 3.141593 3.141593" xyz="0.000000 -0.210000 -0.000000" />
</joint>
<link name="link5">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link5">
<origin rpy="1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link5_vis_1.obj" />
</geometry>
<material name="link5_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint6">
<axis xyz="0 0 1" />
<limit lower="-2.233" effort="10.0" velocity="0.57595865315817" upper="2.233" />
<parent link="link5" />
<child link="link6" />
<origin rpy="1.570800 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link6">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link6">
<origin rpy="-1.570796 3.141593 -3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link6_vis_1.obj" />
</geometry>
<material name="link6_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="continuous" name="joint7">
<axis xyz="0 0 1" />
<parent link="link6" />
<child link="link7" />
<origin rpy="-1.570796 3.141593 -3.141593" xyz="-0.000000 -0.144000 0.000000" />
</joint>
<link name="link7">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link7">
<origin rpy="-3.141593 3.141593 -3.141593" xyz="0.000000 0.000000 -0.000000" />
<geometry>
<mesh filename="dual_arm_link7_vis_1.obj" />
</geometry>
<material name="link7_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
<visual name="gripper1">
<origin rpy="-3.141593 3.141593 -3.141593" xyz="0.000000 -0.000000 0.092000" />
<geometry>
<mesh filename="dual_arm_gripper1_vis_1.obj" />
</geometry>
<material name="gripper1_material">
<color rgba="0.400000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint8">
<axis xyz="0 0 1" />
<limit lower="0.0" effort="60.0" velocity="0.22689280275928" upper="3.0543261909903" />
<parent link="robot_base" />
<child link="link8" />
<origin rpy="3.141589 -1.570796 0.000000" xyz="0.238644 0.033288 0.701971" />
</joint>
<link name="link8">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link8">
<origin rpy="1.570796 3.141593 -3.054326" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link8_vis_1.obj" />
</geometry>
<material name="link8_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint9">
<axis xyz="0 0 1" />
<limit lower="-2.0943951023933" effort="60.0" velocity="0.57595865315817" upper="0.0" />
<parent link="link8" />
<child link="link9" />
<origin rpy="1.570800 3.141593 -3.054326" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link9">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link9">
<origin rpy="-1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link9_vis_1.obj" />
</geometry>
<material name="link9_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint10">
<axis xyz="0 0 1" />
<limit lower="-3.1" effort="30.0" velocity="0.57595865315817" upper="3.1" />
<parent link="link9" />
<child link="link10" />
<origin rpy="-1.570800 3.141593 -3.141593" xyz="0.000000 -0.256000 0.000000" />
</joint>
<link name="link10">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link10">
<origin rpy="1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link10_vis_1.obj" />
</geometry>
<material name="link10_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint11">
<axis xyz="0 0 1" />
<limit lower="-2.355" effort="30.0" velocity="0.57595865315817" upper="2.355" />
<parent link="link10" />
<child link="link11" />
<origin rpy="1.570800 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link11">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link11">
<origin rpy="-1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link11_vis_1.obj" />
</geometry>
<material name="link11_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint12">
<axis xyz="0 0 1" />
<limit lower="-3.1" effort="10.0" velocity="0.57595865315817" upper="3.1" />
<parent link="link11" />
<child link="link12" />
<origin rpy="-1.570800 3.141593 -3.141593" xyz="0.000000 -0.210000 -0.000000" />
</joint>
<link name="link12">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link12">
<origin rpy="1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link12_vis_1.obj" />
</geometry>
<material name="link12_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint13">
<axis xyz="0 0 1" />
<limit lower="-2.233" effort="10.0" velocity="0.57595865315817" upper="2.233" />
<parent link="link12" />
<child link="link13" />
<origin rpy="1.570800 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
</joint>
<link name="link13">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link13">
<origin rpy="-1.570796 3.141593 3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link13_vis_1.obj" />
</geometry>
<material name="link13_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
<joint type="revolute" name="joint14">
<axis xyz="0 0 1" />
<limit lower="-6.28" effort="10.0" velocity="0.57595865315817" upper="6.28" />
<parent link="link13" />
<child link="link14" />
<origin rpy="-1.570796 3.141593 3.141593" xyz="-0.000000 -0.144000 -0.000000" />
</joint>
<link name="link14">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0.5" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual name="link14">
<origin rpy="-3.141593 3.141593 -3.141593" xyz="0.000000 0.000000 0.000000" />
<geometry>
<mesh filename="dual_arm_link14_vis_1.obj" />
</geometry>
<material name="link14_material">
<color rgba="1.000000 1.000000 1.000000 1.0" />
</material>
</visual>
<visual name="gripper2">
<origin rpy="-3.141593 3.141593 -3.141593" xyz="0.000000 0.000000 0.092000" />
<geometry>
<mesh filename="dual_arm_gripper2_vis_1.obj" />
</geometry>
<material name="gripper2_material">
<color rgba="0.400000 1.000000 1.000000 1.0" />
</material>
</visual>
</link>
</robot>