ZhengLiu-cart/IK_qp
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In qp inverse kinematic file, the tool frames self.tcps is defined as [] if not given a value.

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LiuzhengSJ
2026-07-30 15:41:10 +01:00
parent e001f2e1f1
commit 0c121a7425
2 changed files with 2 additions and 2 deletions
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kine_ctrl/rm75_kine_qp.py
+1 -1
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@@ -138,7 +138,7 @@ class KinematicsSolver():
) )
if tcps is None: if tcps is None:
pass self.tcps = []
else: else:
self.tcps = tcps self.tcps = tcps
self.tcp_ids = [] self.tcp_ids = []
kine_ctrl/workspace_comfortable/workspace_cal.py
+1 -1
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@@ -102,7 +102,7 @@ lb = -ub
MESH_DIR = str(Path(URDF_PATH).parent) MESH_DIR = str(Path(URDF_PATH).parent)
# ----------- rm75 qp based kine ------------ # ----------- rm75 qp based kine ------------
robot_kine_qp = kine_qp(urdf_path=URDF_PATH, mesh_dir=MESH_DIR) robot_kine_qp = kine_qp(urdf_path=URDF_PATH, mesh_dir=MESH_DIR, tcps=["scissor_tcp", "camera_tcp"])
robot_kine_qp.add_tool_frames(tools_in_ee) robot_kine_qp.add_tool_frames(tools_in_ee)
robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True) robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)