delete unnecessary files.

README.md

@@ -1,6 +1,6 @@
 ### This repo is for inverse kinematics and verification
 
-In this branch, the **integrated** inverse kinematics method is packed as a python class. 
+In this branch, the **integrated** inverse kinematics method is packed into one python class **rm75_kinematics** in ``rm75_kinematics.py``. 
 
 The user can call it as in `test1.py`, `test2.py`.
 

test1.py

@@ -28,8 +28,8 @@ def main():
 
     # Create controller
 
-    robot_kine = rm75_kinematics(urdf_path='./urdf_rm75/RM75-SCI.urdf',mesh_dir='./urdf_rm75',
-                                 tcps=["scissor_tcp", "camera_tcp"],tools_in_ee=tools_in_ee,min_j=lb, max_j=ub)
+    robot_kine = rm75_kinematics(urdf_path='urdf_rm75/RM75-SCI.urdf', mesh_dir='urdf_rm75',
+                                 tcps=["scissor_tcp", "camera_tcp"], tools_in_ee=tools_in_ee, min_j=lb, max_j=ub)
 
     ret_ik, q = robot_kine.get_ik_result(target_position=[0.2, -0.2 , 0.5 ], target_rpy=[0.2022060487764064, -0.0097962261845583, -0.6518417572686532],
                                                  initial_guess=[0.1] * 7, tool=tool_name)

test2.py

@@ -28,8 +28,8 @@ def main():
 
     # Create controller
 
-    robot_kine = rm75_kinematics(urdf_path='./urdf_rm75/RM75-SCI.urdf',mesh_dir='./urdf_rm75',
-                                 tcps=["scissor_tcp", "camera_tcp"],tools_in_ee=tools_in_ee,min_j=lb, max_j=ub)
+    robot_kine = rm75_kinematics(urdf_path='urdf_rm75/RM75-SCI.urdf', mesh_dir='urdf_rm75',
+                                 tcps=["scissor_tcp", "camera_tcp"], tools_in_ee=tools_in_ee, min_j=lb, max_j=ub)
 
     ret_ik, q = robot_kine.get_ik_result(target_position=[0.2, -0.2 , 0.5 ], target_rpy=[0.2022060487764064, -0.0097962261845583, -0.6518417572686532],
                                                  initial_guess=[0.1] * 7, tool=tool_name)