ZhengLiu-cart/IK_qp
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add vertical tool installation.

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LiuzhengSJ
2026-07-18 21:39:15 +01:00
parent c6458248a7
commit 6a50db91a4
1 changed files with 2 additions and 1 deletions
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kine_ctrl/workspace_comfortable/workspace_cal.py
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@ -77,6 +77,7 @@ tools_in_ee = {
'scissor': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64), 'scissor': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
'omnipic': np.array([[0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0],[0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64), 'omnipic': np.array([[0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0],[0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
'minisci': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64), 'minisci': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
'v_minis': np.array([[0.0, 0.1, 0.1, -np.sqrt(2) * 0.5, 0.0, 0.0, np.sqrt(2) * 0.5],[0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
'no_tool': np.array([[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],dtype=np.float64), 'no_tool': np.array([[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],dtype=np.float64),
} }
@ -88,7 +89,7 @@ tools_in_ee = {
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
lb = -ub lb = -ub
tool_name = "no_tool" tool_name = "minisci"
URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf' URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
MESH_DIR = str(Path(URDF_PATH).parent) MESH_DIR = str(Path(URDF_PATH).parent)