ZhengLiu-cart/IK_qp
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update the path

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LiuzhengSJ
2026-07-06 12:05:44 +01:00
parent b32199e316
commit 74d1623b8a
1 changed files with 6 additions and 3 deletions
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9
kine_ctrl/workspace_comfortable/workspace_cal.py
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@ -53,7 +53,7 @@ X_RANGE = (-0.6, 0.6)
Y_RANGE = (-0.6, 0.6) Y_RANGE = (-0.6, 0.6)
Z_RANGE = (0.0, 0.8) Z_RANGE = (0.0, 0.8)
GRID_RESOLUTION = 0.025 # 5 cm. Use 0.02 for finer but slower. GRID_RESOLUTION = 0.3 # 5 cm. Use 0.02 for finer but slower.
# Comfort thresholds # Comfort thresholds
MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits
@ -88,8 +88,11 @@ lb = -ub
tool_name = "no_tool" tool_name = "no_tool"
URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
MESH_DIR = str(Path(URDF_PATH).parent)
# ----------- rm75 qp based kine ------------ # ----------- rm75 qp based kine ------------
robot_kine_qp = kine_qp(urdf_path='/home/zl/Downloads/urdf_rm75/RM75-B.urdf', mesh_dir='/home/zl/Downloads/urdf_rm75') robot_kine_qp = kine_qp(urdf_path=URDF_PATH, mesh_dir=MESH_DIR)
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)
@ -104,7 +107,7 @@ robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
# 1. USER SETTINGS # 1. USER SETTINGS
# ============================================================ # ============================================================
URDF_PATH = '/home/zl/Downloads/urdf_rm75/RM75-B.urdf'
BASE_LINK = "base_link" BASE_LINK = "base_link"
TCP_LINK = "link_7" TCP_LINK = "link_7"