add urdf file, scissor included.

2026-07-28 16:06:21 +01:00
parent e1d833812b
commit 9513dfa4ce
6 changed files with 1068 additions and 5 deletions
@@ -43,10 +43,13 @@ def main():


    #  -----------      rm75 qp based kine          ------------
-    robot_kine_qp = kine_qp(urdf_path='./urdf_rm75/RM75-B.urdf', mesh_dir='./urdf_rm75')
+    robot_kine_qp = kine_qp(urdf_path='./urdf_rm75/RM75-SCI.urdf', mesh_dir='./urdf_rm75')
    robot_kine_qp.add_tool_frames(tools_in_ee)
    robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)

+    fp = robot_kine_qp.forward_kinematics(np.zeros(7))
+    print(f'forward kine res = {fp}')
+
    #   ----------      rm75 official algorithm         -----------
    robot_kine_rm = kine_rm()
    robot_kine_rm.add_tool_frames(tools_in_ee)