ZhengLiu-cart/IK_qp
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ik success bug identified.

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LiuzhengSJ
2026-07-06 11:10:35 +01:00
parent fb414078f1
commit e06e48f21b
3 changed files with 32 additions and 26 deletions
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17
kine_ctrl/main.py
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@ -48,14 +48,15 @@ def main():
robot_kine_rm.add_tool_frames(tools_in_ee)
robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
# ret_rm, q = robot_kine_rm.inverse_kinematics(target_position=[-0.6, -0.6 , 0. ], target_rpy=[1.2022060487764064, -1.0097962261845583, -0.6518417572686532],
# initial_guess=[0.1] * 7, tool="no_tool")
#
# print(f'ret_rm = {ret_rm}, q = {q}')
# pose = robot_kine_rm.forward_kinematics(joint_angles=q, tool="no_tool")
# print(f'pose = {pose}')
#
# time.sleep(5)
ret_rm, q = robot_kine_rm.inverse_kinematics(target_position=[-0.6, -0.6 , 0. ], target_rpy=[1.2022060487764064, -1.0097962261845583, -0.6518417572686532],
initial_guess=[0.1] * 7, tool="no_tool")
print(f'ret_rm = {ret_rm}, q = {q}')
pose = robot_kine_rm.forward_kinematics(joint_angles=q, tool="no_tool")
print(f'pose = {pose}')
print('-'*100)
time.sleep(5)