diff --git a/kine_ctrl/main.py b/kine_ctrl/main.py
index 77ef3a1..fbabac8 100644
--- a/kine_ctrl/main.py
+++ b/kine_ctrl/main.py
@@ -12,18 +12,41 @@ import time
 from math import radians, degrees, pi, cos, sin
 import numpy as np
 
+#   pose expression of tool-tip in end-effector, x y z quatx quaty quatz quatw
+#   load: kg, mass_center_x in ee frame: m, y, z, then last threes are for filling
+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),
+    '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),
+    '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),
+}
+
+# joint limit
+ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0]) / 180 * pi
+lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0]) / 180 * pi
+
+
+# ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
+# lb = -ub
+
+tool_name = "scissor"
+
 def main():
     """Demonstrate pure position control"""
 
     # Create controller
     robot_mjk = MuJoCoPositionController()
 
-    tool_name = "scissor"
+
     #  -----------      rm75 qp based kine          ------------
-    robot_kine_qp = kine_qp()
+    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.add_tool_frames(tools_in_ee)
+    robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
 
     #   ----------      rm75 official algorithm         -----------
     robot_kine_rm = kine_rm()
+    robot_kine_rm.add_tool_frames(tools_in_ee)
+    robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
 
 
 
@@ -32,16 +55,6 @@ def main():
 
     if True:
 
-        ub = np.array([150.0, 110.0, 170.0,  130, 175.0, 125.0,  179.0])/180*pi
-        lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0,  -179.0])/180*pi
-
-        # ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
-        # lb = -ub
-
-        robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
-
-        robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
-
         result = np.array([[0,0],[0,0]], dtype=np.int32)        # to collect ik result   qp_fk, qp_ik, rm_fk, rm_ik
 
         solve_sum = 0
@@ -95,7 +108,7 @@ def main():
             if ret_qp == 0 or ret_rm == 0:
                 solve_sum += 1
 
-        print(f'result is {result}')
+        print(f'results with qp and rm for ik are {result}')
         print(f'solve_sum is {solve_sum}')