RM75-SCI scissor collision_detect

modify the Dual_arm.urdf, in line with real arm installation.

.gitignore

@@ -0,0 +1 @@
+kine_ctrl/__pycache__/

kine_ctrl/main.py

@@ -8,6 +8,10 @@ from rm75_kine_rm import rm75_kine_api as kine_rm
 from rm75_mjc import MuJoCoPositionController
 from Robotic_Arm.rm_robot_interface import *
 
+import os
+cwd = os.getcwd()
+
+
 import time
 from math import radians, degrees, pi, cos, sin
 import numpy as np
@@ -22,12 +26,12 @@ tools_in_ee = {
 }
 
 # 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([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
+ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
+lb = -ub
 
 tool_name = "scissor"
 
@@ -35,19 +39,35 @@ def main():
     """Demonstrate pure position control"""
 
     # Create controller
-    robot_mjk = MuJoCoPositionController()
+    robot_mjk = MuJoCoPositionController(urdf_path="./urdf_rm75/RM75-SCI.urdf")
 
 
     #  -----------      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_rm75/RM75-SCI.urdf', mesh_dir='./urdf_rm75', tcps=["scissor_tcp", "camera_tcp"])
     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.ones(7)*0.3,tool='scissor_tcp')
+    print(f'forward kine res = {fp}')
+    ret_qp, q = robot_kine_qp.inverse_kinematics(target_position=fp[0:3], target_rpy=fp[3:6], initial_guess=np.zeros(7),
+                                     tool='scissor_tcp')
+
+
     #   ----------      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)
 
+    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)
+
+
+
 
 
 #   --------------  for comparison   ----------------
@@ -83,33 +103,35 @@ def main():
             if ret_qp == 0:
                 fk_qp_p2 = robot_kine_qp.forward_kinematics(q, tool=tool_name)
                 d_p_ik = cal_pose_deviation(pose1=t_p, pose2=fk_qp_p2)
-                print(f'-- success, in the qp ik, fk_qp_p2 = {fk_qp_p2}, d_p_ik = {d_p_ik}')
+                print(f'---- success, in the qp ik, fk_qp_p2 = {fk_qp_p2}, d_p_ik = {d_p_ik}')
+                robot_kine_qp.collision_detect(q,stop_at_first_collision=True, verbose=True)
                 if d_p_ik < 0.01:
                     result[0][1] += 1
 
-                robot_mjk.send_command(q)
-                robot_mjk.wait_until_reached()
-                robot_mjk.print_state()
+                # robot_mjk.send_command(q)
+                # robot_mjk.wait_until_reached()
+                # robot_mjk.print_state()
             else:
                 fk_qp_p2 = robot_kine_qp.forward_kinematics(q, tool=tool_name)
                 d_p_ik = cal_pose_deviation(pose1=t_p, pose2=fk_qp_p2)
-                print(f'-- fail, in the qp ik, fk_qp_p2 = {fk_qp_p2}, d_p_ik = {d_p_ik},q = {q}, ret_qp = {ret_qp}')
+                print(f'---- fail, in the qp ik, fk_qp_p2 = {fk_qp_p2}, d_p_ik = {d_p_ik},q = {q}, ret_qp = {ret_qp}')
 
             ret_rm, q = robot_kine_rm.inverse_kinematics(target_position=t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init, tool=tool_name)
             if ret_rm == 0:
                 fk_rm_p2 = robot_kine_rm.forward_kinematics(joint_angles=q, tool=tool_name)
                 d_p_ik = cal_pose_deviation(pose1=t_p, pose2=fk_rm_p2)
-                print(f'== sucess, in the rm ik, fk_rm_p2 = {fk_rm_p2}, d_p_ik = {d_p_ik} ,q = {q}, ret_qp = {ret_qp}')
+                print(f'==== sucess, in the rm ik, fk_rm_p2 = {fk_rm_p2}, d_p_ik = {d_p_ik} ,q = {q}, ret_qp = {ret_rm}')
                 if d_p_ik < 0.01:
                     result[1][1] += 1
             else:
-                print(f'== fail in the rm ik, ret = {ret_rm}, q = {q}')
+                print(f'==== fail in the rm ik, ret = {ret_rm}, q = {q}')
 
             if ret_qp == 0 or ret_rm == 0:
                 solve_sum += 1
 
         print(f'results with qp and rm for ik are {result}')
         print(f'solve_sum is {solve_sum}')
+    robot_mjk.stop()
 
 
 def cal_pose_deviation(pose1, pose2):

kine_ctrl/req.txt

@@ -0,0 +1,3 @@
+conda install -c conda-forge osqp scipy tqdm matplotlib pandas "numpy<1.24" pinocchio -y
+pip install urdfpy mujoco "networkx>=2.8.4"
+pip install Robotic_Arm

kine_ctrl/requirements.txt

@@ -0,0 +1,9 @@
+numpy
+pandas
+matplotlib
+tqdm
+scipy
+urdfpy
+pin
+osqp
+Robotic_Arm

kine_ctrl/rm75_kine_rm.py

@@ -7,7 +7,7 @@ class rm75_kine_api():
     def __init__(self):
         #   ----------      rm75 official algorithm         -----------
         print(f'-------  the realman official kinematic initialising -------')
-        arm_model = rm_robot_arm_model_e.RM_MODEL_RM_75_E  # RM_65 Robotic arm
+        arm_model = rm_robot_arm_model_e.RM_MODEL_RM_75_E  # RM_75 Robotic arm
         force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
         # Initialize the robotic arm model and sensor type in the algorithm
         self.robot_kine_rm = Algo(arm_model, force_type)
@@ -102,7 +102,7 @@ class rm75_kine_api():
 
         return self.robot_kine_rm.rm_algo_forward_kinematics(joint=[q_s*180/math.pi for q_s in joint_angles]  , flag=flag)
 
-    def inverse_kinematics(self, target_position, target_rpy=None, initial_guess=None, tool="omnipic", work="work"):
+    def inverse_kinematics(self, target_position, target_rpy=None, initial_guess=None, tool="omnipic", work="work", step_arm_angle = 15.0):
         '''
         :param target_position:     list of position values, m
         :param target_rpy:          list of rpy values, rad
@@ -120,14 +120,60 @@ class rm75_kine_api():
             self.work_name = work
             self.cfg_work_frame(work)
 
-        target = target_position + target_rpy
+        target = list(target_position) + list(target_rpy)
 
         if initial_guess is not None:
             q_ref = [ 180/math.pi * ig for ig in  initial_guess ]
         else:
             q_ref = [0.0, 110.0, 20.0, 40.0, 30.0, 180.0, 20.0]
-        ret, phi = self.robot_kine_rm.rm_algo_calculate_arm_angle_from_config_rm75(q_ref)
-        params = rm_inverse_kinematics_params_t(q_ref,
-                                                target, 1)
+        ret, phi0 = self.robot_kine_rm.rm_algo_calculate_arm_angle_from_config_rm75(q_ref)
+        params = rm_inverse_kinematics_params_t(q_ref, target, 1)
+
+        offsets = [0.0]
+        arm_angle = step_arm_angle
+        while arm_angle <= 180.0:
+            offsets += [arm_angle, -arm_angle]
+            arm_angle += step_arm_angle
+
+        best_ret, best_q_out, best_dis = -1, None, None
+        for offset in offsets:
+            phi = ((phi0 + offset + 180.0) % 360.0) - 180.0
             ret, q_out = self.robot_kine_rm.rm_algo_inverse_kinematics_rm75_for_arm_angle(params, phi)
+            if int(ret) != 0:
+                if best_q_out is None:
+                    best_ret, best_q_out = ret, q_out
+                continue
+
+            p_fk = self.robot_kine_rm.rm_algo_forward_kinematics(joint=q_out, flag=1)
+            pose_dis = cal_pose_deviation(p_fk, target)
+            if pose_dis < 0.01:
+                #   success in ik calculation
                 return ret, [q / 180 * math.pi for q in q_out]
+
+            if best_dis is None or pose_dis < best_dis:
+                best_ret, best_q_out, best_dis = -10, q_out, pose_dis
+
+        ret, q_out = self.robot_kine_rm.rm_algo_inverse_kinematics_rm75_for_arm_angle(params, phi)
+        pose_fk = self.robot_kine_rm.rm_algo_forward_kinematics(joint=q_out, flag=1)
+        pose_dis = cal_pose_deviation(pose_fk, target)
+
+        # print(f'target pose is {target}, fk pose is {pose_fk}, dis of poses is {pose_dis}')
+        #
+        # print(f'\nin the rm75_kine_rm, l133, inverse_kinematics, q_ref = {q_ref}, target = {target}  phi = {phi}, q_out = {q_out}, ret = {ret}\n\n')
+        # print(f'the tool frame is {self.robot_kine_rm.rm_algo_get_curr_toolframe()}')
+        if int(ret) < 0:
+            return ret, [ q/180*math.pi for q in q_out]
+        elif pose_dis < 0.01:
+            return ret, [ q/180*math.pi for q in q_out]
+        else:
+            return -10, [ q/180*math.pi for q in q_out]
+
+def cal_pose_deviation(pose1, pose2):
+    d_fk_p1 = np.array(pose1) - np.array(pose2)
+    for j in [3, 4, 5]:
+        while d_fk_p1[j] > math.pi:
+            d_fk_p1[j] -= 2 * math.pi
+        while d_fk_p1[j] < -math.pi:
+            d_fk_p1[j] += 2 * math.pi
+    d_fk = np.linalg.norm(d_fk_p1)
+    return d_fk

kine_ctrl/urdf_rm75/Dual_arm.urdf

@@ -0,0 +1,555 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="rm75_dual_arm">
+  <!--Shared supporting base. Adjust the two mount joint origins to match the CAD mounting frames.-->
+  <link name="dual_arm_base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
+      </geometry>
+      <material name="dual_arm_base_material">
+        <color rgba="0.5 0.5 0.5 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/dual_arm_base.stl" scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="omnipic_base_link">
+    <inertial>
+      <origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
+      <mass value="1.862" />
+      <inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="omnipic_link_1">
+    <inertial>
+      <origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
+      <mass value="1.574" />
+      <inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_1" type="revolute">
+    <origin xyz="0 0 0.2405" rpy="0 0 0" />
+    <parent link="omnipic_base_link" />
+    <child link="omnipic_link_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_2">
+    <inertial>
+      <origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
+      <mass value="1.217" />
+      <inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_2" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="omnipic_link_1" />
+    <child link="omnipic_link_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_3">
+    <inertial>
+      <origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
+      <mass value="1.11" />
+      <inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_3" type="revolute">
+    <origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
+    <parent link="omnipic_link_2" />
+    <child link="omnipic_link_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_4">
+    <inertial>
+      <origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
+      <mass value="0.685" />
+      <inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_4" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="omnipic_link_3" />
+    <child link="omnipic_link_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_5">
+    <inertial>
+      <origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
+      <mass value="0.619" />
+      <inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_5" type="revolute">
+    <origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
+    <parent link="omnipic_link_4" />
+    <child link="omnipic_link_5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_6">
+    <inertial>
+      <origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
+      <mass value="0.602" />
+      <inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_6" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="omnipic_link_5" />
+    <child link="omnipic_link_6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
+  </joint>
+  <link name="omnipic_link_7">
+    <inertial>
+      <origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
+      <mass value="0.107" />
+      <inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_joint_7" type="revolute">
+    <origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
+    <parent link="omnipic_link_6" />
+    <child link="omnipic_link_7" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
+  </joint>
+  <link name="omnipic_gripper_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
+      </geometry>
+      <material name="omnipic_OmniPic_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/OmniPic.stl" scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="omnipic_OmniPic_fixed_joint" type="fixed">
+    <parent link="omnipic_link_7" />
+    <child link="omnipic_gripper_link" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="omnipic_OmniPic_tcp" />
+  <joint name="omnipic_OmniPic_tcp_fixed" type="fixed">
+    <parent link="omnipic_gripper_link" />
+    <child link="omnipic_OmniPic_tcp" />
+    <origin xyz="0 0 0.14" rpy="0 0 0" />
+  </joint>
+  <!--Omnipic arm mount: edit xyz/rpy to match dual_arm_base.stl.-->
+  <joint name="omnipic_base_mount_joint" type="fixed">
+    <parent link="dual_arm_base_link" />
+    <child link="omnipic_base_link" />
+    <origin xyz="0.03 0 0" rpy="0 -1.57 3.141593" />
+  </joint>
+  <link name="scissor_base_link">
+    <inertial>
+      <origin xyz="0.00049987 5.2709E-05 0.060019" rpy="0 0 0" />
+      <mass value="1.862" />
+      <inertia ixx="0.0017232" ixy="-3.1058E-06" ixz="-3.7924E-05" iyy="0.0017051" iyz="1.3691E-06" izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="scissor_link_1">
+    <inertial>
+      <origin xyz="0.000241 -0.013273 -0.00995" rpy="0 0 0" />
+      <mass value="1.574" />
+      <inertia ixx="0.002487573" ixy="0.000009663" ixz="-0.000007909" iyy="0.002321038" iyz="0.000179393" izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_1.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_1" type="revolute">
+    <origin xyz="0 0 0.2405" rpy="0 0 0" />
+    <parent link="scissor_base_link" />
+    <child link="scissor_link_1" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_2">
+    <inertial>
+      <origin xyz="-0.000357 -0.106789 0.005329" rpy="0 0 0" />
+      <mass value="1.217" />
+      <inertia ixx="0.003494121" ixy="0.000002921" ixz="-0.000005613" iyy="0.000892721" iyz="-0.000583884" izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_2.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_2" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="scissor_link_1" />
+    <child link="scissor_link_2" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.2689" upper="2.2689" effort="60" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_3">
+    <inertial>
+      <origin xyz="0.000003 -0.01398 -0.011324" rpy="0 0 0" />
+      <mass value="1.11" />
+      <inertia ixx="0.001836663" ixy="0.000002259" ixz="-0.000004216" iyy="0.001498875" iyz="0.000037167" izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_3.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_3" type="revolute">
+    <origin xyz="0 -0.256 0" rpy="1.5708 0 0" />
+    <parent link="scissor_link_2" />
+    <child link="scissor_link_3" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="30" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_4">
+    <inertial>
+      <origin xyz="-0.000005 -0.084658 0.004747" rpy="0 0 0" />
+      <mass value="0.685" />
+      <inertia ixx="0.001282444" ixy="-0.000000551" ixz="-0.000000630" iyy="0.000373013" iyz="-0.000232084" izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_4.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_4" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="scissor_link_3" />
+    <child link="scissor_link_4" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_5">
+    <inertial>
+      <origin xyz="0.000078 -0.012937 -0.008781" rpy="0 0 0" />
+      <mass value="0.619" />
+      <inertia ixx="0.000627336" ixy="0.000001636" ixz="-0.000001345" iyy="0.000542455" iyz="0.000034970" izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_5.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_5" type="revolute">
+    <origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
+    <parent link="scissor_link_4" />
+    <child link="scissor_link_5" />
+    <axis xyz="0 0 1" />
+    <limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_6">
+    <inertial>
+      <origin xyz="-0.000014 -0.078524 0.002819" rpy="0 0 0" />
+      <mass value="0.602" />
+      <inertia ixx="0.000780774" ixy="-0.000000121" ixz="-0.000000469" iyy="0.000289973" iyz="-0.000120513" izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_6.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_6" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0" />
+    <parent link="scissor_link_5" />
+    <child link="scissor_link_6" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
+  </joint>
+  <link name="scissor_link_7">
+    <inertial>
+      <origin xyz="0.001094 -0.000077 -0.010119" rpy="0 0 0" />
+      <mass value="0.107" />
+      <inertia ixx="0.000044123" ixy="-0.000000064" ixz="0.0000003" iyy="0.000035078" iyz="-0.000000029" izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_7.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_joint_7" type="revolute">
+    <origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
+    <parent link="scissor_link_6" />
+    <child link="scissor_link_7" />
+    <axis xyz="0 0 1" />
+    <limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
+  </joint>
+  <link name="scissor_scissor_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/scissor.stl" scale="1 1 1" />
+      </geometry>
+      <material name="scissor_scissor_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/scissor.stl" scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="scissor_scissor_fixed_joint" type="fixed">
+    <parent link="scissor_link_7" />
+    <child link="scissor_scissor_link" />
+    <origin xyz="0 0 0.165" rpy="0 0 0" />
+  </joint>
+  <link name="scissor_scissor_tcp" />
+  <joint name="scissor_scissor_tcp_fixed" type="fixed">
+    <parent link="scissor_scissor_link" />
+    <child link="scissor_scissor_tcp" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="scissor_camera_tcp" />
+  <joint name="scissor_camera_tcp_fixed" type="fixed">
+    <parent link="scissor_scissor_link" />
+    <child link="scissor_camera_tcp" />
+    <origin xyz="0.042 0 -0.0755" rpy="0 0 1.57" />
+  </joint>
+  <!--Scissor arm mount: edit xyz/rpy to match dual_arm_base.stl.-->
+  <joint name="scissor_base_mount_joint" type="fixed">
+    <parent link="dual_arm_base_link" />
+    <child link="scissor_base_link" />
+    <origin xyz="-0.030 0 0" rpy="0 1.57 3.141593" />
+  </joint>
+</robot>

kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf

@@ -0,0 +1,507 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="RM75-B">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00049987 5.2709E-05 0.060019"
+        rpy="0 0 0" />
+      <mass
+        value="1.862" />
+      <inertia
+        ixx="0.0017232"
+        ixy="-3.1058E-06"
+        ixz="-3.7924E-05"
+        iyy="0.0017051"
+        iyz="1.3691E-06"
+        izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="0.000241 -0.013273 -0.00995"
+        rpy="0 0 0" />
+      <mass
+        value="1.574" />
+      <inertia
+        ixx="0.002487573"
+        ixy="0.000009663"
+        ixz="-0.000007909"
+        iyy="0.002321038"
+        iyz="0.000179393"
+        izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="-0.000357 -0.106789 0.005329"
+        rpy="0 0 0" />
+      <mass
+        value="1.217" />
+      <inertia
+        ixx="0.003494121"
+        ixy="0.000002921"
+        ixz="-0.000005613"
+        iyy="0.000892721"
+        iyz="-0.000583884"
+        izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.2689"
+      upper="2.2689"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="0.000003 -0.01398 -0.011324"
+        rpy="0 0 0" />
+      <mass
+        value="1.11" />
+      <inertia
+        ixx="0.001836663"
+        ixy="0.000002259"
+        ixz="-0.000004216"
+        iyy="0.001498875"
+        iyz="0.000037167"
+        izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="revolute">
+    <origin
+      xyz="0 -0.256 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.000005 -0.084658 0.004747"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001282444"
+        ixy="-0.000000551"
+        ixz="-0.000000630"
+        iyy="0.000373013"
+        iyz="-0.000232084"
+        izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.356"
+      upper="2.356"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.000078 -0.012937 -0.008781"
+        rpy="0 0 0" />
+      <mass
+        value="0.619" />
+      <inertia
+        ixx="0.000627336"
+        ixy="0.000001636"
+        ixz="-0.000001345"
+        iyy="0.000542455"
+        iyz="0.000034970"
+        izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="-0.000014 -0.078524 0.002819"
+        rpy="0 0 0" />
+      <mass
+        value="0.602" />
+      <inertia
+        ixx="0.000780774"
+        ixy="-0.000000121"
+        ixz="-0.000000469"
+        iyy="0.000289973"
+        iyz="-0.000120513"
+        izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.234"
+      upper="2.234"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_7">
+    <inertial>
+      <origin
+        xyz="0.001094 -0.000077 -0.010119"
+        rpy="0 0 0" />
+      <mass
+        value="0.107" />
+      <inertia
+        ixx="0.000044123"
+        ixy="-0.000000064"
+        ixz="0.0000003"
+        iyy="0.000035078"
+        iyz="-0.000000029"
+        izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_7"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_6" />
+    <child
+      link="link_7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+    <!-- Scissor end-effector -->
+  <link name="gripper_link">
+    <inertial>
+      <!-- Replace these values with CAD-derived mass properties -->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0001"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/OmniPic.stl"
+          scale="1 1 1" />
+      </geometry>
+      <material name="OmniPic_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/OmniPic.stl"
+          scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Rigidly attach the gripper to the final wrist link -->
+  <joint name="OmniPic_fixed_joint" type="fixed">
+    <parent link="link_7" />
+    <child link="gripper_link" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  
+  
+  <link name="OmniPic_tcp"/>
+
+<joint name="OmniPic_tcp_fixed" type="fixed">
+  <parent link="gripper_link"/>
+  <child link="OmniPic_tcp"/>
+  <origin xyz="0 0 0.14" rpy="0 0 0"/>
+</joint>
+
+
+</robot>

kine_ctrl/urdf_rm75/RM75-SCI-V1.urdf

@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="RM75-B">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00049987 5.2709E-05 0.060019"
+        rpy="0 0 0" />
+      <mass
+        value="1.862" />
+      <inertia
+        ixx="0.0017232"
+        ixy="-3.1058E-06"
+        ixz="-3.7924E-05"
+        iyy="0.0017051"
+        iyz="1.3691E-06"
+        izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="0.000241 -0.013273 -0.00995"
+        rpy="0 0 0" />
+      <mass
+        value="1.574" />
+      <inertia
+        ixx="0.002487573"
+        ixy="0.000009663"
+        ixz="-0.000007909"
+        iyy="0.002321038"
+        iyz="0.000179393"
+        izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="-0.000357 -0.106789 0.005329"
+        rpy="0 0 0" />
+      <mass
+        value="1.217" />
+      <inertia
+        ixx="0.003494121"
+        ixy="0.000002921"
+        ixz="-0.000005613"
+        iyy="0.000892721"
+        iyz="-0.000583884"
+        izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.2689"
+      upper="2.2689"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="0.000003 -0.01398 -0.011324"
+        rpy="0 0 0" />
+      <mass
+        value="1.11" />
+      <inertia
+        ixx="0.001836663"
+        ixy="0.000002259"
+        ixz="-0.000004216"
+        iyy="0.001498875"
+        iyz="0.000037167"
+        izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="revolute">
+    <origin
+      xyz="0 -0.256 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.000005 -0.084658 0.004747"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001282444"
+        ixy="-0.000000551"
+        ixz="-0.000000630"
+        iyy="0.000373013"
+        iyz="-0.000232084"
+        izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.356"
+      upper="2.356"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.000078 -0.012937 -0.008781"
+        rpy="0 0 0" />
+      <mass
+        value="0.619" />
+      <inertia
+        ixx="0.000627336"
+        ixy="0.000001636"
+        ixz="-0.000001345"
+        iyy="0.000542455"
+        iyz="0.000034970"
+        izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="-0.000014 -0.078524 0.002819"
+        rpy="0 0 0" />
+      <mass
+        value="0.602" />
+      <inertia
+        ixx="0.000780774"
+        ixy="-0.000000121"
+        ixz="-0.000000469"
+        iyy="0.000289973"
+        iyz="-0.000120513"
+        izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.234"
+      upper="2.234"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_7">
+    <inertial>
+      <origin
+        xyz="0.001094 -0.000077 -0.010119"
+        rpy="0 0 0" />
+      <mass
+        value="0.107" />
+      <inertia
+        ixx="0.000044123"
+        ixy="-0.000000064"
+        ixz="0.0000003"
+        iyy="0.000035078"
+        iyz="-0.000000029"
+        izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_7"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_6" />
+    <child
+      link="link_7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+    <!-- Scissor end-effector -->
+  <link name="scissor_link">
+    <inertial>
+      <!-- Replace these values with CAD-derived mass properties -->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0001"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+      <material name="scissor_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Rigidly attach the scissor to the final wrist link -->
+  <joint name="scissor_fixed_joint" type="fixed">
+    <parent link="link_7" />
+    <child link="scissor_link" />
+    <origin xyz="0 -0.12 0.03" rpy="1.5707963 0 0" />
+  </joint>
+  
+  
+  <link name="scissor_tcp"/>
+
+<joint name="scissor_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="scissor_tcp"/>
+  <origin xyz="0 0 0" rpy="0 0 0"/>
+</joint>
+
+<link name="camera_tcp"/>
+
+<joint name="camera_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="camera_tcp"/>
+  <origin xyz="0.042 0 -0.0755" rpy="0 0 1.5707963"/>
+</joint>
+
+
+
+</robot>

kine_ctrl/urdf_rm75/RM75-SCI-V2.urdf

@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="RM75-B">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00049987 5.2709E-05 0.060019"
+        rpy="0 0 0" />
+      <mass
+        value="1.862" />
+      <inertia
+        ixx="0.0017232"
+        ixy="-3.1058E-06"
+        ixz="-3.7924E-05"
+        iyy="0.0017051"
+        iyz="1.3691E-06"
+        izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="0.000241 -0.013273 -0.00995"
+        rpy="0 0 0" />
+      <mass
+        value="1.574" />
+      <inertia
+        ixx="0.002487573"
+        ixy="0.000009663"
+        ixz="-0.000007909"
+        iyy="0.002321038"
+        iyz="0.000179393"
+        izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="-0.000357 -0.106789 0.005329"
+        rpy="0 0 0" />
+      <mass
+        value="1.217" />
+      <inertia
+        ixx="0.003494121"
+        ixy="0.000002921"
+        ixz="-0.000005613"
+        iyy="0.000892721"
+        iyz="-0.000583884"
+        izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.2689"
+      upper="2.2689"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="0.000003 -0.01398 -0.011324"
+        rpy="0 0 0" />
+      <mass
+        value="1.11" />
+      <inertia
+        ixx="0.001836663"
+        ixy="0.000002259"
+        ixz="-0.000004216"
+        iyy="0.001498875"
+        iyz="0.000037167"
+        izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="revolute">
+    <origin
+      xyz="0 -0.256 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.000005 -0.084658 0.004747"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001282444"
+        ixy="-0.000000551"
+        ixz="-0.000000630"
+        iyy="0.000373013"
+        iyz="-0.000232084"
+        izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.356"
+      upper="2.356"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.000078 -0.012937 -0.008781"
+        rpy="0 0 0" />
+      <mass
+        value="0.619" />
+      <inertia
+        ixx="0.000627336"
+        ixy="0.000001636"
+        ixz="-0.000001345"
+        iyy="0.000542455"
+        iyz="0.000034970"
+        izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="-0.000014 -0.078524 0.002819"
+        rpy="0 0 0" />
+      <mass
+        value="0.602" />
+      <inertia
+        ixx="0.000780774"
+        ixy="-0.000000121"
+        ixz="-0.000000469"
+        iyy="0.000289973"
+        iyz="-0.000120513"
+        izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.234"
+      upper="2.234"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_7">
+    <inertial>
+      <origin
+        xyz="0.001094 -0.000077 -0.010119"
+        rpy="0 0 0" />
+      <mass
+        value="0.107" />
+      <inertia
+        ixx="0.000044123"
+        ixy="-0.000000064"
+        ixz="0.0000003"
+        iyy="0.000035078"
+        iyz="-0.000000029"
+        izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_7"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_6" />
+    <child
+      link="link_7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+    <!-- Scissor end-effector -->
+  <link name="scissor_link">
+    <inertial>
+      <!-- Replace these values with CAD-derived mass properties -->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0001"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+      <material name="scissor_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Rigidly attach the scissor to the final wrist link -->
+  <joint name="scissor_fixed_joint" type="fixed">
+    <parent link="link_7" />
+    <child link="scissor_link" />
+    <origin xyz="-0.12 0 0.063" rpy="0 -1.5707963 0" />
+  </joint>
+  
+  
+  <link name="scissor_tcp"/>
+
+<joint name="scissor_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="scissor_tcp"/>
+  <origin xyz="0 0 0" rpy="0 0 0"/>
+</joint>
+
+<link name="camera_tcp"/>
+
+<joint name="camera_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="camera_tcp"/>
+  <origin xyz="0.042 0 -0.0755" rpy="0 0 1.57"/>
+</joint>
+
+
+
+</robot>

kine_ctrl/urdf_rm75/RM75-SCI.urdf

@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="RM75-B">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00049987 5.2709E-05 0.060019"
+        rpy="0 0 0" />
+      <mass
+        value="1.862" />
+      <inertia
+        ixx="0.0017232"
+        ixy="-3.1058E-06"
+        ixz="-3.7924E-05"
+        iyy="0.0017051"
+        iyz="1.3691E-06"
+        izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="0.000241 -0.013273 -0.00995"
+        rpy="0 0 0" />
+      <mass
+        value="1.574" />
+      <inertia
+        ixx="0.002487573"
+        ixy="0.000009663"
+        ixz="-0.000007909"
+        iyy="0.002321038"
+        iyz="0.000179393"
+        izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="-0.000357 -0.106789 0.005329"
+        rpy="0 0 0" />
+      <mass
+        value="1.217" />
+      <inertia
+        ixx="0.003494121"
+        ixy="0.000002921"
+        ixz="-0.000005613"
+        iyy="0.000892721"
+        iyz="-0.000583884"
+        izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.2689"
+      upper="2.2689"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="0.000003 -0.01398 -0.011324"
+        rpy="0 0 0" />
+      <mass
+        value="1.11" />
+      <inertia
+        ixx="0.001836663"
+        ixy="0.000002259"
+        ixz="-0.000004216"
+        iyy="0.001498875"
+        iyz="0.000037167"
+        izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="revolute">
+    <origin
+      xyz="0 -0.256 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.000005 -0.084658 0.004747"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001282444"
+        ixy="-0.000000551"
+        ixz="-0.000000630"
+        iyy="0.000373013"
+        iyz="-0.000232084"
+        izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.356"
+      upper="2.356"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.000078 -0.012937 -0.008781"
+        rpy="0 0 0" />
+      <mass
+        value="0.619" />
+      <inertia
+        ixx="0.000627336"
+        ixy="0.000001636"
+        ixz="-0.000001345"
+        iyy="0.000542455"
+        iyz="0.000034970"
+        izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="-0.000014 -0.078524 0.002819"
+        rpy="0 0 0" />
+      <mass
+        value="0.602" />
+      <inertia
+        ixx="0.000780774"
+        ixy="-0.000000121"
+        ixz="-0.000000469"
+        iyy="0.000289973"
+        iyz="-0.000120513"
+        izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.234"
+      upper="2.234"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_7">
+    <inertial>
+      <origin
+        xyz="0.001094 -0.000077 -0.010119"
+        rpy="0 0 0" />
+      <mass
+        value="0.107" />
+      <inertia
+        ixx="0.000044123"
+        ixy="-0.000000064"
+        ixz="0.0000003"
+        iyy="0.000035078"
+        iyz="-0.000000029"
+        izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_7"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_6" />
+    <child
+      link="link_7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+    <!-- Scissor end-effector -->
+  <link name="scissor_link">
+    <inertial>
+      <!-- Replace these values with CAD-derived mass properties -->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0001"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+      <material name="scissor_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Rigidly attach the scissor to the final wrist link -->
+  <joint name="scissor_fixed_joint" type="fixed">
+    <parent link="link_7" />
+    <child link="scissor_link" />
+    <origin xyz="0 0 0.165" rpy="0 0 0" />
+  </joint>
+  
+  
+  <link name="scissor_tcp"/>
+
+<joint name="scissor_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="scissor_tcp"/>
+  <origin xyz="0 0 0" rpy="0 0 0"/>
+</joint>
+
+<link name="camera_tcp"/>
+
+<joint name="camera_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="camera_tcp"/>
+  <origin xyz="0.042 0 -0.0755" rpy="0 0 1.57"/>
+</joint>
+
+
+
+</robot>

kine_ctrl/urdf_rm75/RM75-newSCI.urdf

@@ -0,0 +1,516 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="RM75-B">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00049987 5.2709E-05 0.060019"
+        rpy="0 0 0" />
+      <mass
+        value="1.862" />
+      <inertia
+        ixx="0.0017232"
+        ixy="-3.1058E-06"
+        ixz="-3.7924E-05"
+        iyy="0.0017051"
+        iyz="1.3691E-06"
+        izz="0.00090158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link_1">
+    <inertial>
+      <origin
+        xyz="0.000241 -0.013273 -0.00995"
+        rpy="0 0 0" />
+      <mass
+        value="1.574" />
+      <inertia
+        ixx="0.002487573"
+        ixy="0.000009663"
+        ixz="-0.000007909"
+        iyy="0.002321038"
+        iyz="0.000179393"
+        izz="0.001450554" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.2405"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_2">
+    <inertial>
+      <origin
+        xyz="-0.000357 -0.106789 0.005329"
+        rpy="0 0 0" />
+      <mass
+        value="1.217" />
+      <inertia
+        ixx="0.003494121"
+        ixy="0.000002921"
+        ixz="-0.000005613"
+        iyy="0.000892721"
+        iyz="-0.000583884"
+        izz="0.003444080" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_1" />
+    <child
+      link="link_2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.2689"
+      upper="2.2689"
+      effort="60"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_3">
+    <inertial>
+      <origin
+        xyz="0.000003 -0.01398 -0.011324"
+        rpy="0 0 0" />
+      <mass
+        value="1.11" />
+      <inertia
+        ixx="0.001836663"
+        ixy="0.000002259"
+        ixz="-0.000004216"
+        iyy="0.001498875"
+        iyz="0.000037167"
+        izz="0.001062545" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_3"
+    type="revolute">
+    <origin
+      xyz="0 -0.256 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_2" />
+    <child
+      link="link_3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_4">
+    <inertial>
+      <origin
+        xyz="-0.000005 -0.084658 0.004747"
+        rpy="0 0 0" />
+      <mass
+        value="0.685" />
+      <inertia
+        ixx="0.001282444"
+        ixy="-0.000000551"
+        ixz="-0.000000630"
+        iyy="0.000373013"
+        iyz="-0.000232084"
+        izz="0.001256177" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_4"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_3" />
+    <child
+      link="link_4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.356"
+      upper="2.356"
+      effort="30"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_5">
+    <inertial>
+      <origin
+        xyz="0.000078 -0.012937 -0.008781"
+        rpy="0 0 0" />
+      <mass
+        value="0.619" />
+      <inertia
+        ixx="0.000627336"
+        ixy="0.000001636"
+        ixz="-0.000001345"
+        iyy="0.000542455"
+        iyz="0.000034970"
+        izz="0.000370291" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_5"
+    type="revolute">
+    <origin
+      xyz="0 -0.21 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_4" />
+    <child
+      link="link_5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.106"
+      upper="3.106"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_6">
+    <inertial>
+      <origin
+        xyz="-0.000014 -0.078524 0.002819"
+        rpy="0 0 0" />
+      <mass
+        value="0.602" />
+      <inertia
+        ixx="0.000780774"
+        ixy="-0.000000121"
+        ixz="-0.000000469"
+        iyy="0.000289973"
+        iyz="-0.000120513"
+        izz="0.000763955" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_6"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link_5" />
+    <child
+      link="link_6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.234"
+      upper="2.234"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+  <link
+    name="link_7">
+    <inertial>
+      <origin
+        xyz="0.001094 -0.000077 -0.010119"
+        rpy="0 0 0" />
+      <mass
+        value="0.107" />
+      <inertia
+        ixx="0.000044123"
+        ixy="-0.000000064"
+        ixz="0.0000003"
+        iyy="0.000035078"
+        iyz="-0.000000029"
+        izz="0.000065445" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link_7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_7"
+    type="revolute">
+    <origin
+      xyz="0 -0.144 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link_6" />
+    <child
+      link="link_7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-6.28"
+      upper="6.28"
+      effort="10"
+      velocity="3.14" />
+  </joint>
+    <!-- Scissor end-effector -->
+  <link name="scissor_link">
+    <inertial>
+      <!-- Replace these values with CAD-derived mass properties -->
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.1" />
+      <inertia
+        ixx="0.0001"
+        ixy="0"
+        ixz="0"
+        iyy="0.0001"
+        iyz="0"
+        izz="0.0001" />
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/mini_scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+      <material name="scissor_material">
+        <color rgba="0.7 0.7 0.7 1" />
+      </material>
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/mini_scissor.stl"
+          scale="1 1 1" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Rigidly attach the scissor to the final wrist link -->
+  <joint name="scissor_fixed_joint" type="fixed">
+    <parent link="link_7" />
+    <child link="scissor_link" />
+    <origin xyz="0 0 0.165" rpy="0 0 0" />
+  </joint>
+  
+  
+  <link name="scissor_tcp"/>
+
+<joint name="scissor_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="scissor_tcp"/>
+  <origin xyz="0 0 0" rpy="0 0 0"/>
+</joint>
+
+<link name="camera_tcp"/>
+
+<joint name="camera_tcp_fixed" type="fixed">
+  <parent link="scissor_link"/>
+  <child link="camera_tcp"/>
+  <origin xyz="0.08 0 -0.135" rpy="0 0 1.57"/>
+</joint>
+
+
+
+</robot>

kine_ctrl/workspace_comfortable/Contour_plot.py

@@ -0,0 +1,106 @@
+from pathlib import Path
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+
+
+# --------------------------------------------------
+# 1. Load the data
+# --------------------------------------------------
+file_name = "rm75b_comfort_workspace_v_minis_collision.csv"
+csv_path = Path(file_name)
+
+# The file has no column names, so header=None is important.
+df_csv = pd.read_csv(
+    csv_path,
+)
+rate_res = df_csv.iloc[:, :4]
+try:
+    rate_res_sort = rate_res.sort_values('z').reset_index(drop=True)
+except:
+    rate_res_sort = rate_res
+
+DECIMALS = 4
+
+try:
+    x_unique = np.round(rate_res_sort['x'], DECIMALS).unique()
+    y_unique = np.round(rate_res_sort['y'], DECIMALS).unique()
+    z_unique = np.round(rate_res_sort['z'], DECIMALS).unique()
+except:
+    x_unique = np.round(rate_res_sort.iloc[:,0], DECIMALS).unique()
+    y_unique = np.round(rate_res_sort.iloc[:, 1], DECIMALS).unique()
+    z_unique = np.round(rate_res_sort.iloc[:, 2], DECIMALS).unique()
+
+nx, ny, nz = len(x_unique), len(y_unique), len(z_unique)
+
+
+ik_rates = rate_res_sort.to_numpy()
+
+# --------------------------------------------------
+# 2. Create an output directory
+# --------------------------------------------------
+output_dir = Path(file_name.split(".")[0])
+output_dir.mkdir(exist_ok=True)
+
+
+# --------------------------------------------------
+# 3. Use the same colour scale for every z-plane
+# --------------------------------------------------
+df = rate_res_sort
+value_min = df["ik_success_rate"].min()
+value_max = df["ik_success_rate"].max()
+
+# More levels give a smoother-looking contour plot.
+levels = np.linspace(value_min, value_max, 51)
+
+
+# --------------------------------------------------
+# 4. Draw one contour plot for each z-plane
+# --------------------------------------------------
+for z_value, plane in df.groupby("z", sort=True):
+
+    # Rows become y-coordinates, columns become x-coordinates.
+    grid = plane.pivot(index="y", columns="x", values="ik_success_rate")
+
+    x = grid.columns.to_numpy()
+    y = grid.index.to_numpy()
+    ik_grid = grid.to_numpy()
+
+    X, Y = np.meshgrid(x, y)
+
+    fig, ax = plt.subplots(figsize=(7, 6))
+
+    contour = ax.contourf(
+        X,
+        Y,
+        ik_grid,
+        levels=levels,
+        cmap="viridis",
+        extend="both",
+    )
+
+    highlight_levels = [0.6, 0.7]
+    # Only plot if the levels are within the data range (optional)
+    if value_min <= 0.6 <= value_max or value_min <= 0.7 <= value_max:
+        lines = ax.contour(X, Y, ik_grid, levels=highlight_levels,
+                           colors='red', linewidths=2, linestyles='solid')
+        # Optionally label the lines
+        ax.clabel(lines, inline=True, fontsize=10, fmt='%1.1f')
+
+
+    colorbar = fig.colorbar(contour, ax=ax)
+    colorbar.set_label("IK rate")
+
+    ax.set_title(f"IK rate at z = {z_value:.2f}")
+    ax.set_xlabel("x")
+    ax.set_ylabel("y")
+    ax.set_aspect("equal")
+
+    fig.tight_layout()
+
+    output_path = output_dir / f"ik_contour_z_{z_value:.2f}.png"
+    fig.savefig(output_path, dpi=200, bbox_inches="tight")
+    plt.close(fig)
+
+print(f"Plots saved to: {output_dir.resolve()}")

kine_ctrl/workspace_comfortable/Contour_plot_no_header.py

@@ -0,0 +1,109 @@
+from pathlib import Path
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+
+
+# --------------------------------------------------
+# 1. Load the data
+# --------------------------------------------------
+file_name = "workspace minisci collision.csv"
+csv_path = Path(file_name)
+
+# The file has no column names, so header=None is important.
+df_csv = pd.read_csv(
+    csv_path,
+    header=None,                     # the file has no header row
+    names=['x', 'y', 'z', 'ik_success_rate']   # assign names
+)
+
+rate_res = df_csv.iloc[:, :4]
+try:
+    rate_res_sort = rate_res.sort_values('z').reset_index(drop=True)
+except:
+    rate_res_sort = rate_res
+
+DECIMALS = 4
+
+try:
+    x_unique = np.round(rate_res_sort['x'], DECIMALS).unique()
+    y_unique = np.round(rate_res_sort['y'], DECIMALS).unique()
+    z_unique = np.round(rate_res_sort['z'], DECIMALS).unique()
+except:
+    x_unique = np.round(rate_res_sort.iloc[:,0], DECIMALS).unique()
+    y_unique = np.round(rate_res_sort.iloc[:, 1], DECIMALS).unique()
+    z_unique = np.round(rate_res_sort.iloc[:, 2], DECIMALS).unique()
+
+nx, ny, nz = len(x_unique), len(y_unique), len(z_unique)
+
+
+ik_rates = rate_res_sort.to_numpy()
+
+# --------------------------------------------------
+# 2. Create an output directory
+# --------------------------------------------------
+output_dir = Path(file_name.split(".")[0])
+output_dir.mkdir(exist_ok=True)
+
+
+# --------------------------------------------------
+# 3. Use the same colour scale for every z-plane
+# --------------------------------------------------
+df = rate_res_sort
+value_min = df["ik_success_rate"].min()
+value_max = df["ik_success_rate"].max()
+
+# More levels give a smoother-looking contour plot.
+levels = np.linspace(value_min, value_max, 51)
+
+
+# --------------------------------------------------
+# 4. Draw one contour plot for each z-plane
+# --------------------------------------------------
+for z_value, plane in df.groupby("z", sort=True):
+
+    # Rows become y-coordinates, columns become x-coordinates.
+    grid = plane.pivot(index="y", columns="x", values="ik_success_rate")
+
+    x = grid.columns.to_numpy()
+    y = grid.index.to_numpy()
+    ik_grid = grid.to_numpy()
+
+    X, Y = np.meshgrid(x, y)
+
+    fig, ax = plt.subplots(figsize=(7, 6))
+
+    contour = ax.contourf(
+        X,
+        Y,
+        ik_grid,
+        levels=levels,
+        cmap="viridis",
+        extend="both",
+    )
+
+    highlight_levels = [0.6, 0.7]
+    # Only plot if the levels are within the data range (optional)
+    if value_min <= 0.6 <= value_max or value_min <= 0.7 <= value_max:
+        lines = ax.contour(X, Y, ik_grid, levels=highlight_levels,
+                           colors='red', linewidths=2, linestyles='solid')
+        # Optionally label the lines
+        ax.clabel(lines, inline=True, fontsize=10, fmt='%1.1f')
+
+
+    colorbar = fig.colorbar(contour, ax=ax)
+    colorbar.set_label("IK rate")
+
+    ax.set_title(f"IK rate at z = {z_value:.2f}")
+    ax.set_xlabel("x")
+    ax.set_ylabel("y")
+    ax.set_aspect("equal")
+
+    fig.tight_layout()
+
+    output_path = output_dir / f"ik_contour_z_{z_value:.2f}.png"
+    fig.savefig(output_path, dpi=200, bbox_inches="tight")
+    plt.close(fig)
+
+print(f"Plots saved to: {output_dir.resolve()}")

kine_ctrl/workspace_comfortable/workspace_cal.py

@@ -3,7 +3,7 @@ RM75-B comfortable workspace evaluator.
 
 You provide:
     - URDF file path '/home/zl/Downloads/urdf_rm75/RM75-B.urdf'
-    - your own IK solver inside solve_ik_user()
+    - your own IK solver inside solve_ik()
 
 This script computes:
     - IK success rate
@@ -47,6 +47,38 @@ from Robotic_Arm.rm_robot_interface import *
 import time
 from math import radians, degrees, pi, cos, sin
 
+# Cartesian workspace grid, in meters.
+# Adjust according to your robot placement and task.
+X_RANGE = (-0.7, 0.7)
+Y_RANGE = (-0.7, 0.7)
+Z_RANGE = (-0.10, 0.8)
+
+GRID_RESOLUTION = 0.05  # 5 cm. Use 0.02 for finer but slower.
+
+num_orientations =  120
+
+tool_name = "scissor"
+
+
+
+URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-SCI.urdf'
+
+output_csv = "workspace"  + tool_name + URDF_PATH.split('/')[-1].split('.')[0] + ".csv"
+
+
+# Comfort thresholds
+MIN_JOINT_MARGIN = 0.05       # 15% away from joint limits
+MAX_CONDITION_NUMBER = 150.0
+MIN_MANIPULABILITY_RATIO = 0.10
+
+# Scoring weights
+WEIGHT_IK_SUCCESS = 0.70
+WEIGHT_JOINT_LIMIT = 0.10
+WEIGHT_MANIPULABILITY = 0.1
+WEIGHT_SINGULARITY = 0.1
+
+
+
 
 #   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
@@ -54,6 +86,7 @@ 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),
     '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),
+    '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),
 }
 
@@ -65,10 +98,11 @@ tools_in_ee = {
 ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
 lb = -ub
 
-tool_name = "no_tool"
+
+MESH_DIR = str(Path(URDF_PATH).parent)
 
 #  -----------      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, tcps=["scissor_tcp", "camera_tcp"])
 robot_kine_qp.add_tool_frames(tools_in_ee)
 robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
 
@@ -83,7 +117,7 @@ robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
 # 1. USER SETTINGS
 # ============================================================
 
-URDF_PATH = '/home/zl/Downloads/urdf_rm75/RM75-B.urdf'
+
 
 BASE_LINK = "base_link"
 TCP_LINK = "link_7"
@@ -98,24 +132,7 @@ JOINT_NAMES = [
     "joint_7",
 ]
 
-# Cartesian workspace grid, in meters.
-# Adjust according to your robot placement and task.
-X_RANGE = (-0.25, 0.6)
-Y_RANGE = (-0.25, 0.6)
-Z_RANGE = (0.1, 0.6)
 
-GRID_RESOLUTION = 0.1  # 5 cm. Use 0.02 for finer but slower.
-
-# Comfort thresholds
-MIN_JOINT_MARGIN = 0.05       # 15% away from joint limits
-MAX_CONDITION_NUMBER = 150.0
-MIN_MANIPULABILITY_RATIO = 0.10
-
-# Scoring weights
-WEIGHT_IK_SUCCESS = 0.70
-WEIGHT_JOINT_LIMIT = 0.10
-WEIGHT_MANIPULABILITY = 0.1
-WEIGHT_SINGULARITY = 0.1
 
 # Numerical Jacobian settings
 JACOBIAN_EPS = 1e-5
@@ -126,7 +143,7 @@ JACOBIAN_EPS = 1e-5
 # 2. TASK ORIENTATION SAMPLING
 # ============================================================
 
-def make_task_orientations(num_orientations=60, seed=1):
+def make_task_orientations(num_orientations=num_orientations, seed=1):
     """
     Random orientation sampling using RM's Euler convention:
 
@@ -150,40 +167,12 @@ def make_task_orientations(num_orientations=60, seed=1):
 
     return orientations
 
-#
-# def euler_angles_to_rotation_matrix(rx, ry, rz):
-#     """
-#     Official RM convention:
-#         R = Rz @ Ry @ Rx
-#     This matches scipy:
-#         Rotation.from_euler("xyz", [rx, ry, rz]).as_matrix()
-#     """
-#     Rx = np.array([
-#         [1, 0, 0],
-#         [0, np.cos(rx), -np.sin(rx)],
-#         [0, np.sin(rx),  np.cos(rx)]
-#     ])
-#
-#     Ry = np.array([
-#         [ np.cos(ry), 0, np.sin(ry)],
-#         [0,           1, 0],
-#         [-np.sin(ry), 0, np.cos(ry)]
-#     ])
-#
-#     Rz = np.array([
-#         [np.cos(rz), -np.sin(rz), 0],
-#         [np.sin(rz),  np.cos(rz), 0],
-#         [0,           0,          1]
-#     ])
-#
-#     return Rz @ Ry @ Rx
-
 
 # ============================================================
-# 3. YOUR IK FUNCTION GOES HERE
+# 3.  IK FUNCTION GOES HERE
 # ============================================================
 
-def solve_ik_user(target_position, target_rotation):
+def solve_ik(target_position, target_rotation):
     """
     Replace this function with your own IK solver.
 
@@ -215,20 +204,19 @@ def solve_ik_user(target_position, target_rotation):
         [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7]
     """
 
-    # ========================================================
-    # INSERT YOUR IK CODE HERE
-    # ========================================================
     initial_guess = [0.1] * 7
 
     ret_qp, q = robot_kine_qp.inverse_kinematics(target_position=target_position, target_rpy=target_rotation, initial_guess=initial_guess, tool=tool_name, max_iter=250)
     # print(f'---- with qp ik, ret_qp: {ret_qp}, q = {q}')
     if ret_qp == 0:
+        if not robot_kine_qp.collision_detect(q,stop_at_first_collision=True, verbose=True):
             return q
 
 
     ret_rm, q = robot_kine_rm.inverse_kinematics(target_position=target_position, target_rpy=target_rotation, initial_guess=initial_guess, tool=tool_name)
     # print(f'==== with rm ik, ret_rm: {ret_rm}, q = {q}')
     if ret_rm == 0:
+        if not robot_kine_qp.collision_detect(q, stop_at_first_collision=True, verbose=True):
             return q
 
 
@@ -547,20 +535,20 @@ def evaluate_workspace():
         for rpy in orientations:
             attempted += 1
 
-            # print(f"\n - target point: {point}, target orientation: {rpy}")
 
-            ik_result = solve_ik_user(point, rpy)
+            ik_result = solve_ik(point, rpy)
+
+            # print(f'\n point is {point}, rpy is {rpy}, and ik result q: {ik_result}')
             candidate_solutions = normalize_ik_solutions(ik_result)
 
-
-
-
             if len(candidate_solutions) == 0:
                 continue
 
             evaluated_solutions = []
 
             for q in candidate_solutions:
+                # pose = robot_kine_qp.forward_kinematics(joint_angles=q, tool=tool_name)
+                # print(f'the fk of q is {pose}\n')
                 metrics = evaluate_single_solution(robot, q, lower, upper)
                 # print(f'matrics: {metrics}, q = {q}, lower = {lower}, upper = {upper}')
                 if metrics is not None:
@@ -721,7 +709,6 @@ def plot_comfortable_only(df):
 if __name__ == "__main__":
     df = evaluate_workspace()
 
-    output_csv = "rm75b_comfort_workspace.csv"
     df.to_csv(output_csv, index=False)
 
     print(f"\nSaved result to: {output_csv}")