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rm75_kinematics

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• 922da6181b RM75-SCI scissor collision_detect class_version emboddied 2026-08-06 17:19:04 +08:00
• d1e096cb3d delete unnecessary files. rm75_kinematics LiuzhengSJ 2026-08-05 16:14:39 +01:00
• 60eb37b0ed delete unnecessary files. LiuzhengSJ 2026-08-05 16:04:40 +01:00
• c0e181cc50 Integrate both method into one comprehensive file. LiuzhengSJ 2026-08-05 16:01:12 +01:00
• 2e25951bc0 add test files for the rm75 kinematics class. LiuzhengSJ 2026-08-05 14:10:06 +01:00
• 149a23c12c Merge remote-tracking branch 'origin/master' master LiuzhengSJ 2026-08-05 13:17:17 +01:00
• d86438115f the branch with concise robot kinematics class for rm75 LiuzhengSJ 2026-08-05 13:08:38 +01:00
• 8ff29b1cc9 add mini scissor stl file, as well as urdf file. modify the Dual_arm.urdf, in line with real arm installation. LiuzhengSJ 2026-07-31 16:08:17 +01:00
• 0c121a7425 In qp inverse kinematic file, the tool frames self.tcps is defined as [] if not given a value. LiuzhengSJ 2026-07-30 15:41:10 +01:00
• e001f2e1f1 add ik q_solved refinement function, to make it as close as possible to last_q. update the rm75_kine_rm.py to included a series of arm-angle for inverse kinematics calculation. LiuzhengSJ 2026-07-30 15:28:14 +01:00
• ace5dea9a2 add collision detection in workspace cal LiuzhengSJ 2026-07-29 11:30:32 +01:00
• 2713c54707 add collision detection in workspace cal LiuzhengSJ 2026-07-29 11:25:09 +01:00
• 9849466430 add collision detection LiuzhengSJ 2026-07-28 22:41:35 +01:00
• 86c40ee380 add urdf files, dual arm. LiuzhengSJ 2026-07-28 19:40:27 +01:00
• 9513dfa4ce add urdf file, scissor included. LiuzhengSJ 2026-07-28 16:06:21 +01:00
• e1d833812b the scissor stl file is added. LiuzhengSJ 2026-07-27 21:31:52 +01:00
• ceb80a8b17 the scissor stl file is added. LiuzhengSJ 2026-07-27 20:34:02 +01:00
• d1080638c1 Merge remote-tracking branch 'origin/class_version' into class_version LiuzhengSJ 2026-07-27 15:15:11 +01:00
• 5cac8c5a73 code for virtical sci emboddied 2026-07-27 21:59:54 +08:00
• d0ca4d6115 update teh contour plot method LiuzhengSJ 2026-07-24 10:46:09 +01:00
• 579abe6b67 update teh contour plot method LiuzhengSJ 2026-07-22 11:41:55 +01:00
• 2bd6bf510f use the tool 'minisci' emboddied 2026-07-20 21:09:15 +08:00
• a58e1b9f59 with tool, expand the calculation space LiuzhengSJ 2026-07-18 21:45:24 +01:00
• 6a50db91a4 add vertical tool installation. LiuzhengSJ 2026-07-18 21:39:15 +01:00
• c6458248a7 collision detection ik emboddied 2026-07-15 16:32:18 +08:00
• 4add432f53 add collision detection LiuzhengSJ 2026-07-13 15:05:34 +01:00
• 58e84c6a33 add collision detection LiuzhengSJ 2026-07-13 14:54:33 +01:00
• 7050c93c84 Upload files to "kine_ctrl/workspace_comfortable" ZhengLiu-cart 2026-07-13 18:57:58 +08:00
• 6db8b2f254 Upload files to "kine_ctrl/workspace_comfortable" ZhengLiu-cart 2026-07-13 18:57:44 +08:00
• a5fb40d1a6 Upload files to "kine_ctrl/workspace_comfortable" ZhengLiu-cart 2026-07-13 18:57:11 +08:00
• 223b29f37d Upload files to "kine_ctrl/workspace_comfortable" ZhengLiu-cart 2026-07-13 18:56:17 +08:00
• cb51ecf2eb test_120Ori+0.05m emboddied 2026-07-13 16:27:35 +08:00
• 75ba51c609 after calculation emboddied 2026-07-10 16:55:08 +08:00
• 74d1623b8a update the path LiuzhengSJ 2026-07-06 12:05:44 +01:00
• b32199e316 add requirements.txt LiuzhengSJ 2026-07-06 11:41:13 +01:00
• e06e48f21b ik success bug identified. LiuzhengSJ 2026-07-06 11:10:35 +01:00
• fb414078f1 correct the rm official ik issue. out of workspace ik calculation may return ret = 0. in this version, the fk verification is done for double check its success. LiuzhengSJ 2026-07-03 20:13:05 +01:00
• 12ead6a191 add workspace reachability evaluation file. LiuzhengSJ 2026-07-03 15:13:42 +01:00
• 319c1765bc add workspace reachability evaluation file. LiuzhengSJ 2026-07-02 14:41:36 +01:00
• dfaeb95282 update readme LiuzhengSJ 2026-07-01 15:58:39 +01:00
• 7246710a7d 1. add q_mid and mid weight, making the joint prefer to stay at the middle of joint range. 2. add dq_limit weight, making the last several joints move more proactively. LiuzhengSJ 2026-07-01 15:42:21 +01:00
• 4b5eeccf7f Update README.md ZhengLiu-cart 2026-06-22 23:21:49 +08:00
• f1846ffe1e Example for using qp based ik with urdf, and realman official ik LiuzhengSJ 2026-06-22 16:19:24 +01:00
• 58452bce90 start to adjust to ready-to-use class LiuzhengSJ 2026-06-22 13:53:12 +01:00
• 6c8a335e1d start to adjust to ready-to-use class LiuzhengSJ 2026-06-22 13:29:58 +01:00
• 377a676863 Update README.md ZhengLiu-cart 2026-06-14 04:17:40 +08:00
• 9db480c474 Upload files to "img" ZhengLiu-cart 2026-06-14 04:13:40 +08:00
• 3a8aecbf71 Update README.md ZhengLiu-cart 2026-06-09 17:28:57 +08:00
• 7c8beaa3b9 Upload files to "kine_ctrl/visual/mjc_ik_test1" ZhengLiu-cart 2026-06-09 17:23:17 +08:00
• 2ca5033b46 add urdf files. aligh the function parameter names of qp and rm methods LiuzhengSJ 2026-06-05 15:25:35 +01:00
• aefc7bacd5 update the mjc function names LiuzhengSJ 2026-06-05 10:23:02 +01:00
• ddbbb1746e update the comparison results. LiuzhengSJ 2026-06-05 09:56:33 +01:00
• 48453fa5c8 compare the qp ik and rm ik with joint limits LiuzhengSJ 2026-06-04 21:55:35 +01:00
• cee1a191ea compare the qp ik and rm ik LiuzhengSJ 2026-06-04 17:11:02 +01:00
• f10152fc29 correct the w_posture LiuzhengSJ 2026-06-04 14:31:29 +01:00
• c0458f0e12 run correctly LiuzhengSJ 2026-06-03 21:40:01 +01:00
• 0bed2f87f4 wrong, not converged LiuzhengSJ 2026-06-03 21:14:34 +01:00
• fb64f3c73a refine qp based controller LiuzhengSJ 2026-06-03 20:15:48 +01:00
• 3febe65b6a integrate official rm ik, and qp based ik, with mujoco LiuzhengSJ 2026-06-02 22:24:43 +01:00
• 99ba1786b0 description update LiuzhengSJ 2026-06-01 22:30:08 +01:00
• adafb13084 README LiuzhengSJ 2026-06-01 22:16:25 +01:00
• fc92989fe3 add pin LiuzhengSJ 2026-06-01 22:08:44 +01:00
• 31f64949e2 test pin for ik, and mujoco LiuzhengSJ 2026-06-01 22:04:49 +01:00
• 84c2ba321d try mujoco LiuzhengSJ 2026-05-29 15:35:54 +01:00
• a8a10728bc try mujoco3 LiuzhengSJ 2026-05-29 15:32:12 +01:00
• c23b5d0d6d try mujoco2 LiuzhengSJ 2026-05-29 14:21:03 +01:00
• 8363b3fa6d try mujoco LiuzhengSJ 2026-05-29 13:34:59 +01:00
• d3d5040ecc test qp based inverse kinematics LiuzhengSJ 2026-05-26 16:20:24 +01:00