From 0c121a74252fd35d66f39c77f7c77357304eec98 Mon Sep 17 00:00:00 2001 From: LiuzhengSJ Date: Thu, 30 Jul 2026 15:41:10 +0100 Subject: [PATCH] In qp inverse kinematic file, the tool frames self.tcps is defined as [] if not given a value. --- kine_ctrl/rm75_kine_qp.py | 2 +- kine_ctrl/workspace_comfortable/workspace_cal.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/kine_ctrl/rm75_kine_qp.py b/kine_ctrl/rm75_kine_qp.py index b771d6f..8e53265 100644 --- a/kine_ctrl/rm75_kine_qp.py +++ b/kine_ctrl/rm75_kine_qp.py @@ -138,7 +138,7 @@ class KinematicsSolver(): ) if tcps is None: - pass + self.tcps = [] else: self.tcps = tcps self.tcp_ids = [] diff --git a/kine_ctrl/workspace_comfortable/workspace_cal.py b/kine_ctrl/workspace_comfortable/workspace_cal.py index eeeb446..3bfa062 100644 --- a/kine_ctrl/workspace_comfortable/workspace_cal.py +++ b/kine_ctrl/workspace_comfortable/workspace_cal.py @@ -102,7 +102,7 @@ lb = -ub MESH_DIR = str(Path(URDF_PATH).parent) # ----------- rm75 qp based kine ------------ -robot_kine_qp = kine_qp(urdf_path=URDF_PATH, mesh_dir=MESH_DIR) +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)