In qp inverse kinematic file, the tool frames self.tcps is defined as [] if not given a value.

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 = []

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)