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add test files for the rm75 kinematics class.

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LiuzhengSJ
2026-08-05 14:10:06 +01:00
parent d86438115f
commit 2e25951bc0
3 changed files with 90 additions and 1 deletions
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kine_ctrl/rm75_kine/rm75_kine_rm.py
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@@ -99,7 +99,6 @@ class rm75_kine_api():
if work != self.work_name:
self.work_name = work
self.cfg_work_frame(work)
print(joint_angles)
return self.robot_kine_rm.rm_algo_forward_kinematics(joint=[float(q_s)*180.0/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", step_arm_angle = 15.0):