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compare the qp ik and rm ik with joint limits

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LiuzhengSJ
2026-06-04 21:55:35 +01:00
parent cee1a191ea
commit 48453fa5c8
3 changed files with 41 additions and 20 deletions
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kine_ctrl/rm75_kine_qp.py
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@ -92,10 +92,10 @@ class KinematicsSolver():
# Joint limits (radians) - expanded for better reachability
self.lower_limits = np.array([
-3.14159, -2.2689, -3.14159, -2.3562, -3.14159, -2.234, -3.14159
-3.14159, -2.2689, -3.14159, -2.3562, -3.14159, -2.234, -6.14159
])
self.upper_limits = np.array([
3.14159, 2.2689, 3.14159, 2.3562, 3.14159, 2.234, 3.14159
3.14159, 2.2689, 3.14159, 2.3562, 3.14159, 2.234, 6.14159
])
# Set joint limits in the model