diff --git a/README.md b/README.md index a1dcdc8..061e78a 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ ### This repo is for inverse kinematics and verification -In this branch, the **integrated** inverse kinematics method is packed as a python class. +In this branch, the **integrated** inverse kinematics method is packed into one python class **rm75_kinematics** in ``rm75_kinematics.py``. The user can call it as in `test1.py`, `test2.py`. diff --git a/kine_ctrl/fix_robotics_env.sh b/fix_robotics_env.sh similarity index 100% rename from kine_ctrl/fix_robotics_env.sh rename to fix_robotics_env.sh diff --git a/kine_ctrl/req.txt b/req.txt similarity index 100% rename from kine_ctrl/req.txt rename to req.txt diff --git a/kine_ctrl/rm75_kinematics.py b/rm75_kinematics.py similarity index 100% rename from kine_ctrl/rm75_kinematics.py rename to rm75_kinematics.py diff --git a/kine_ctrl/test1.py b/test1.py similarity index 91% rename from kine_ctrl/test1.py rename to test1.py index ad9325d..ce99d17 100644 --- a/kine_ctrl/test1.py +++ b/test1.py @@ -28,8 +28,8 @@ def main(): # Create controller - robot_kine = rm75_kinematics(urdf_path='./urdf_rm75/RM75-SCI.urdf',mesh_dir='./urdf_rm75', - tcps=["scissor_tcp", "camera_tcp"],tools_in_ee=tools_in_ee,min_j=lb, max_j=ub) + robot_kine = rm75_kinematics(urdf_path='urdf_rm75/RM75-SCI.urdf', mesh_dir='urdf_rm75', + tcps=["scissor_tcp", "camera_tcp"], tools_in_ee=tools_in_ee, min_j=lb, max_j=ub) ret_ik, q = robot_kine.get_ik_result(target_position=[0.2, -0.2 , 0.5 ], target_rpy=[0.2022060487764064, -0.0097962261845583, -0.6518417572686532], initial_guess=[0.1] * 7, tool=tool_name) diff --git a/kine_ctrl/test2.py b/test2.py similarity index 95% rename from kine_ctrl/test2.py rename to test2.py index a8bd566..652fb09 100644 --- a/kine_ctrl/test2.py +++ b/test2.py @@ -28,8 +28,8 @@ def main(): # Create controller - robot_kine = rm75_kinematics(urdf_path='./urdf_rm75/RM75-SCI.urdf',mesh_dir='./urdf_rm75', - tcps=["scissor_tcp", "camera_tcp"],tools_in_ee=tools_in_ee,min_j=lb, max_j=ub) + robot_kine = rm75_kinematics(urdf_path='urdf_rm75/RM75-SCI.urdf', mesh_dir='urdf_rm75', + tcps=["scissor_tcp", "camera_tcp"], tools_in_ee=tools_in_ee, min_j=lb, max_j=ub) ret_ik, q = robot_kine.get_ik_result(target_position=[0.2, -0.2 , 0.5 ], target_rpy=[0.2022060487764064, -0.0097962261845583, -0.6518417572686532], initial_guess=[0.1] * 7, tool=tool_name) diff --git a/kine_ctrl/urdf_rm75/Dual_arm.urdf b/urdf_rm75/Dual_arm.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/Dual_arm.urdf rename to urdf_rm75/Dual_arm.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-B.csv b/urdf_rm75/RM75-B.csv similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-B.csv rename to urdf_rm75/RM75-B.csv diff --git a/kine_ctrl/urdf_rm75/RM75-B.urdf b/urdf_rm75/RM75-B.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-B.urdf rename to urdf_rm75/RM75-B.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf b/urdf_rm75/RM75-OmniPicker.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf rename to urdf_rm75/RM75-OmniPicker.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-SCI-V1.urdf b/urdf_rm75/RM75-SCI-V1.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-SCI-V1.urdf rename to urdf_rm75/RM75-SCI-V1.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-SCI-V2.urdf b/urdf_rm75/RM75-SCI-V2.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-SCI-V2.urdf rename to urdf_rm75/RM75-SCI-V2.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-SCI.urdf b/urdf_rm75/RM75-SCI.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-SCI.urdf rename to urdf_rm75/RM75-SCI.urdf diff --git a/kine_ctrl/urdf_rm75/RM75-newSCI.urdf b/urdf_rm75/RM75-newSCI.urdf similarity index 100% rename from kine_ctrl/urdf_rm75/RM75-newSCI.urdf rename to urdf_rm75/RM75-newSCI.urdf diff --git a/kine_ctrl/urdf_rm75/__init__.py b/urdf_rm75/__init__.py similarity index 100% rename from kine_ctrl/urdf_rm75/__init__.py rename to urdf_rm75/__init__.py diff --git a/kine_ctrl/urdf_rm75/meshes/OmniPic.stl b/urdf_rm75/meshes/OmniPic.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/OmniPic.stl rename to urdf_rm75/meshes/OmniPic.stl diff --git a/kine_ctrl/urdf_rm75/meshes/OmniPic_original.stl b/urdf_rm75/meshes/OmniPic_original.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/OmniPic_original.stl rename to urdf_rm75/meshes/OmniPic_original.stl diff --git a/kine_ctrl/urdf_rm75/meshes/base_link.STL b/urdf_rm75/meshes/base_link.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/base_link.STL rename to urdf_rm75/meshes/base_link.STL diff --git a/kine_ctrl/urdf_rm75/meshes/dual_arm_base.stl b/urdf_rm75/meshes/dual_arm_base.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/dual_arm_base.stl rename to urdf_rm75/meshes/dual_arm_base.stl diff --git a/kine_ctrl/urdf_rm75/meshes/dual_arm_base_original.stl b/urdf_rm75/meshes/dual_arm_base_original.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/dual_arm_base_original.stl rename to urdf_rm75/meshes/dual_arm_base_original.stl diff --git a/kine_ctrl/urdf_rm75/meshes/link_1.STL b/urdf_rm75/meshes/link_1.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_1.STL rename to urdf_rm75/meshes/link_1.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_2.STL b/urdf_rm75/meshes/link_2.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_2.STL rename to urdf_rm75/meshes/link_2.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_3.STL b/urdf_rm75/meshes/link_3.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_3.STL rename to urdf_rm75/meshes/link_3.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_4.STL b/urdf_rm75/meshes/link_4.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_4.STL rename to urdf_rm75/meshes/link_4.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_5.STL b/urdf_rm75/meshes/link_5.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_5.STL rename to urdf_rm75/meshes/link_5.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_6.STL b/urdf_rm75/meshes/link_6.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_6.STL rename to urdf_rm75/meshes/link_6.STL diff --git a/kine_ctrl/urdf_rm75/meshes/link_7.STL b/urdf_rm75/meshes/link_7.STL similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/link_7.STL rename to urdf_rm75/meshes/link_7.STL diff --git a/kine_ctrl/urdf_rm75/meshes/mini_scissor.stl b/urdf_rm75/meshes/mini_scissor.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/mini_scissor.stl rename to urdf_rm75/meshes/mini_scissor.stl diff --git a/kine_ctrl/urdf_rm75/meshes/scissor.stl b/urdf_rm75/meshes/scissor.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/scissor.stl rename to urdf_rm75/meshes/scissor.stl diff --git a/kine_ctrl/urdf_rm75/meshes/scissor_original.stl b/urdf_rm75/meshes/scissor_original.stl similarity index 100% rename from kine_ctrl/urdf_rm75/meshes/scissor_original.stl rename to urdf_rm75/meshes/scissor_original.stl