ZhongyuWang-cart/IK_qp
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start to adjust to ready-to-use class

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LiuzhengSJ
2026-06-22 13:29:58 +01:00
parent 2ca5033b46
commit 6c8a335e1d
4 changed files with 28 additions and 51 deletions
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8
kine_ctrl/main.py
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@ -32,11 +32,11 @@ def main():
if True:
# ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])
# lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0])
ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])/180*pi
lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0])/180*pi
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
lb = -ub
# ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
# lb = -ub
robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)