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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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kine_ctrl/rm75_kine_rm.py
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@ -16,7 +16,7 @@ class rm75_kine_api():
self.tool_frames = {
'ee': rm_frame_t(frame_name="ee", pose=(0.0, 0.0, 0.0, 0.0, 0, 0.0), payload=1, x=0, y=0, z=0),
'scissor': rm_frame_t(frame_name="scissor", pose=(0.0, 0.0, 0.144, 0.0, 0, 0.0), payload=1, x=0, y=0, z=72),
'scissor': rm_frame_t(frame_name="scissor", pose=(0.0, 0.0, 0.19, 0.0, 0, 0.0), payload=1, x=0, y=0, z=72),
'camera': rm_frame_t(frame_name="camera", pose=(0.05, 0.02, 0.10, -1.57, 0, -1.57), payload=1, x=0, y=0, z=72)
}
self.work_frames = {