ZhongyuWang-cart/IK_qp
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add urdf file, scissor included.

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LiuzhengSJ
2026-07-28 16:06:21 +01:00
parent e1d833812b
commit 9513dfa4ce
6 changed files with 1068 additions and 5 deletions
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kine_ctrl/main.py
+4 -1
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@@ -43,10 +43,13 @@ def main():
# ----------- rm75 qp based kine ------------
robot_kine_qp = kine_qp(urdf_path='./urdf_rm75/RM75-B.urdf', mesh_dir='./urdf_rm75')
robot_kine_qp = kine_qp(urdf_path='./urdf_rm75/RM75-SCI.urdf', mesh_dir='./urdf_rm75')
robot_kine_qp.add_tool_frames(tools_in_ee)
robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True)
fp = robot_kine_qp.forward_kinematics(np.zeros(7))
print(f'forward kine res = {fp}')
# ---------- rm75 official algorithm -----------
robot_kine_rm = kine_rm()
robot_kine_rm.add_tool_frames(tools_in_ee)