add urdf file, scissor included.

2026-07-28 16:06:21 +01:00
parent e1d833812b
commit 9513dfa4ce
6 changed files with 1068 additions and 5 deletions
@@ -71,6 +71,13 @@ class KinematicsSolver():
            0.3, 0.3, 0.2
        ])

+        self.scissor_frame_id = self.model.getFrameId("scissor_tcp")
+        self.camera_frame_id = self.model.getFrameId("camera_tcp")
+
+
+
+
+
    def add_frame(self,frame_name, position, rotationXYZ):
        '''
        :param frame_name:  str
@@ -135,7 +142,8 @@ class KinematicsSolver():
        pin.updateFramePlacements(self.model, self.data)

        # Get frame transform
-        frame_id = self.tool_frames[tool]
+        # frame_id = self.tool_frames[tool]
+        frame_id = self.scissor_frame_id
        frame_transform = self.data.oMf[frame_id]

        # Extract results