ZhongyuWang-cart/IK_qp
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compare the qp ik and rm ik

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LiuzhengSJ
2026-06-04 17:11:02 +01:00
parent f10152fc29
commit cee1a191ea
3 changed files with 102 additions and 75 deletions
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5
kine_ctrl/rm75_kine_rm.py
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@ -1,6 +1,7 @@
from Robotic_Arm.rm_robot_interface import *
import numpy as np
import math
class rm75_kine_api():
def __init__(self):
@ -26,11 +27,11 @@ class rm75_kine_api():
def cfg_limit(self):
joint_max_limit = np.array([
3.14159, 2.2689, 3.14159, 2.3562, 3.14159, 2.234, 3.14159
]) * 57
]) * 180 / math.pi
self.robot_kine_rm.rm_algo_set_joint_max_limit(joint_max_limit.tolist())
joint_min_limit = np.array([
-3.14159, -2.2689, -3.14159, -2.3562, -3.14159, -2.234, -3.14159
]) * 57
]) * 180 / math.pi
self.robot_kine_rm.rm_algo_set_joint_min_limit(joint_min_limit.tolist())
def cfg_work_frame(self , frame_name):