the scissor stl file is added.

kine_ctrl/main.py

@@ -8,6 +8,10 @@ from rm75_kine_rm import rm75_kine_api as kine_rm
 from rm75_mjc import MuJoCoPositionController
 from Robotic_Arm.rm_robot_interface import *
 
+import os
+cwd = os.getcwd()
+
+
 import time
 from math import radians, degrees, pi, cos, sin
 import numpy as np
@@ -35,11 +39,11 @@ def main():
     """Demonstrate pure position control"""
 
     # Create controller
-    robot_mjk = MuJoCoPositionController()
+    robot_mjk = MuJoCoPositionController(urdf_path="./urdf_rm75/RM75-SCI.urdf")
 
 
     #  -----------      rm75 qp based kine          ------------
-    robot_kine_qp = kine_qp(urdf_path='/home/zl/Downloads/urdf_rm75/RM75-B.urdf', mesh_dir='/home/zl/Downloads/urdf_rm75')
+    robot_kine_qp = kine_qp(urdf_path='./urdf_rm75/RM75-B.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)
 
@@ -100,8 +104,8 @@ def main():
                 if d_p_ik < 0.01:
                     result[0][1] += 1
 
-                while 1:
-                    time.sleep(1)
+                # while 1:
+                #     time.sleep(1)
 
                 robot_mjk.send_command(q)
                 robot_mjk.wait_until_reached()