 LiuzhengSJ
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e001f2e1f1
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add ik q_solved refinement function, to make it as close as possible to last_q.
update the rm75_kine_rm.py to included a series of arm-angle for inverse kinematics calculation.
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2026-07-30 15:28:14 +01:00 |
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LiuzhengSJ
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ace5dea9a2
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add collision detection in workspace cal
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2026-07-29 11:30:32 +01:00 |
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LiuzhengSJ
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9849466430
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add collision detection
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2026-07-28 22:41:35 +01:00 |
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LiuzhengSJ
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9513dfa4ce
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add urdf file, scissor included.
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2026-07-28 16:06:21 +01:00 |
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LiuzhengSJ
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58e84c6a33
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add collision detection
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2026-07-13 14:54:33 +01:00 |
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LiuzhengSJ
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7246710a7d
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1. add q_mid and mid weight, making the joint prefer to stay at the middle of joint range.
2. add dq_limit weight, making the last several joints move more proactively.
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2026-07-01 15:42:21 +01:00 |
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LiuzhengSJ
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58452bce90
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start to adjust to ready-to-use class
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2026-06-22 13:53:12 +01:00 |
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LiuzhengSJ
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6c8a335e1d
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start to adjust to ready-to-use class
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2026-06-22 13:29:58 +01:00 |
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LiuzhengSJ
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2ca5033b46
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add urdf files.
aligh the function parameter names of qp and rm methods
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2026-06-05 15:25:35 +01:00 |
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LiuzhengSJ
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48453fa5c8
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compare the qp ik and rm ik with joint limits
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2026-06-04 21:55:35 +01:00 |
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LiuzhengSJ
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cee1a191ea
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compare the qp ik and rm ik
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2026-06-04 17:11:02 +01:00 |
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LiuzhengSJ
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f10152fc29
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correct the w_posture
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2026-06-04 14:31:29 +01:00 |
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LiuzhengSJ
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c0458f0e12
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run correctly
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2026-06-03 21:40:01 +01:00 |
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LiuzhengSJ
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0bed2f87f4
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wrong, not converged
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2026-06-03 21:14:34 +01:00 |
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LiuzhengSJ
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fb64f3c73a
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refine qp based controller
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2026-06-03 20:15:48 +01:00 |
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LiuzhengSJ
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99ba1786b0
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description update
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2026-06-01 22:30:08 +01:00 |
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