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code for virtical sci

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emboddied
2026-07-27 21:59:54 +08:00
parent 579abe6b67
commit 5cac8c5a73
2 changed files with 15982 additions and 2 deletions
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kine_ctrl/workspace_comfortable/rm75b_comfort_workspace_v_minis_collision.csv
+15980
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kine_ctrl/workspace_comfortable/workspace_cal.py
+2 -2
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@@ -89,7 +89,7 @@ tools_in_ee = {
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
lb = -ub lb = -ub
tool_name = "minisci" tool_name = "v_minis"
URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf' URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
MESH_DIR = str(Path(URDF_PATH).parent) MESH_DIR = str(Path(URDF_PATH).parent)
@@ -733,7 +733,7 @@ def plot_comfortable_only(df):
if __name__ == "__main__": if __name__ == "__main__":
df = evaluate_workspace() df = evaluate_workspace()
output_csv = "rm75b_comfort_workspace.csv" output_csv = "rm75b_comfort_workspace_v_minis_collision.csv"
df.to_csv(output_csv, index=False) df.to_csv(output_csv, index=False)
print(f"\nSaved result to: {output_csv}") print(f"\nSaved result to: {output_csv}")