From 74d1623b8ab60d07efe942efa108346f6a2f781a Mon Sep 17 00:00:00 2001 From: LiuzhengSJ Date: Mon, 6 Jul 2026 12:05:44 +0100 Subject: [PATCH] update the path --- kine_ctrl/workspace_comfortable/workspace_cal.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/kine_ctrl/workspace_comfortable/workspace_cal.py b/kine_ctrl/workspace_comfortable/workspace_cal.py index c287012..6a56df1 100644 --- a/kine_ctrl/workspace_comfortable/workspace_cal.py +++ b/kine_ctrl/workspace_comfortable/workspace_cal.py @@ -53,7 +53,7 @@ X_RANGE = (-0.6, 0.6) Y_RANGE = (-0.6, 0.6) Z_RANGE = (0.0, 0.8) -GRID_RESOLUTION = 0.025 # 5 cm. Use 0.02 for finer but slower. +GRID_RESOLUTION = 0.3 # 5 cm. Use 0.02 for finer but slower. # Comfort thresholds MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits @@ -88,8 +88,11 @@ lb = -ub tool_name = "no_tool" +URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf' +MESH_DIR = str(Path(URDF_PATH).parent) + # ----------- 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_PATH, mesh_dir=MESH_DIR) robot_kine_qp.add_tool_frames(tools_in_ee) robot_kine_qp.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True) @@ -104,7 +107,7 @@ robot_kine_rm.cfg_j_limit(min_j=lb, max_j=ub, rad_flag=True) # 1. USER SETTINGS # ============================================================ -URDF_PATH = '/home/zl/Downloads/urdf_rm75/RM75-B.urdf' + BASE_LINK = "base_link" TCP_LINK = "link_7"