ZhengLiu-cart/IK_qp
2
1
Fork 1
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

after calculation

Browse Source
This commit is contained in:
emboddied
2026-07-10 16:55:08 +08:00
parent 74d1623b8a
commit 75ba51c609
2 changed files with 10630 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10626
kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv Normal file
View File

File diff suppressed because it is too large Load Diff

6
kine_ctrl/workspace_comfortable/workspace_cal.py
View File

@ -53,7 +53,9 @@ X_RANGE = (-0.6, 0.6)
Y_RANGE = (-0.6, 0.6) Y_RANGE = (-0.6, 0.6)
Z_RANGE = (0.0, 0.8) Z_RANGE = (0.0, 0.8)
GRID_RESOLUTION = 0.3 # 5 cm. Use 0.02 for finer but slower. GRID_RESOLUTION = 0.05 # 5 cm. Use 0.02 for finer but slower.
num_orientations = 120
# Comfort thresholds # Comfort thresholds
MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits
@ -133,7 +135,7 @@ JACOBIAN_EPS = 1e-5
# 2. TASK ORIENTATION SAMPLING # 2. TASK ORIENTATION SAMPLING
# ============================================================ # ============================================================
def make_task_orientations(num_orientations=200, seed=1): def make_task_orientations(num_orientations=num_orientations, seed=1):
""" """
Random orientation sampling using RM's Euler convention: Random orientation sampling using RM's Euler convention: