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after calculation

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emboddied
2026-07-10 16:55:08 +08:00
parent 74d1623b8a
commit 75ba51c609
2 changed files with 10630 additions and 2 deletions
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10626
kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv Normal file
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kine_ctrl/workspace_comfortable/workspace_cal.py
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@ -53,7 +53,9 @@ X_RANGE = (-0.6, 0.6)
Y_RANGE = (-0.6, 0.6)
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
MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits
@ -133,7 +135,7 @@ JACOBIAN_EPS = 1e-5
# 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: