Compare commits
3
Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 LiuzhengSJ
|
ceb80a8b17 | ||
|
LiuzhengSJ
|
d1080638c1 | ||
|
LiuzhengSJ
|
d0ca4d6115 |
+6
-3
@@ -100,9 +100,12 @@ def main():
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||||
if d_p_ik < 0.01:
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||||
result[0][1] += 1
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||||
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||||
# robot_mjk.send_command(q)
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||||
# robot_mjk.wait_until_reached()
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# robot_mjk.print_state()
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while 1:
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time.sleep(1)
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robot_mjk.send_command(q)
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robot_mjk.wait_until_reached()
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robot_mjk.print_state()
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else:
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fk_qp_p2 = robot_kine_qp.forward_kinematics(q, tool=tool_name)
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d_p_ik = cal_pose_deviation(pose1=t_p, pose2=fk_qp_p2)
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||||
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||||
@@ -0,0 +1,496 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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||||
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
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||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="RM75-B">
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||||
<link
|
||||
name="base_link">
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||||
<inertial>
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||||
<origin
|
||||
xyz="0.00049987 5.2709E-05 0.060019"
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||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.862" />
|
||||
<inertia
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||||
ixx="0.0017232"
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||||
ixy="-3.1058E-06"
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||||
ixz="-3.7924E-05"
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||||
iyy="0.0017051"
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||||
iyz="1.3691E-06"
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||||
izz="0.00090158" />
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||||
</inertial>
|
||||
<visual>
|
||||
<origin
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||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
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||||
name="link_1">
|
||||
<inertial>
|
||||
<origin
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||||
xyz="0.000241 -0.013273 -0.00995"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.574" />
|
||||
<inertia
|
||||
ixx="0.002487573"
|
||||
ixy="0.000009663"
|
||||
ixz="-0.000007909"
|
||||
iyy="0.002321038"
|
||||
iyz="0.000179393"
|
||||
izz="0.001450554" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_1.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_1"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0.2405"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="link_1" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.106"
|
||||
upper="3.106"
|
||||
effort="60"
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||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000357 -0.106789 0.005329"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.217" />
|
||||
<inertia
|
||||
ixx="0.003494121"
|
||||
ixy="0.000002921"
|
||||
ixz="-0.000005613"
|
||||
iyy="0.000892721"
|
||||
iyz="-0.000583884"
|
||||
izz="0.003444080" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_2.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_2"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5708 0 0" />
|
||||
<parent
|
||||
link="link_1" />
|
||||
<child
|
||||
link="link_2" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-2.2689"
|
||||
upper="2.2689"
|
||||
effort="60"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000003 -0.01398 -0.011324"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.11" />
|
||||
<inertia
|
||||
ixx="0.001836663"
|
||||
ixy="0.000002259"
|
||||
ixz="-0.000004216"
|
||||
iyy="0.001498875"
|
||||
iyz="0.000037167"
|
||||
izz="0.001062545" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_3.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_3.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_3"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 -0.256 0"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="link_2" />
|
||||
<child
|
||||
link="link_3" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.106"
|
||||
upper="3.106"
|
||||
effort="30"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_4">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000005 -0.084658 0.004747"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.685" />
|
||||
<inertia
|
||||
ixx="0.001282444"
|
||||
ixy="-0.000000551"
|
||||
ixz="-0.000000630"
|
||||
iyy="0.000373013"
|
||||
iyz="-0.000232084"
|
||||
izz="0.001256177" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_4.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_4.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_4"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5708 0 0" />
|
||||
<parent
|
||||
link="link_3" />
|
||||
<child
|
||||
link="link_4" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-2.356"
|
||||
upper="2.356"
|
||||
effort="30"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_5">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000078 -0.012937 -0.008781"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.619" />
|
||||
<inertia
|
||||
ixx="0.000627336"
|
||||
ixy="0.000001636"
|
||||
ixz="-0.000001345"
|
||||
iyy="0.000542455"
|
||||
iyz="0.000034970"
|
||||
izz="0.000370291" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_5.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_5.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_5"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 -0.21 0"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="link_4" />
|
||||
<child
|
||||
link="link_5" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-3.106"
|
||||
upper="3.106"
|
||||
effort="10"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_6">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000014 -0.078524 0.002819"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.602" />
|
||||
<inertia
|
||||
ixx="0.000780774"
|
||||
ixy="-0.000000121"
|
||||
ixz="-0.000000469"
|
||||
iyy="0.000289973"
|
||||
iyz="-0.000120513"
|
||||
izz="0.000763955" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_6.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_6.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_6"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5708 0 0" />
|
||||
<parent
|
||||
link="link_5" />
|
||||
<child
|
||||
link="link_6" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-2.234"
|
||||
upper="2.234"
|
||||
effort="10"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<link
|
||||
name="link_7">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.001094 -0.000077 -0.010119"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.107" />
|
||||
<inertia
|
||||
ixx="0.000044123"
|
||||
ixy="-0.000000064"
|
||||
ixz="0.0000003"
|
||||
iyy="0.000035078"
|
||||
iyz="-0.000000029"
|
||||
izz="0.000065445" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_7.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/link_7.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint_7"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0 -0.144 0"
|
||||
rpy="1.5708 0 0" />
|
||||
<parent
|
||||
link="link_6" />
|
||||
<child
|
||||
link="link_7" />
|
||||
<axis
|
||||
xyz="0 0 1" />
|
||||
<limit
|
||||
lower="-6.28"
|
||||
upper="6.28"
|
||||
effort="10"
|
||||
velocity="3.14" />
|
||||
</joint>
|
||||
<!-- Scissor end-effector -->
|
||||
<link name="scissor_link">
|
||||
<inertial>
|
||||
<!-- Replace these values with CAD-derived mass properties -->
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.1" />
|
||||
<inertia
|
||||
ixx="0.0001"
|
||||
ixy="0"
|
||||
ixz="0"
|
||||
iyy="0.0001"
|
||||
iyz="0"
|
||||
izz="0.0001" />
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/sci.stl"
|
||||
scale="1 1 1" />
|
||||
</geometry>
|
||||
<material name="scissor_material">
|
||||
<color rgba="0.7 0.7 0.7 1" />
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="meshes/sci.stl"
|
||||
scale="1 1 1" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Rigidly attach the scissor to the final wrist link -->
|
||||
<joint name="scissor_fixed_joint" type="fixed">
|
||||
<parent link="link_7" />
|
||||
<child link="scissor_link" />
|
||||
<origin xyz="0 0 0" rpy="3.14159 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
Binary file not shown.
@@ -8,7 +8,7 @@ import pandas as pd
|
||||
# --------------------------------------------------
|
||||
# 1. Load the data
|
||||
# --------------------------------------------------
|
||||
file_name = "rm75b_comfort_workspace_collision_minisci.csv"
|
||||
file_name = "rm75b_comfort_workspace_v_minis_collision.csv"
|
||||
csv_path = Path(file_name)
|
||||
|
||||
# The file has no column names, so header=None is important.
|
||||
@@ -16,13 +16,21 @@ df_csv = pd.read_csv(
|
||||
csv_path,
|
||||
)
|
||||
rate_res = df_csv.iloc[:, :4]
|
||||
rate_res_sort = rate_res.sort_values('z').reset_index(drop=True)
|
||||
try:
|
||||
rate_res_sort = rate_res.sort_values('z').reset_index(drop=True)
|
||||
except:
|
||||
rate_res_sort = rate_res
|
||||
|
||||
DECIMALS = 4
|
||||
|
||||
x_unique = np.round(rate_res_sort['x'], DECIMALS).unique()
|
||||
y_unique = np.round(rate_res_sort['y'], DECIMALS).unique()
|
||||
z_unique = np.round(rate_res_sort['z'], DECIMALS).unique()
|
||||
try:
|
||||
x_unique = np.round(rate_res_sort['x'], DECIMALS).unique()
|
||||
y_unique = np.round(rate_res_sort['y'], DECIMALS).unique()
|
||||
z_unique = np.round(rate_res_sort['z'], DECIMALS).unique()
|
||||
except:
|
||||
x_unique = np.round(rate_res_sort.iloc[:,0], DECIMALS).unique()
|
||||
y_unique = np.round(rate_res_sort.iloc[:, 1], DECIMALS).unique()
|
||||
z_unique = np.round(rate_res_sort.iloc[:, 2], DECIMALS).unique()
|
||||
|
||||
nx, ny, nz = len(x_unique), len(y_unique), len(z_unique)
|
||||
|
||||
|
||||
@@ -0,0 +1,109 @@
|
||||
from pathlib import Path
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
import pandas as pd
|
||||
|
||||
|
||||
# --------------------------------------------------
|
||||
# 1. Load the data
|
||||
# --------------------------------------------------
|
||||
file_name = "workspace minisci collision.csv"
|
||||
csv_path = Path(file_name)
|
||||
|
||||
# The file has no column names, so header=None is important.
|
||||
df_csv = pd.read_csv(
|
||||
csv_path,
|
||||
header=None, # the file has no header row
|
||||
names=['x', 'y', 'z', 'ik_success_rate'] # assign names
|
||||
)
|
||||
|
||||
rate_res = df_csv.iloc[:, :4]
|
||||
try:
|
||||
rate_res_sort = rate_res.sort_values('z').reset_index(drop=True)
|
||||
except:
|
||||
rate_res_sort = rate_res
|
||||
|
||||
DECIMALS = 4
|
||||
|
||||
try:
|
||||
x_unique = np.round(rate_res_sort['x'], DECIMALS).unique()
|
||||
y_unique = np.round(rate_res_sort['y'], DECIMALS).unique()
|
||||
z_unique = np.round(rate_res_sort['z'], DECIMALS).unique()
|
||||
except:
|
||||
x_unique = np.round(rate_res_sort.iloc[:,0], DECIMALS).unique()
|
||||
y_unique = np.round(rate_res_sort.iloc[:, 1], DECIMALS).unique()
|
||||
z_unique = np.round(rate_res_sort.iloc[:, 2], DECIMALS).unique()
|
||||
|
||||
nx, ny, nz = len(x_unique), len(y_unique), len(z_unique)
|
||||
|
||||
|
||||
ik_rates = rate_res_sort.to_numpy()
|
||||
|
||||
# --------------------------------------------------
|
||||
# 2. Create an output directory
|
||||
# --------------------------------------------------
|
||||
output_dir = Path(file_name.split(".")[0])
|
||||
output_dir.mkdir(exist_ok=True)
|
||||
|
||||
|
||||
# --------------------------------------------------
|
||||
# 3. Use the same colour scale for every z-plane
|
||||
# --------------------------------------------------
|
||||
df = rate_res_sort
|
||||
value_min = df["ik_success_rate"].min()
|
||||
value_max = df["ik_success_rate"].max()
|
||||
|
||||
# More levels give a smoother-looking contour plot.
|
||||
levels = np.linspace(value_min, value_max, 51)
|
||||
|
||||
|
||||
# --------------------------------------------------
|
||||
# 4. Draw one contour plot for each z-plane
|
||||
# --------------------------------------------------
|
||||
for z_value, plane in df.groupby("z", sort=True):
|
||||
|
||||
# Rows become y-coordinates, columns become x-coordinates.
|
||||
grid = plane.pivot(index="y", columns="x", values="ik_success_rate")
|
||||
|
||||
x = grid.columns.to_numpy()
|
||||
y = grid.index.to_numpy()
|
||||
ik_grid = grid.to_numpy()
|
||||
|
||||
X, Y = np.meshgrid(x, y)
|
||||
|
||||
fig, ax = plt.subplots(figsize=(7, 6))
|
||||
|
||||
contour = ax.contourf(
|
||||
X,
|
||||
Y,
|
||||
ik_grid,
|
||||
levels=levels,
|
||||
cmap="viridis",
|
||||
extend="both",
|
||||
)
|
||||
|
||||
highlight_levels = [0.6, 0.7]
|
||||
# Only plot if the levels are within the data range (optional)
|
||||
if value_min <= 0.6 <= value_max or value_min <= 0.7 <= value_max:
|
||||
lines = ax.contour(X, Y, ik_grid, levels=highlight_levels,
|
||||
colors='red', linewidths=2, linestyles='solid')
|
||||
# Optionally label the lines
|
||||
ax.clabel(lines, inline=True, fontsize=10, fmt='%1.1f')
|
||||
|
||||
|
||||
colorbar = fig.colorbar(contour, ax=ax)
|
||||
colorbar.set_label("IK rate")
|
||||
|
||||
ax.set_title(f"IK rate at z = {z_value:.2f}")
|
||||
ax.set_xlabel("x")
|
||||
ax.set_ylabel("y")
|
||||
ax.set_aspect("equal")
|
||||
|
||||
fig.tight_layout()
|
||||
|
||||
output_path = output_dir / f"ik_contour_z_{z_value:.2f}.png"
|
||||
fig.savefig(output_path, dpi=200, bbox_inches="tight")
|
||||
plt.close(fig)
|
||||
|
||||
print(f"Plots saved to: {output_dir.resolve()}")
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 138 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 138 KiB |
@@ -57,6 +57,11 @@ GRID_RESOLUTION = 0.05 # 5 cm. Use 0.02 for finer but slower.
|
||||
|
||||
num_orientations = 120
|
||||
|
||||
tool_name = "v_minis"
|
||||
|
||||
output_csv = "rm75b_comfort_workspace" + tool_name + ".csv"
|
||||
|
||||
|
||||
# Comfort thresholds
|
||||
MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits
|
||||
MAX_CONDITION_NUMBER = 150.0
|
||||
@@ -89,7 +94,6 @@ tools_in_ee = {
|
||||
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
|
||||
lb = -ub
|
||||
|
||||
tool_name = "v_minis"
|
||||
|
||||
URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
|
||||
MESH_DIR = str(Path(URDF_PATH).parent)
|
||||
@@ -733,7 +737,6 @@ def plot_comfortable_only(df):
|
||||
if __name__ == "__main__":
|
||||
df = evaluate_workspace()
|
||||
|
||||
output_csv = "rm75b_comfort_workspace_v_minis_collision.csv"
|
||||
df.to_csv(output_csv, index=False)
|
||||
|
||||
print(f"\nSaved result to: {output_csv}")
|
||||
|
||||
Reference in New Issue
Block a user