code for virtical sci

kine_ctrl/workspace_comfortable/workspace_cal.py

@@ -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
 lb = -ub
 
-tool_name = "minisci"
+tool_name = "v_minis"
 
 URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
 MESH_DIR = str(Path(URDF_PATH).parent)
@@ -733,7 +733,7 @@ def plot_comfortable_only(df):
 if __name__ == "__main__":
     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)
 
     print(f"\nSaved result to: {output_csv}")