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Merge remote-tracking branch 'origin/class_version' into class_version

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# Conflicts:
#	kine_ctrl/workspace_comfortable/workspace_cal.py
This commit is contained in:
LiuzhengSJ
2026-07-27 15:15:11 +01:00
parent d0ca4d6115 5cac8c5a73
commit d1080638c1
2 changed files with 15983 additions and 20 deletions
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kine_ctrl/workspace_comfortable/rm75b_comfort_workspace_v_minis_collision.csv
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kine_ctrl/workspace_comfortable/workspace_cal.py
+3 -20
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@@ -47,12 +47,6 @@ from Robotic_Arm.rm_robot_interface import *
import time import time
from math import radians, degrees, pi, cos, sin from math import radians, degrees, pi, cos, sin
# Cartesian workspace grid, in meters. # Cartesian workspace grid, in meters.
# Adjust according to your robot placement and task. # Adjust according to your robot placement and task.
X_RANGE = (-0.7, 0.7) X_RANGE = (-0.7, 0.7)
@@ -61,18 +55,7 @@ Z_RANGE = (-0.10, 0.8)
GRID_RESOLUTION = 0.05 # 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 num_orientations = 120
tool_name = "minisci"
output_csv = "rm75b_comfort_workspace.csv"
# Comfort thresholds # Comfort thresholds
MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits MIN_JOINT_MARGIN = 0.05 # 15% away from joint limits
@@ -106,7 +89,7 @@ tools_in_ee = {
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
lb = -ub lb = -ub
tool_name = "v_minis"
URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf' URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
MESH_DIR = str(Path(URDF_PATH).parent) MESH_DIR = str(Path(URDF_PATH).parent)
@@ -750,7 +733,7 @@ def plot_comfortable_only(df):
if __name__ == "__main__": if __name__ == "__main__":
df = evaluate_workspace() df = evaluate_workspace()
output_csv = "rm75b_comfort_workspace_v_minis_collision.csv"
df.to_csv(output_csv, index=False) df.to_csv(output_csv, index=False)
print(f"\nSaved result to: {output_csv}") print(f"\nSaved result to: {output_csv}")