Workspace Sampling

The moro.workspace module provides sampled end-effector workspace analysis. Workspace visualization is exposed through moro.visualization.plot_workspace() and documented in the Visualization API reference.

Sampled end-effector workspace analysis.

class moro.workspace.Workspace(points: ndarray, configurations: ndarray, joint_limits: tuple, seed: int | None = None)[source]

Bases: object

Sampled joint configurations and corresponding end-effector points.

property bounds

configurations: ndarray

property dof

joint_limits: tuple

points: ndarray

property samples

seed: int | None = None

moro.workspace.sample_workspace(robot, *, samples=1000, joint_limits=None, parameters=None, seed=None)[source]: Sample end-effector positions uniformly from a finite joint-space domain.