Reachable workspace

[Betancourt20]

Hello,

I wonder if there is a method for obtaining the reachable workspace of a robot manipulator? or any hint for obtaining it?
Thanks in advance

[jcarpent]

Good question @Betancourt20.
There is no direct way of computing it, but it should be easy to implement such an algorithm by taking inspiration from https://arxiv.org/pdf/2211.17054.pdf. @vpadois Any advice to provide on this topic?

[vpadois]

Hello @Betancourt20 @jcarpent
pycapacity is a good option for that. It was used for the paper mentionned by @jcarpent There is some work in progress by @askuric on this topic which may be incorporated in pycapacity in the coming months.

[Betancourt20]

Hello @jcarpent @vpadois

Hope you're doing great!

Thank you so much for your advices. At the end, I found an "easy" way to do it. For sure it is not the optimal but for my purposes it is enough.

Best regards,

Julio

[jcarpent]

Thanks for your feedback. It is very helpful for the other Pinocchio users