Haitao Xu

Independently designed and implemented multiple Python scripts, which are aimed to export the robot from URDF file into Blender platform without opening the graphical interface of Blender. There are some functions embedded, e.g. perform Forward Kinematics of robot to build robot in initial state, simplify links of robot, create convex hull for links of robot, place links of robot in local frame or world frame.

Perform workspace analysis on the end effector of a dual-arm robot in both unloaded and loaded states. Discretize the predefined space, generate random joint configurations by randomly sampling the robot's joint angles, and obtain the position of the end effector in the predefined space. If the point is reachable and all joint torques do not exceed the limit, store the coordinates of the point in an octomap (an octomap is a data structure for fast access to stored points). Then perform the next random sampling until there is no point update in the predefined space after an interval.