wip

Author: yuecideng

docs/source/features/workspace_analyzer/workspace_analyzer.md

@@ -25,7 +25,6 @@ from embodichain.lab.sim.utility.workspace_analyzer import (
 
 # Setup simulation
 sim = SimulationManager(SimulationManagerCfg(headless=False, sim_device="cpu"))
-sim.build_multiple_arenas(1)
 
 # Add robot
 robot = sim.add_robot(DexforceW1Cfg.from_dict({
@@ -169,7 +168,6 @@ from embodichain.lab.sim.utility.workspace_analyzer.configs import Visualization
 
 # Setup simulation
 sim = SimulationManager(SimulationManagerCfg(headless=False, sim_device="cpu"))
-sim.build_multiple_arenas(1)
 
 # Add robot
 robot = sim.add_robot(DexforceW1Cfg.from_dict({

examples/sim/utility/workspace_analyzer/analyze_cartesian_workspace.py

@@ -39,7 +39,6 @@
         headless=False, sim_device="cpu", width=1080, height=1080
     )
     sim = SimulationManager(config)
-    sim.build_multiple_arenas(1)
     sim.set_manual_update(False)
 
     cfg = DexforceW1Cfg.from_dict(

examples/sim/utility/workspace_analyzer/analyze_joint_workspace.py

@@ -32,7 +32,6 @@
 
     config = SimulationManagerCfg(headless=False, sim_device="cpu")
     sim_manager = SimulationManager(config)
-    sim_manager.build_multiple_arenas(1)
     sim_manager.set_manual_update(False)
 
     cfg = DexforceW1Cfg.from_dict(

examples/sim/utility/workspace_analyzer/analyze_plane_workspace.py

@@ -40,7 +40,6 @@
         headless=False, sim_device="cpu", width=1080, height=1080
     )
     sim = SimulationManager(config)
-    sim.build_multiple_arenas(1)
     sim.set_manual_update(False)
 
     cfg = DexforceW1Cfg.from_dict(

tests/sim/utility/test_workspace_analyze.py

@@ -35,7 +35,6 @@ class BaseWorkspaceAnalyzeTest:
     def setup_simulation(self):
         config = SimulationManagerCfg(headless=True, sim_device="cpu")
         self.sim = SimulationManager(config)
-        self.sim.build_multiple_arenas(1)
         self.sim.set_manual_update(False)
 
         cfg_dict = {