diff --git a/kine_ctrl/workspace_comfortable/workspace_cal.py b/kine_ctrl/workspace_comfortable/workspace_cal.py
index c425467..3693021 100644
--- a/kine_ctrl/workspace_comfortable/workspace_cal.py
+++ b/kine_ctrl/workspace_comfortable/workspace_cal.py
@@ -77,6 +77,7 @@ tools_in_ee = {
     'scissor': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
     'omnipic': np.array([[0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0],[0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
     'minisci': np.array([[0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0],[0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
+    'v_minis': np.array([[0.0, 0.1, 0.1, -np.sqrt(2) * 0.5, 0.0, 0.0, np.sqrt(2) * 0.5],[0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0]],dtype=np.float64),
     'no_tool': np.array([[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],dtype=np.float64),
 }
 
@@ -88,7 +89,7 @@ tools_in_ee = {
 ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])/180*pi
 lb = -ub
 
-tool_name = "no_tool"
+tool_name = "minisci"
 
 URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
 MESH_DIR = str(Path(URDF_PATH).parent)