the scissor stl file is added.

kine_ctrl/workspace_comfortable/Contour_plot.py

@@ -8,7 +8,7 @@ import pandas as pd
 # --------------------------------------------------
 # 1. Load the data
 # --------------------------------------------------
-file_name = "workspace minisci collision.csv"
+file_name = "rm75b_comfort_workspace_v_minis_collision.csv"
 csv_path = Path(file_name)
 
 # The file has no column names, so header=None is important.

kine_ctrl/workspace_comfortable/workspace_cal.py

@@ -55,7 +55,12 @@ Z_RANGE = (-0.10, 0.8)
 
 GRID_RESOLUTION = 0.05  # 5 cm. Use 0.02 for finer but slower.
 
-num_orientations =  120 
+num_orientations =  120
+
+tool_name = "v_minis"
+
+output_csv = "rm75b_comfort_workspace"  + tool_name + ".csv"
+
 
 # Comfort thresholds
 MIN_JOINT_MARGIN = 0.05       # 15% away from joint limits
@@ -89,7 +94,6 @@ 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 = "v_minis"
 
 URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
 MESH_DIR = str(Path(URDF_PATH).parent)
@@ -733,7 +737,6 @@ def plot_comfortable_only(df):
 if __name__ == "__main__":
     df = evaluate_workspace()
 
-    output_csv = "rm75b_comfort_workspace_v_minis_collision.csv"
     df.to_csv(output_csv, index=False)
 
     print(f"\nSaved result to: {output_csv}")