Merge remote-tracking branch 'origin/class_version' into class_version

# Conflicts:
#	kine_ctrl/workspace_comfortable/workspace_cal.py

kine_ctrl/workspace_comfortable/workspace_cal.py

@@ -47,12 +47,6 @@ from Robotic_Arm.rm_robot_interface import *
 import time
 from math import radians, degrees, pi, cos, sin
 
-
-
-
-
-
-
 # Cartesian workspace grid, in meters.
 # Adjust according to your robot placement and task.
 X_RANGE = (-0.7, 0.7)
@@ -63,17 +57,6 @@ GRID_RESOLUTION = 0.05  # 5 cm. Use 0.02 for finer but slower.
 
 num_orientations =  120 
 
-tool_name = "minisci"
-
-output_csv = "rm75b_comfort_workspace.csv"
-
-
-
-
-
-
-
-
 # Comfort thresholds
 MIN_JOINT_MARGIN = 0.05       # 15% away from joint limits
 MAX_CONDITION_NUMBER = 150.0
@@ -106,7 +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 = "v_minis"
 
 URDF_PATH = str(parent_dir) + '/urdf_rm75/RM75-B.urdf'
 MESH_DIR = str(Path(URDF_PATH).parent)
@@ -750,7 +733,7 @@ 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}")