diff --git a/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv b/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv
new file mode 100644
index 0000000..e34db1f
--- /dev/null
+++ b/kine_ctrl/workspace_comfortable/rm75b_comfort_workspace.csv
@@ -0,0 +1,10626 @@
+x,y,z,ik_success_rate,joint_limit_score,joint_margin,manipulability,manipulability_score,condition_number,singularity_score,comfort_score,comfortable,reachable
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diff --git a/kine_ctrl/workspace_comfortable/workspace_cal.py b/kine_ctrl/workspace_comfortable/workspace_cal.py
index 6a56df1..b28879d 100644
--- a/kine_ctrl/workspace_comfortable/workspace_cal.py
+++ b/kine_ctrl/workspace_comfortable/workspace_cal.py
@@ -53,7 +53,9 @@ X_RANGE = (-0.6, 0.6)
 Y_RANGE = (-0.6, 0.6)
 Z_RANGE = (0.0, 0.8)
 
-GRID_RESOLUTION = 0.3  # 5 cm. Use 0.02 for finer but slower.
+GRID_RESOLUTION = 0.05  # 5 cm. Use 0.02 for finer but slower.
+
+num_orientations =  120 
 
 # Comfort thresholds
 MIN_JOINT_MARGIN = 0.05       # 15% away from joint limits
@@ -133,7 +135,7 @@ JACOBIAN_EPS = 1e-5
 # 2. TASK ORIENTATION SAMPLING
 # ============================================================
 
-def make_task_orientations(num_orientations=200, seed=1):
+def make_task_orientations(num_orientations=num_orientations, seed=1):
     """
     Random orientation sampling using RM's Euler convention: