pylabrobot.brooks.precise_flex.PreciseFlexConfiguration.work_envelope

property PreciseFlexConfiguration.work_envelope: WorkEnvelope

Reachable tool-tip annulus, swept from the shoulder/elbow soft limits.

Sweeps the two planar joints across their soft-limit range (Z held constant - it is an independent axis on a SCARA), takes the base->wrist radius at each sample, and brackets it by +/- the tool length (the wrist can orient the tool radially either way). This respects the joint limits rather than assuming full extension, so the outer radius is the real reach, not l1 + l2 + tool.