From 84e284caa2e08a62ee7f97db92974e4dc1ec75e6 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Sun, 7 Apr 2019 07:28:00 +0200
Subject: [PATCH] Modified ArmClient.cfg file
---
cfg/ArmClient.cfg | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/cfg/ArmClient.cfg b/cfg/ArmClient.cfg
index 6d66a62..a90d62a 100755
--- a/cfg/ArmClient.cfg
+++ b/cfg/ArmClient.cfg
@@ -45,22 +45,22 @@ const = gen.add_group("Path constraints")
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
move_joints.add("start_joints", bool_t, 0, "Execute selected motion", False)
move_joints.add("cancel_joints", bool_t, 0, "Cancel current motion", False)
-move_joints.add("torso", double_t, 0, "Target angle for torso", 0.0, 0.0, 0.35)
-move_joints.add("joint1", double_t, 0, "Target angle for joint 1", 0.0, -3.14159, 3.14159)
-move_joints.add("joint2", double_t, 0, "Target angle for joint 2", 0.0, -3.14159, 3.14159)
-move_joints.add("joint3", double_t, 0, "Target angle for joint 3", 0.0, -3.14159, 3.14159)
-move_joints.add("joint4", double_t, 0, "Target angle for joint 4", 0.0, -3.14159, 3.14159)
-move_joints.add("joint5", double_t, 0, "Target angle for joint 5", 0.0, -3.14159, 3.14159)
-move_joints.add("joint6", double_t, 0, "Target angle for joint 6", 0.0, -3.14159, 3.14159)
+move_joints.add("torso", double_t, 0, "Target angle for torso", 0.15, 0.0, 0.35)
+move_joints.add("joint1", double_t, 0, "Target angle for joint 1", 0.2, -3.14159, 3.14159)
+move_joints.add("joint2", double_t, 0, "Target angle for joint 2", -1.3, -3.14159, 3.14159)
+move_joints.add("joint3", double_t, 0, "Target angle for joint 3", -0.2, -3.14159, 3.14159)
+move_joints.add("joint4", double_t, 0, "Target angle for joint 4", 2.0, -3.14159, 3.14159)
+move_joints.add("joint5", double_t, 0, "Target angle for joint 5", -1.5, -3.14159, 3.14159)
+move_joints.add("joint6", double_t, 0, "Target angle for joint 6", 1.4, -3.14159, 3.14159)
move_joints.add("joint7", double_t, 0, "Target angle for joint 7", 0.0, -3.14159, 3.14159)
move_joints.add("joint_tol", double_t, 0, "Target angle tolerance", 0.0, -3.14159, 3.14159)
move_pose.add("start_pose", bool_t, 0, "Execute selected motion", False)
move_pose.add("cancel_pose", bool_t, 0, "Cancel current motion", False)
move_pose.add("plan_frame_id", str_t, 0, "Target pose reference frame", "/base_footprint")
-move_pose.add("x_pos", double_t, 0, "Target X position", 0.0, -2.0, 2.0)
+move_pose.add("x_pos", double_t, 0, "Target X position", 0.5, -2.0, 2.0)
move_pose.add("y_pos", double_t, 0, "Target Y position", 0.0, -2.0, 2.0)
-move_pose.add("z_pos", double_t, 0, "Target Z position", 0.0, -2.0, 2.0)
+move_pose.add("z_pos", double_t, 0, "Target Z position", 0.6, -2.0, 2.0)
move_pose.add("x_orientation", double_t, 0, "Target X orientation", 0.0, -3.14159,3.14159)
move_pose.add("y_orientation", double_t, 0, "Target Y orientation", 0.0, -3.14159,3.14159)
move_pose.add("z_orientation", double_t, 0, "Target Z orientation", 0.0, -3.14159,3.14159)
--
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