update default pose for retrieve hand

source/armarx/control/retrieve_hand/skills/RetrieveHand.cpp

@@ -2,8 +2,8 @@
 
 #include <ArmarXCore/core/logging/Logging.h>
 
-#include <armarx/control/retrieve_hand/constants/constants.h>
 #include <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.h>
+#include <armarx/control/retrieve_hand/constants/constants.h>
 
 namespace armarx::control::retrieve_hand::skills
 {
@@ -13,34 +13,33 @@ namespace armarx::control::retrieve_hand::skills
     {
         ParamType defaultParams;
         defaultParams.targetPose.header.agent = "Armar7";
-        defaultParams.targetPose.position = Eigen::Matrix<float, 3, 1> {-203.5f, 269.00f, 1130.0f};
-        defaultParams.targetPose.orientation = Eigen::Quaternion<float> {
-            0.741636, -0.6635227, 0.05756, -0.079999};
+        defaultParams.targetPose.header.frame = "root";
+        defaultParams.targetPose.position = Eigen::Matrix<float, 3, 1>{-234.0f, 284.06f, 1103.0f};
+        defaultParams.targetPose.orientation =
+            Eigen::Quaternion<float>{0.7640368, -0.63349, 0.06744281, -0.10187};
         // ARMARX_INFO << VAROUT(defaultParams.targetPose);
         // ARMARX_INFO << VAROUT(defaultParams.targetPose.position) << VAROUT(defaultParams.targetPose.orientation);
         // ARMARX_INFO << VAROUT(defaultParams.targetPose.header.frame) << VAROUT(defaultParams.targetPose.header.agent);
 
         // defaultParams.exampleStringParam = "exampleDefaultValue";
 
-        auto skillId = armarx::skills::SkillID{.skillName = armarx::control::retrieve_hand::constants::SKILL_NAME};
+        auto skillId = armarx::skills::SkillID{
+            .skillName = armarx::control::retrieve_hand::constants::SKILL_NAME};
 
-        return ::armarx::skills::SkillDescription{
-            .skillId = skillId,
-            .description = "TODO: Description of skill RetrieveHand.",
-            .rootProfileDefaults = defaultParams.toAron(),
-            .timeout = ::armarx::Duration::MilliSeconds(1000),
-            .parametersType = ParamType::ToAronType()};
+        return ::armarx::skills::SkillDescription{.skillId = skillId,
+                                                  .description =
+                                                      "TODO: Description of skill RetrieveHand.",
+                                                  .rootProfileDefaults = defaultParams.toAron(),
+                                                  .timeout = ::armarx::Duration::MilliSeconds(1000),
+                                                  .parametersType = ParamType::ToAronType()};
     }
 
-    RetrieveHand::RetrieveHand(const Remote& r) :
-            Base(GetSkillDescription()), remote(r)
+    RetrieveHand::RetrieveHand(const Remote& r) : Base(GetSkillDescription()), remote(r)
 
     {
     }
 
-
-    RetrieveHand::RetrieveHand() :
-        Base(GetSkillDescription())
+    RetrieveHand::RetrieveHand() : Base(GetSkillDescription())
     {
     }
 
@@ -57,26 +56,23 @@ namespace armarx::control::retrieve_hand::skills
     RetrieveHand::main(const SpecializedMainInput& in)
     {
         // Enter main code of the skill here.
-        core::RetrieveHand::Remote rem{
-                .memoryNameSystem = remote.memoryNameSystem,
-                .robotUnit = remote.robotUnit};
-
-        armarx::FramedPose targetPose {
-                in.parameters.targetPose.position,
-                in.parameters.targetPose.orientation,
-                in.parameters.targetPose.header.frame,
-                in.parameters.targetPose.header.agent
-        };
+        core::RetrieveHand::Remote rem{.memoryNameSystem = remote.memoryNameSystem,
+                                       .robotUnit = remote.robotUnit};
+
+        armarx::FramedPose targetPose{in.parameters.targetPose.position,
+                                      in.parameters.targetPose.orientation,
+                                      in.parameters.targetPose.header.frame,
+                                      in.parameters.targetPose.header.agent};
         core::RetrieveHand::Properties props{
-                .robotName = in.parameters.robotName,
-                .robotNodeSet = in.parameters.robotNodeSet,
-                .timeDurationInSec = in.parameters.timeDurationInSec,
-                .targetPose = targetPose,
-                .kpLinear = in.parameters.kpLinear,
-                .kpAngular = in.parameters.kpAngular,
-                .kdLinear = in.parameters.kdLinear,
-                .kdAngular = in.parameters.kdAngular,
-                .fileNames = in.parameters.fileNames,
+            .robotName = in.parameters.robotName,
+            .robotNodeSet = in.parameters.robotNodeSet,
+            .timeDurationInSec = in.parameters.timeDurationInSec,
+            .targetPose = targetPose,
+            .kpLinear = in.parameters.kpLinear,
+            .kpAngular = in.parameters.kpAngular,
+            .kdLinear = in.parameters.kdLinear,
+            .kdAngular = in.parameters.kdAngular,
+            .fileNames = in.parameters.fileNames,
         };
 
 
@@ -98,4 +94,4 @@ namespace armarx::control::retrieve_hand::skills
     }
     */
 
-}
+} // namespace armarx::control::retrieve_hand::skills