Torque values modified

source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

@@ -393,8 +393,8 @@ void KinematicUnitWidgetController::setControlModeTorque()
     if (currentNode)
     {
         jointModes[currentNode->getName()] = eTorqueControl;
-        ui.horizontalSliderKinematicUnitPos->setMaximum(90); // TODO: set useful values!
-        ui.horizontalSliderKinematicUnitPos->setMinimum(-90);
+        ui.horizontalSliderKinematicUnitPos->setMaximum(20.0); // TODO: set useful values!
+        ui.horizontalSliderKinematicUnitPos->setMinimum(-20.0);
         ARMARX_INFO << "setting torque control for current Node Name: " << currentNode->getName() << flush;
 
         if (kinematicUnitInterfacePrx)
@@ -645,7 +645,7 @@ void KinematicUnitWidgetController::sliderValueChanged(int pos)
     else if(currentControlMode == eTorqueControl)
     {
         NameValueMap jointTorques;
-        jointTorques[currentNode->getName()] = value;
+        jointTorques[currentNode->getName()] = value/10.0f;
         if (kinematicUnitInterfacePrx)
         {
             kinematicUnitInterfacePrx->setJointTorques(jointTorques);