Changed button to move tcp to not grey out when pose is unreachable

source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.cpp

@@ -406,14 +406,12 @@ void armarx::RobotIKWidgetController::manipFinishCallback(void* data, SoDragger*
         controller->tcpManipColor->ambientColor.setValue(0, 1, 0);
         controller->ui.reachableLabel->setText(QString::fromStdString("Pose reachable!"));
         controller->ui.reachableLabel->setStyleSheet("QLabel { color : green; }");
-        controller->ui.pushButton->setEnabled(true);
     }
     else {
         //Red
         controller->tcpManipColor->ambientColor.setValue(1, 0, 0);
         controller->ui.reachableLabel->setText(QString::fromStdString("Pose unreachable!"));
         controller->ui.reachableLabel->setStyleSheet("QLabel { color : red; }");
-        controller->ui.pushButton->setEnabled(false);
     }
 
     //Display calculated error

source/RobotAPI/gui-plugins/RobotIKPlugin/RobotIKGuiPlugin.ui

@@ -98,7 +98,7 @@
         </spacer>
        </item>
        <item>
-        <widget class="QLabel" name="moveTCP">
+        <widget class="QLabel" name="reachableLabel">
          <property name="enabled">
           <bool>false</bool>
          </property>
@@ -108,8 +108,16 @@
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
+         <property name="font">
+          <font>
+           <pointsize>15</pointsize>
+          </font>
+         </property>
          <property name="text">
-          <string>Move TCP to pose of manipulator in the 3D Viewer:</string>
+          <string>No kinematic chain selected</string>
+         </property>
+         <property name="textFormat">
+          <enum>Qt::AutoText</enum>
          </property>
          <property name="scaledContents">
           <bool>false</bool>
@@ -117,7 +125,7 @@
         </widget>
        </item>
        <item>
-        <widget class="QLabel" name="reachableLabel">
+        <widget class="QLabel" name="errorValue">
          <property name="enabled">
           <bool>false</bool>
          </property>
@@ -133,7 +141,7 @@
           </font>
          </property>
          <property name="text">
-          <string>No kinematic chain selected</string>
+          <string>Calculated error: 0</string>
          </property>
          <property name="textFormat">
           <enum>Qt::AutoText</enum>
@@ -144,7 +152,7 @@
         </widget>
        </item>
        <item>
-        <widget class="QLabel" name="errorValue">
+        <widget class="QLabel" name="moveTCP">
          <property name="enabled">
           <bool>false</bool>
          </property>
@@ -154,16 +162,8 @@
            <verstretch>0</verstretch>
           </sizepolicy>
          </property>
-         <property name="font">
-          <font>
-           <pointsize>15</pointsize>
-          </font>
-         </property>
          <property name="text">
-          <string>Calculated error: 0</string>
-         </property>
-         <property name="textFormat">
-          <enum>Qt::AutoText</enum>
+          <string>Move TCP to pose of manipulator in the 3D Viewer:</string>
          </property>
          <property name="scaledContents">
           <bool>false</bool>