From 9e2e847d5285290178b12c1d5e8a2506c762a739 Mon Sep 17 00:00:00 2001
From: Jason Peng <penglongxiang1988@gmail.com>
Date: Tue, 16 Jan 2024 12:07:35 +0800
Subject: [PATCH] [docs] optimize the doc for velo/acc in Move srv

---
 xarm_gazebo/launch/uf850_beside_table.launch | 63 ++++++++++++++++++++
 xarm_msgs/srv/Move.srv                       |  6 +-
 xarm_msgs/srv/MoveAxisAngle.srv              |  6 +-
 3 files changed, 69 insertions(+), 6 deletions(-)
 create mode 100644 xarm_gazebo/launch/uf850_beside_table.launch

diff --git a/xarm_gazebo/launch/uf850_beside_table.launch b/xarm_gazebo/launch/uf850_beside_table.launch
new file mode 100644
index 00000000..e25ea6a0
--- /dev/null
+++ b/xarm_gazebo/launch/uf850_beside_table.launch
@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="paused" default="false" doc="Starts gazebo in paused mode" />
+  <arg name="gui" default="true" doc="Starts gazebo gui" />
+
+  <arg name="effort_control" default="false"/>
+  <arg name="velocity_control" default="false"/>
+  <arg name="namespace" default="ufactory"/>
+
+  <arg name="add_gripper" default="false" />
+  <arg name="add_vacuum_gripper" default="false" />
+  <arg name="add_other_geometry" default="false"/>
+  <arg name="geometry_type" default="box"/>
+  <arg name="geometry_mass" default="0.1"/>
+  <arg name="geometry_height" default="0.1"/>
+  <arg name="geometry_radius" default="0.1"/>
+  <arg name="geometry_length" default="0.1"/>
+  <arg name="geometry_width" default="0.1"/>
+  <arg name="geometry_mesh_filename" default=""/>
+  <arg name="geometry_mesh_origin_xyz" default="'0 0 0'"/>
+  <arg name="geometry_mesh_origin_rpy" default="'0 0 0'"/>
+  <arg name="geometry_mesh_tcp_xyz" default="'0 0 0'"/>
+  <arg name="geometry_mesh_tcp_rpy" default="'0 0 0'"/>
+
+  <arg name="add_realsense_d435i" default="false" />
+  <arg name="add_d435i_links" default="false" />
+  <arg name="robot_sn" default="" />
+
+  <include file="$(find xarm_gazebo)/launch/_robot_beside_table.launch">
+    <arg name="dof" value="6" />
+    <arg name="robot_type" value="uf850" />
+
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
+
+    <arg name="effort_control" value="$(arg effort_control)"/>
+    <arg name="velocity_control" value="$(arg velocity_control)"/>
+    <arg name="hw_ns" value="$(arg namespace)"/>
+
+    <arg name="add_gripper" value="$(arg add_gripper)"/>
+    <arg name="add_vacuum_gripper" value="$(arg add_vacuum_gripper)"/>
+    <arg name="add_other_geometry" value="$(arg add_other_geometry)"/>
+    <arg name="geometry_type" value="$(arg geometry_type)"/>
+    <arg name="geometry_mass" value="$(arg geometry_mass)"/>
+    <arg name="geometry_height" value="$(arg geometry_height)"/>
+    <arg name="geometry_radius" value="$(arg geometry_radius)"/>
+    <arg name="geometry_length" value="$(arg geometry_length)"/>
+    <arg name="geometry_width" value="$(arg geometry_width)"/>
+    <arg name="geometry_mesh_filename" value="$(arg geometry_mesh_filename)"/>
+    <arg name="geometry_mesh_origin_xyz" value="$(arg geometry_mesh_origin_xyz)"/>
+    <arg name="geometry_mesh_origin_rpy" value="$(arg geometry_mesh_origin_rpy)"/>
+    <arg name="geometry_mesh_tcp_xyz" value="$(arg geometry_mesh_tcp_xyz)"/>
+    <arg name="geometry_mesh_tcp_rpy" value="$(arg geometry_mesh_tcp_rpy)"/>
+
+    <arg name="model1300" value="false"/>
+    <arg name="add_realsense_d435i" value="$(arg add_realsense_d435i)"/>
+    <arg name="add_d435i_links" value="$(arg add_d435i_links)"/>
+    <arg name="robot_sn" value="$(arg robot_sn)"/>
+
+  </include>
+
+</launch>
\ No newline at end of file
diff --git a/xarm_msgs/srv/Move.srv b/xarm_msgs/srv/Move.srv
index 1879fe07..2845f844 100755
--- a/xarm_msgs/srv/Move.srv
+++ b/xarm_msgs/srv/Move.srv
@@ -1,6 +1,6 @@
 # request: command specification for motion executions.
 # Units:
-#	joint space/angles: radian, radian/s and radian/s^2.
+#	joint space/angles: radian.
 #	Cartesian space: mm, mm/s, and mm/s^2.
 #	time: sec
 
@@ -10,11 +10,11 @@
 
 float32[] pose
 
-# mvvelo: specified maximum velocity during execution. linear or angular velocity 
+# mvvelo: (value range: 0 ~ 1000) specified maximum velocity during execution. linear (0 to 1000 mm/s)  or angular (range 0~1000 for 0 to 3.14 rad/s) velocity.
 
 float32 mvvelo
 
-# mvacc: specified maximum acceleration during execution. linear or angular acceleration.
+# mvacc: specified maximum linear acceleration (mm/s^2) during execution. (angular acceleration is fixed currently).
 
 float32 mvacc
 
diff --git a/xarm_msgs/srv/MoveAxisAngle.srv b/xarm_msgs/srv/MoveAxisAngle.srv
index 40435d42..7384cbb5 100644
--- a/xarm_msgs/srv/MoveAxisAngle.srv
+++ b/xarm_msgs/srv/MoveAxisAngle.srv
@@ -1,7 +1,7 @@
 # request: command specification for axis-angle motion executions.
 # Units:
 #	Linear: mm, mm/s, and mm/s^2.
-#   Angular: radian, radian/s and radian/s^2.
+#   Angular: radian.
 #	time: sec
 
 # pose: target coordinate. 
@@ -9,11 +9,11 @@
 
 float32[] pose
 
-# mvvelo: specified maximum velocity during execution. linear or angular velocity 
+# mvvelo: (value range: 0 ~ 1000) specified maximum velocity during execution. linear (0 to 1000 mm/s)  or angular (range 0~1000 for 0 to 3.14 rad/s) velocity.
 
 float32 mvvelo
 
-# mvacc: specified maximum acceleration during execution. linear or angular acceleration.
+# mvacc: specified maximum linear acceleration (mm/s^2) during execution. (angular acceleration is fixed currently).
 
 float32 mvacc