-------------------------------------------
Call to set the robot conf:
-------------------------------------------
$ rosservice call /chesslab_setup/setconf "conf: [-2.9654376957156465, -2.332731945896162, -1.5651023401300295, -0.814554694358498, 1.5707963267948966, 0.17643846454029408]"

-------------------------------------------
Visualization of the fk:
-------------------------------------------
$ rosrun tf tf_echo /world /tool0

At time 1554393669.167
- Translation: [0.422, -0.039, 0.100]
- Rotation: in Quaternion [-0.707, 0.707, 0.000, 0.000]
            in RPY (radian) [3.142, 0.000, -1.571]
            in RPY (degree) [180.000, 0.000, -90.016]

-------------------------------------------
Call to ur3-ik:
-------------------------------------------
$ rosservice call /UR3IK "theta_ref: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
theta_min: [-3.14, -3.14, -3.14, -3.14, -3.14, -3.14]
theta_max: [3.14, 3.14, 3.14, 3.14, 3.14, 3.14]
pose:
  position:
    x: 0.422
    y: -0.039
    z: 0.100
  orientation:
    x: 0.707
    y: -0.707
    z: -0.0
    w: -0.0"
ik_solution:
  -
    ik: [-0.36046554397489317, -0.8089380669538184, 1.565263579000403, -2.327121838841481, -1.5707963267948977, -0.3602385703662102]
  -
    ik: [-0.36046554397489317, 0.6241816632432684, -1.5652635790004026, -0.6297144110377624, -1.5707963267948977, -0.3602385703662102]
  -
    ik: [-2.9654376957156465, 2.5174736265503808, 1.5651023401300304, -2.511779639885514, 1.5707963267948966, 0.17643846454029408]
  -
    ik: [-2.9654376957156465, -2.332731945896162, -1.5651023401300295, -0.814554694358498, 1.5707963267948966, 0.17643846454029408]
status: True
