# TM12 Setting poseitions
ros version: ros2 foxy

## SetPositions.srv
1. Motion_type :
* int motion_type
> PTP_J = 1 （J代表位置值是關節角度）
> PTP_T = 2 （T代表位置值是笛卡爾坐標）
> LINE_J = 3
> LINE_T = 4
> CIRC_J = 5
> CIRC_T = 6
> PLINE_J = 7
> PLINE_T = 8
2. positions
* float64[] positions
3. velocity
* float64 velocity
> motion velocity: if expressed in Cartesian coordinate (unit: m/s) , if expressed in joint velocity (unit: rad/s, and the maximum value is limited to pi )
4. acc_time
* float64 acc_time
> time to reach maximum speed (unit: ms)
5. blend_percentage
* int32 blend_percentage
> blending value: expressed as a percentage (unit: %, and the minimum value of 0 means no blending)
6. fine_goal
* bool fine_goal
> precise position mode : If activated, the amount of error in the final position will converge more.