From c5e9c13f863ae4db5900581dd80ecf8767ed564b Mon Sep 17 00:00:00 2001
From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com>
Date: Sat, 4 Jul 2020 14:08:03 -0400
Subject: [PATCH] increased pen down force to avoid light lines

---
 stretch_demos/nodes/hello_world | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/stretch_demos/nodes/hello_world b/stretch_demos/nodes/hello_world
index 7b6ee9f..d1eac35 100755
--- a/stretch_demos/nodes/hello_world
+++ b/stretch_demos/nodes/hello_world
@@ -71,7 +71,7 @@ class HelloWorldNode(hm.HelloNode):
             wrist_position, wrist_velocity, wrist_effort = hm.get_wrist_state(self.joint_states)
         extension_m = wrist_position + max_reach_m
         extension_m = min(extension_m, max_extension_m)
-        extension_contact_effort = 42.0 #42.0 #40.0 from funmap
+        extension_contact_effort = 45.0 #42.0 #40.0 from funmap
         pose = {'wrist_extension': (extension_m, extension_contact_effort)}
         self.move_to_pose(pose, custom_contact_thresholds=True)