old_contents: #!/usr/bin/env python
  import tf
  import rospy
  from geometry_msgs.msg import Point
  from geometry_msgs.msg import PointStamped
  import geometry_msgs.msg
  import math
  import numpy as np
  
  #THIS IS MEANT FOR THE SIMULATOR ONLY!
  #THE COMMANDS SENT TO THE CONTROLLER ARE NOT REALIZABLE AND WILL BREAK THINGS!
  '''This publisher sends out PointStamped commands for the arm to spin in a circle. 
     This is a tool to used for assessing the simulator.
     USAGE:
  	Set r to the desired radius
  	rosrun ieee2016_simulator arm_controller_test
  '''
  def point(xcomp, ycomp, r):
      dist1 = (r*xcomp/10, r*ycomp/10, 0.0)
      dist2 = Point(*dist1)
      dist = PointStamped()               
      dist.header.stamp = rospy.Time.now()
      dist.header.frame_id = '/robot'
      dist.point = dist2
      des_pose.publish(dist)
      return dist
  
  if __name__== "__main__":
      rospy.init_node('arm_controller_test')
      while(True):
          time = rospy.get_time()
          des_pose = rospy.Publisher('/sim/arm_des_pose', PointStamped, queue_size=10)
          try:
              x=np.cos(time)
              y=np.sin(time)
              r=3.05
              point(x,y, r)
          except rospy.ROSInterruptException:
              pass
          rospy.sleep(0.2)
  
      
  
new_contents: #!/usr/bin/env python
  import tf
  import rospy
  from geometry_msgs.msg import Point
  from geometry_msgs.msg import PointStamped
  import geometry_msgs.msg
  import math
  import numpy as np
  
  #THIS IS MEANT FOR THE SIMULATOR ONLY!
  #THE COMMANDS SENT TO THE CONTROLLER ARE NOT REALIZABLE AND WILL BREAK THINGS!
  '''This publisher sends out PointStamped commands for the arm to spin in a circle. 
     This is a tool to used for assessing the simulator.
     USAGE:
  	Set r to the desired radius
  	rosrun ieee2016_simulator arm_controller_test
  '''
  def point(xcomp, ycomp, r, z):
      dist1 = (r*xcomp/10, r*ycomp/10, z)
      dist2 = Point(*dist1)
      dist = PointStamped()               
      dist.header.stamp = rospy.Time.now()
      dist.header.frame_id = '/robot'
      dist.point = dist2
      des_pose.publish(dist)
      return dist
  
  if __name__== "__main__":
      rospy.init_node('arm_controller_test')
      while(True):
          time = rospy.get_time()
          des_pose = rospy.Publisher('/sim/arm_des_pose', PointStamped, queue_size=10)
          try:
              x=np.cos(time)
              y=np.sin(time)
              r=1.05
              z=abs(0.5*np.cos(time))
              point(x,y, r,z)
          except rospy.ROSInterruptException:
              pass
          rospy.sleep(0.2)
  
      
  
subject: Add height to arm_controller_test