diff --git a/Robot_arm.cpp b/Robot_arm.cpp
index e4a1891..1838b47 100644
--- a/Robot_arm.cpp
+++ b/Robot_arm.cpp
@@ -27,10 +27,57 @@ void goToHomePosition()
 { 
 	vector<uint16_t> l_vTargetJointPosition;
 	for (int l_joint = 0; l_joint < _nbJoints; l_joint++)
-	{
+        {
 		l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
 	}
-	_oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+        _oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+}
+
+void gripperControl(){
+    while(true){
+        std::vector<uint16_t> l_vCurrentJointTorque;
+        _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
+        int angle = 0;
+        int var = l_vCurrentJointTorque[5];
+        cout<<"initial torque value = "<<var<<endl;
+                while (var < 1100){
+                    int var = l_vCurrentJointTorque[5];
+                    vector<uint16_t> l_vTargetJointPosition;
+                    for (int l_joint = 0; l_joint < (_nbJoints-1); l_joint++)
+                    {
+                        l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+                    }
+                    l_vTargetJointPosition.push_back(convertAnglesToJointCmd(angle));
+                    _oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+                    std::this_thread::sleep_for(std::chrono::milliseconds(200));
+                    _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
+                    std::this_thread::sleep_for(std::chrono::milliseconds(200));
+                    cout<<"torque value: "<<l_vCurrentJointTorque[5]<<endl;
+                    angle ++;
+                }
+                cout<<"done!!!!!!!!!!!"<<endl;
+                break;
+    }
+
+}
+
+void inputEndEffector(int Theta){
+    while(true){
+        cout<<"angle: "<<endl;
+        cin >> Theta;
+        if (Theta > -90 && Theta < 30){
+            vector<uint16_t> l_vTargetJointPosition;
+            for (int l_joint = 0; l_joint < (_nbJoints-1); l_joint++)
+            {
+                    l_vTargetJointPosition.push_back(convertAnglesToJointCmd(0.0f));
+            }
+            l_vTargetJointPosition.push_back(convertAnglesToJointCmd(Theta));
+            _oDxlHandler.sendTargetJointPosition(l_vTargetJointPosition);
+        }
+        else{
+            cout<<"angle outisde of range";
+        }
+    }
 }
 
 void print_position(const char* state)
@@ -59,14 +106,15 @@ int main()
 	cout << endl;
 	std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 	// display current joint position
-	print_position("=========BEFORE MOVING========");
-	goToHomePosition();
-	print_position("=========AFTER MOVING=========");
-	
-	std::this_thread::sleep_for(std::chrono::milliseconds(5000));
+        print_position("=========BEFORE MOVING========");
+        goToHomePosition();
+        print_position("=========AFTER MOVING=========");
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+        //move only end effector angle
+        gripperControl();
 	cout << "===Closing the Dynamixel Motor communication====" << endl;
 	_oDxlHandler.enableTorque(false);
 	_oDxlHandler.closePort();
 	cout << endl;
 	return 0;
-}
\ No newline at end of file
+}