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[ergoCubSN000] Update the cluster-config.xml and the custom positions (…
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…robotology#591)
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@GiulioRomualdi @valegagge
GiulioRomualdi authored and valegagge committed Apr 11, 2024
1 parent 331f5c0 commit 056275a
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Showing 2 changed files with 32 additions and 3 deletions.
31 changes: 30 additions & 1 deletion ergoCubSN000/custom_positions.ini
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@ parts (head torso left_arm right_arm right_leg left_leg)
/$robot/left_leg_Velocity 10 10 10 10 10 10



[customPosition_LegsInZero]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
Expand All @@ -32,3 +31,33 @@ parts (head torso left_arm right_arm right_leg left_leg)
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 0 0 0 0 0 0
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportRight]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position 6.85497 10.708 -0.831098
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023
/$robot/left_leg_Velocity 10 10 10 10 10 10


[customPosition_SingleSupportLeft]
/$robot/head_Position 0 0 0 0
/$robot/head_Velocity 10 10 10 10
/$robot/torso_Position -6.85497 10.708 -0.831098
/$robot/torso_Velocity 10 10 10
/$robot/left_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0
/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
/$robot/right_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023
/$robot/right_leg_Velocity 10 10 10 10 10 10
/$robot/left_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819
/$robot/left_leg_Velocity 10 10 10 10 10 10
4 changes: 2 additions & 2 deletions ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
<cluster name="ergocub00" user="ergocub">

<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
<nameserver namespace="/ergocub00" node="ergocub-torso" type="yarpserver"> </nameserver>
<nameserver namespace="/ergocub00" node="ergocub000-lap" type="yarpserver"> </nameserver>

<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
this is usually the value of the DISPLAY variable when logged on -->
<node display=":1" address="10.0.2.1">ergocub000-lap</node>
<node display=":1" address="10.0.2.4">ergocub000-lap</node>
<node address="10.0.2.2">ergocub-torso</node>
<node display=":0" address="10.0.2.3">ergocub-head</node>
<node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>
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