From 056275ad0b6798d9a6a20ae963938e0f8560d871 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Wed, 15 Nov 2023 08:43:31 +0100
Subject: [PATCH] [ergoCubSN000] Update the cluster-config.xml and the custom
 positions (#591)

---
 ergoCubSN000/custom_positions.ini             | 31 ++++++++++++++++++-
 .../contexts/yarpmanager/cluster-config.xml   |  4 +--
 2 files changed, 32 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 ergoCubSN000/custom_positions.ini

diff --git a/ergoCubSN000/custom_positions.ini b/ergoCubSN000/custom_positions.ini
old mode 100644
new mode 100755
index a081fa5676..ac1173534e
--- a/ergoCubSN000/custom_positions.ini
+++ b/ergoCubSN000/custom_positions.ini
@@ -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
@@ -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
diff --git a/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml b/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml
index 5e4cbeb169..9c0b0bb656 100644
--- a/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml
+++ b/ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml
@@ -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>