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GiulioRomualdiGiulioRomualdi
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[ergoCubSN000] Update the cluster-config.xml and the custom positions (#591)
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2 files changed

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‎ergoCubSN000/custom_positions.ini‎

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Lines changed: 30 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,6 @@ parts (head torso left_arm right_arm right_leg left_leg)
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/$robot/left_leg_Velocity 10 10 10 10 10 10
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[customPosition_LegsInZero]
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/$robot/head_Position 0 0 0 0
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/$robot/head_Velocity 10 10 10 10
@@ -32,3 +31,33 @@ parts (head torso left_arm right_arm right_leg left_leg)
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/$robot/right_leg_Velocity 10 10 10 10 10 10
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/$robot/left_leg_Position 0 0 0 0 0 0
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/$robot/left_leg_Velocity 10 10 10 10 10 10
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[customPosition_SingleSupportRight]
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/$robot/head_Position 0 0 0 0
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/$robot/head_Velocity 10 10 10 10
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/$robot/torso_Position 6.85497 10.708 -0.831098
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/$robot/torso_Velocity 10 10 10
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/$robot/left_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0
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/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
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/$robot/right_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0
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/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
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/$robot/right_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819
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/$robot/right_leg_Velocity 10 10 10 10 10 10
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/$robot/left_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023
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/$robot/left_leg_Velocity 10 10 10 10 10 10
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[customPosition_SingleSupportLeft]
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/$robot/head_Position 0 0 0 0
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/$robot/head_Velocity 10 10 10 10
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/$robot/torso_Position -6.85497 10.708 -0.831098
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/$robot/torso_Velocity 10 10 10
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/$robot/left_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0
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/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
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/$robot/right_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0
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/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10
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/$robot/right_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023
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/$robot/right_leg_Velocity 10 10 10 10 10 10
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/$robot/left_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819
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/$robot/left_leg_Velocity 10 10 10 10 10 10

‎ergoCubSN000/extra/contexts/yarpmanager/cluster-config.xml‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
11
<cluster name="ergocub00" user="ergocub">
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<!-- specify type="yarpserver" or type="yarpserver3" to use the old or new nameserver default behavior is to use yarpserver3 -->
4-
<nameserver namespace="/ergocub00" node="ergocub-torso" type="yarpserver"> </nameserver>
4+
<nameserver namespace="/ergocub00" node="ergocub000-lap" type="yarpserver"> </nameserver>
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<!-- specify nodes, if you want to enable display on desktop please specify which desktop to use
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this is usually the value of the DISPLAY variable when logged on -->
8-
<node display=":1" address="10.0.2.1">ergocub000-lap</node>
8+
<node display=":1" address="10.0.2.4">ergocub000-lap</node>
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<node address="10.0.2.2">ergocub-torso</node>
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<node display=":0" address="10.0.2.3">ergocub-head</node>
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<node display=":0" address="10.0.10.164" user="icub">icub-console-gui</node>

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