Resetting icub to original position in Simulator

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Resetting icub to original position in Simulator

Ashraf Zia [asz]

Hi,


Is there any function available that could reset the iCub robot in Simulator to its original standby position. I have searched but could not find. I have an idea of creating a remoteDevice to every body component, opening their ports and then re-positioning them, but that would be a tedious task to perform.


Thank you



Ashraf Zia

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Re: Resetting icub to original position in Simulator

Matej Hoffmann
Hi Ashraf!

On 02/04/2016 11:35 AM, Ashraf Zia [asz] wrote:

Hi,


Is there any function available that could reset the iCub robot in Simulator to its original standby position.

You can just press 'H' on the keyboard while the icub_SIM window is active. 

I have searched but could not find. I have an idea of creating a remoteDevice to every body component, opening their ports and then re-positioning them, but that would be a tedious task to perform.


You could also use the yarpmotorgui and the "Home all" button, but the yarpmotorgui would have to be started with an appropriate config (.ini) file with these positions.

Hope this helps,
Matej


Thank you



Ashraf Zia


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Re: Resetting icub to original position in Simulator

Ashraf Zia [asz]

Hi Matej,


By following, 

You can just press 'H' on the keyboard while the icub_SIM window is active. 


I get the following on the terminal.


[ERROR]positionMoveRaw: skipping command because part  2  joint  0 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  1 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  2 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  3 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  4 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  5 is not in VOCAB_CM_POSITION mode 
[ERROR]positionMoveRaw: skipping command because part  2  joint  6 is not in VOCAB_CM_POSITION mode 

By opening yarpmotorgui and clicking home all button i get the following:

Asking the robotInterface to homing part head through the remoteCalibrator interface, since no custom zero group found in the supplied file.

The robot does not change its position.


Ashraf Zia



From: Matej Hoffmann <[hidden email]>
Sent: Thursday, February 4, 2016 1:48 PM
To: [hidden email]
Subject: Re: [rc-hackers] Resetting icub to original position in Simulator
 
Hi Ashraf!

On 02/04/2016 11:35 AM, Ashraf Zia [asz] wrote:

Hi,


Is there any function available that could reset the iCub robot in Simulator to its original standby position.

You can just press 'H' on the keyboard while the icub_SIM window is active. 

I have searched but could not find. I have an idea of creating a remoteDevice to every body component, opening their ports and then re-positioning them, but that would be a tedious task to perform.


You could also use the yarpmotorgui and the "Home all" button, but the yarpmotorgui would have to be started with an appropriate config (.ini) file with these positions.

Hope this helps,
Matej


Thank you



Ashraf Zia


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