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Gabriele
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added home positions for the yarpmotorgui
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‎utilities/homePositions/CMakeLists.txt

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add_subdirectory(robots)

‎utilities/homePositions/README.md

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## Home positions
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Home positions of the iCub robots to be used with the `yarpmotorgui`. Follow the instructions in the `WBC main README`.

‎utilities/homePositions/robots/CMakeLists.txt

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set(ROBOT_NAME "$ENV{YARP_ROBOT_NAME}" CACHE PATH
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"Name of your robot")
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set(ROBOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${ROBOT_NAME}")
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# If no env variable YARP_ROBOT_NAME is defined
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if(WBC_INSTALL_ALL_HOME_POS)
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add_subdirectory(bigman)
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add_subdirectory(bigman_only_legs)
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add_subdirectory(iCubGenova01)
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add_subdirectory(iCubGenova02)
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add_subdirectory(iCubGenova03)
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add_subdirectory(iCubGenova04)
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add_subdirectory(iCubGenova05)
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add_subdirectory(iCubParis01)
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add_subdirectory(iCubParis02)
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add_subdirectory(iCubHeidelberg01)
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add_subdirectory(icubGazeboSim)
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add_subdirectory(iCubDarmstadt01)
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add_subdirectory(iCubNancy01)
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add_subdirectory(iCubGazeboV2_5_plus)
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add_subdirectory(iCubGazeboV2_5)
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else()
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if(ROBOT_NAME)
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add_subdirectory(${ROBOT_NAME})
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endif()
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endif()

‎utilities/homePositions/robots/bigman/CMakeLists.txt

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set(robotname bigman)
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file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
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yarp_install(FILES ${ini} DESTINATION ${WBC_ROBOTS_INSTALL_DIR}/${robotname})

‎utilities/homePositions/robots/bigman/homePoseBalancing.ini

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//name of the robot
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robot bigman
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//parts to be opened by the GUI
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parts (head torso left_arm right_arm right_leg left_leg)
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[customPosition_YogaPP]
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/$robot/head_Position 0 0
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/$robot/head_Velocity 5 5
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/$robot/torso_Position 1 0 -1
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/$robot/torso_Velocity 5 5 5
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/$robot/left_arm_Position 13 6 -14 -7 5.5 0 0
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/$robot/left_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_arm_Position 13 -6 14 -7 -5.5 0 0
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/$robot/right_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_leg_Position 0 0 -14 17 -1.5 0
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/$robot/right_leg_Velocity 5 5 5 5 5 5
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/$robot/left_leg_Position 0 0 -14 17 1.5 0
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/$robot/left_leg_Velocity 5 5 5 5 5 5
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‎utilities/homePositions/robots/bigman/homePoseCalib.ini

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//name of the robot
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robot bigman
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//parts to be opened by the GUI
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parts (head torso left_arm right_arm right_leg left_leg)
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[customPosition_calibAir]
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/$robot/head_Position 0 0
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/$robot/head_Velocity 5 5
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/$robot/torso_Position 0 0 0
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/$robot/torso_Velocity 5 5 5
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/$robot/left_arm_Position 0 20 0 0 0 0 0
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/$robot/left_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_arm_Position 0 -20 0 0 0 0 0
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/$robot/right_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_leg_Position -20 0 0 0 0 0
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/$robot/right_leg_Velocity 5 5 5 5 5 5
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/$robot/left_leg_Position 20 0 0 0 0 0
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/$robot/left_leg_Velocity 5 5 5 5 5 5
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[customPosition_calibPole]
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/$robot/head_Position 0 0
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/$robot/head_Velocity 5 5
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/$robot/torso_Position 0 0 0
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/$robot/torso_Velocity 5 5 5
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/$robot/left_arm_Position 0 20 0 0 0 0 0
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/$robot/left_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_arm_Position 0 -20 0 0 0 0 0
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/$robot/right_arm_Velocity 5 5 5 5 5 5 5
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/$robot/right_leg_Position 0.2388 0 -39.5112 62.9325 -23.4216 -0.2646
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/$robot/right_leg_Velocity 5 5 5 5 5 5
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/$robot/left_leg_Position -0.2388 0 -39.5112 62.9325 -23.4216 0.2646
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/$robot/left_leg_Velocity 5 5 5 5 5 5
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‎utilities/homePositions/robots/bigman/homePoseYogaPP.ini

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//name of the robot
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name bigman
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//parts to be opened by the GUI
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parts (head torso left_arm right_arm right_leg left_leg)
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[head_zero]
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// 0 1
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PositionZero 0 0
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VelocityZero 5 5
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[torso_zero]
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// 0 1 2
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PositionZero 1 0 -1
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VelocityZero 5 5 5
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[left_arm_zero]
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//Joint 0 1 2 3 4 5 6
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PositionZero 13 6 -14 -7 5.5 0 0
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VelocityZero 5 5 5 5 5 5 5
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[right_arm_zero]
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//Joint 0 1 2 3 4 5 6
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PositionZero 13 -6 14 -7 -5.5 0 0
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VelocityZero 5 5 5 5 5 5 5
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[right_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 -14 17 -1.5 0
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VelocityZero 5 5 5 5 5 5
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[left_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 -14 17 1.5 0
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VelocityZero 5 5 5 5 5 5
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//DO NOT REMOVE THIS LINE
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‎utilities/homePositions/robots/bigman/torqueBalancing.ini

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name torqueBalancing
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robot bigman
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period 10
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modulePeriod 0.01
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wbi_config_file yarpWholeBodyInterface.ini
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wbi_joint_list ROBOT_TORQUE_CONTROL_JOINTS
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constraint_links ("l_sole" "r_sole")
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smooth ("joints", 1.0)
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comKp (30 30 30)
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comKd (11 11 11)
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comKi (0 0 0)
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kw 1
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kImp (20 20 10 20 20 20 20 20 20 20 20 20 20 30 30 30 60 10 10 30 30 30 60 10 10 )
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tsat (250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 250 )

‎utilities/homePositions/robots/bigman_only_legs/CMakeLists.txt

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set(robotname bigman_only_legs)
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file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
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yarp_install(FILES ${ini} DESTINATION ${WBC_ROBOTS_INSTALL_DIR}/${robotname})

‎utilities/homePositions/robots/bigman_only_legs/homePoseBalancing.ini

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//name of the robot
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robot bigman
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//parts to be opened by the GUI
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parts (right_leg left_leg)
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[customPosition_YogaPP]
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/$robot/right_leg_Position 0 0 0 0 1.4 0
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/$robot/right_leg_Velocity 10 10 10 10 10 10
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/$robot/left_leg_Position 0 0 0 0 1.4 0
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/$robot/left_leg_Velocity 10 10 10 10 10 10
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‎utilities/homePositions/robots/bigman_only_legs/homePoseYogaPP.ini

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//name of the robot
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name bigman
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//parts to be opened by the GUI
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parts (right_leg left_leg)
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[right_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 0 15 -10 0
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VelocityZero 5 5 5 5 5 5
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[left_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 0 15 -10 0
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VelocityZero 5 5 5 5 5 5
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//DO NOT REMOVE THIS LINE
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‎utilities/homePositions/robots/bigman_only_legs/torqueBalancing.ini

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name torqueBalancing
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robot bigman
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period 10
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modulePeriod 0.01
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wbi_config_file yarpWholeBodyInterface.ini
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wbi_joint_list ROBOT_TORQUE_CONTROL_JOINTS
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constraint_links ("l_sole" "r_sole")
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smooth ("joints", 1.0)
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comKp (30 30 30)
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comKd (11 11 11)
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comKi (0 0 0)
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kw 1
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kImp (30 30 30 60 10 10 30 30 30 60 10 10 )
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tsat (250 250 250 250 250 250 250 250 250 250 250 250 )

‎utilities/homePositions/robots/iCubDarmstadt01/CMakeLists.txt

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set(robotname iCubDarmstadt01)
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file(GLOB ini ${CMAKE_CURRENT_SOURCE_DIR}/*.ini)
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yarp_install(FILES ${ini} DESTINATION ${WBC_ROBOTS_INSTALL_DIR}/${robotname})

‎utilities/homePositions/robots/iCubDarmstadt01/homePoseBalancingHeadTorsoLegsZero.ini

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//name of the robot
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name icub
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//parts to be opened by the GUI
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parts (head torso left_arm right_arm right_leg left_leg)
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[head_zero]
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// 0 1 2
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PositionZero 0 0 0 0 0 0
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VelocityZero 10 10 10 10 10 10
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[torso_zero]
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// 0 1 2
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PositionZero 0 0 0
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VelocityZero 10 10 10
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[left_arm_zero]
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//Joint 0 1 2 3 4 5 6
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PositionZero -35.97 29.97 0.06 50.00 0.00 0.00 -0.00 15 30 10 0 0 0 10 0 10
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VelocityZero 10 10 10 10 30 30 30 10 10 10 10 10 10 10 10 10
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[right_arm_zero]
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//Joint 0 1 2 3 4 5 6
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PositionZero -35.97 29.97 0.06 50.00 0.00 0.00 -0.00 15 30 10 0 0 0 10 0 10
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VelocityZero 10 10 10 10 30 30 30 10 10 10 10 10 10 10 10 10
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[right_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 0 0 0 0
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VelocityZero 10.00 10.00 10.00 10.00 10.00 10.00
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[left_leg_zero]
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//Joint 0 1 2 3 4 5
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PositionZero 0 0 0 0 0 0
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VelocityZero 10 10 10 10 10 10
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//DO NOT REMOVE THIS LINE
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