Migrate home-positions from codyco-modules

[gabrielenava]

We need to migrate home-positions for the iCub robots (namely, these files: https://github.com/robotology/codyco-modules/tree/master/src/modules/torqueBalancing/app/robots) inside the WBC repository. These files require installation, therefore we need to:

• locate them in a proper folder in the WBC repo;
• add the CMake file for installing the files;
• document the necessity of installing these files in order to use the robot home-positions.

[gabrielenava]

Done with this commit: 36d9056

Installation tested with the robotology superbuild and seems working fine. It is in devel branch for now, but PR for merging in master is already opened.

NB: to keep the commit history readable, modifications of the CMakeLists.txt and of the README files are in a separate commit: 144332b

Closing the issue.

cc @traversaro

[traversaro]

Installation tested with the robotology superbuild and seems working fine. It is in devel branch for now, but PR for merging in master is already opened.

How did you tested that the files are correctly be found? As far as I can see, the robots are installed n <prefix>/share/wbc, and so you would need to install that dir to YARP_DATA_DIRS. To avoid having to deal with a new value to the env variables, I suggest to install the robots files in share/yarp/robots, so that we do not have do deal with a new env variable value for these files?

[gabrielenava]

How did you tested that the files are correctly be found? As far as I can see, the robots are installed n /share/wbc, and so you would need to install that dir to YARP_DATA_DIRS. To avoid having to deal with a new value to the env variables, I suggest to install the robots files in share/yarp/robots, so that we do not have do deal with a new env variable value for these files?

I run yarp resource --find homePosBalancing.ini after uninstalling the previous installed home positions and I was able to find the home positions in the correct path (/share/wbc) so I concluded that this path was already included in the YARP_DATA_DIRS variable because of the robotology-superbuild settings. But it is ok for me to install in yarp folder instead.