how to disable the left arm of iCub

[jimingda]

Hi,

The left arm of iCub is still under repairing, is there any way to disable it that i do experiment without it?

Thanks in advance.

[Nicogene]

Hi @jimingda,

In this thread you can find useful information:

• https://github.com/orgs/robotology/discussions/671

[jimingda]

Thank you, @Nicogene.

I will investigate the BOARD torso-eb5-j0_2 IP 10.0.1.5 and BOARD right_arm-eb3-j0_3 IP 10.0.1.3. Additionally, I have already disabled the left arm. However, I am still encountering errors related to BOARD left_arm-eb26-j12_15 IP 10.0.1.26.

[jimingda]

Hi @Nicogene

Could you please check my icub_all_no_left_arm.xml under /usr/local/src/robot/robotology-superbuild/src/robots-configuration/iCubShanghai01, i examined it and didn't find what's wrong.
icub_all_no_left_arm.txt

[Nicogene]

Looking at the xml you posted the file seems correct, probably yarprobotinterface is not using that file, in order to be 100% sure please insert --config icub_all_no_left_arm.xml in "Parameters" section before running it.

[jimingda]

Thanks to @Nicogene for the suggestion!

I have added the --config icub_all_no_left_arm.xml configuration in the yarprobotinterface module of iCubStartup_headV2_6.xml, as shown below. Now, the error related to the left arm when launching wholeBodyDynamics has been resolved, but other connection errors still persist.

        <module>
                <name>yarprobotinterface</name>
                <parameters>--config icub_all_no_left_arm.xml</parameters>
                <node>icub-head</node>
                <workdir>/usr/local/src/robot/robots-configuration/iCubShanghai01</workdir>
        </module>

log_icub-head_yarprobotinterface_2565.txt

[Nicogene]

Happy to hear you managed to run it without the left arm, for debugging the communication problems with the boards I will leave to my colleagues of icub-tech-support

• iCubShanghai01 S/N:049 – cann't launch wholeBodyDynamics due to a potential board connection problem icub-tech-support#1818