Set home positions

[francesco-romano]

We should support the "set home positions". Currently from the robotMotorGui it is impossible to reset the robot to the original pose.

I think, a part from adding the relevant lines in the config files, we should also implement something in the interface.

@barbalberto

[traversaro]

I guess is some-way related to robotology/icub-main#4 .

[barbalberto]

The robotMotogGui should call an usual positionMove so the plugin is fine with that i think, have you already tried to fill the config file?

[iron76]

Yes, I agree with Alberto. Home can be defined in the robotMotorGui.ini

Francesco Nori Robotics Brain Cognitive Science Department
Cognitive Humanoids Lab Istituto Italiano di Tecnologia
Via Morego, 30 16163 Genova, Italy
http://people.liralab.it/iron/ francesco.nori@iit.itmailto:francesco.nori@iit.it

Phone: (+39) 010 71 781 420 Fax: +39 010 71 70 817

On Feb 13, 2014, at 2:37 PM, barbalberto wrote:

The robotMotogGui should call an usual positionMove so the plugin is fine with that i think, have you already tried to fill the config file?

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/59#issuecomment-34978061.

[lornat75]

It also makes sense to extend robotInterface with a “home” function that allows to park the robot. Given this is already there for parking at startup I think this solution has the advantage that it avoids duplicating information.

From: Francesco Nori [mailto:notifications@github.com]
Sent: giovedì 13 febbraio 2014 15:00
To: robotology/gazebo_yarp_plugins
Subject: Re: [gazebo_yarp_plugins] Set home positions (#59)

Yes, I agree with Alberto. Home can be defined in the robotMotorGui.ini

Francesco Nori Robotics Brain Cognitive Science Department
Cognitive Humanoids Lab Istituto Italiano di Tecnologia
Via Morego, 30 16163 Genova, Italy
http://people.liralab.it/iron/ francesco.nori@iit.itmailto:francesco.nori@iit.itmailto:francesco.nori@iit.it%3cmailto:francesco.nori@iit.it

Phone: (+39) 010 71 781 420 Fax: +39 010 71 70 817

On Feb 13, 2014, at 2:37 PM, barbalberto wrote:

The robotMotogGui should call an usual positionMove so the plugin is fine with that i think, have you already tried to fill the config file?

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/59#issuecomment-34978061.

—
Reply to this email directly or view it on GitHubhttps://github.com//issues/59#issuecomment-34979984.

[traversaro]

I guess providing a proper robotMotorGui configuration file is for now something robot/model specific (as in robotology-legacy/icub-gazebo-legacy@057728a) and eventually when the changes discussed in robotology/icub-main#4 will be introduced we will have to implement the necessary interfaces, but in the meanwhile we can close this issue.