twoFeetStandingIdleWithoutCalib.sh

#!/bin/bash

# First, legs joints are put in idle status for few milliseconds, for releasing the  internal stresses in the legs due to putting the robot on the floor. Then, 
# the calibration procedure is performed.

list="4 5"

for a in $list; do
	echo "set icmd cmod $a idl"  | yarp rpc /icub/right_leg/rpc:i
	echo "set icmd cmod $a idl"  | yarp rpc /icub/left_leg/rpc:i
done

sleep 0.25

for a in $list; do
	echo "set icmd cmod $a pos"  | yarp rpc /icub/right_leg/rpc:i
	echo "set icmd cmod $a pos"  | yarp rpc /icub/left_leg/rpc:i
done

list="1"

for a in $list; do
	echo "set icmd cmod $a idl"  | yarp rpc /icub/right_leg/rpc:i
	echo "set icmd cmod $a idl"  | yarp rpc /icub/left_leg/rpc:i
done

sleep 0.25

for a in $list; do
	echo "set icmd cmod $a pos"  | yarp rpc /icub/right_leg/rpc:i
	echo "set icmd cmod $a pos"  | yarp rpc /icub/left_leg/rpc:i
done

yarp clean --timeout 0.2