Is it possible to use the iCub arm without the hand?

[S-Dafarra]

I am interested in using the robot arm without the hand. In practice I may need to use the shoulder and the elbow even if the hand have some problems at startup. Is it possible? What is the cleanest way to do so?

@DanielePucci @pi-q @gabrielenava @traversaro @randaz81

[S-Dafarra]

Actually I have found a method, but I 'm not sure it is the cleanest one.
First of all I started by modifying the yarpwholebodyinterface.ini file located in the .local folder in the iCub head, like in S-Dafarra/robots-configuration@87f5495 .
Then I modified the icub_all.xml file, by copying its content into a file called icub_no_right_hand.xml, with the following modifications:

• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/icub_no_right_hand.xml#L29-L33
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/icub_no_right_hand.xml#L53
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/icub_no_right_hand.xml#L59-L60
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/icub_no_right_hand.xml#L92 .

Similarly I copied the content of the file wrappers/motorControl/right_arm-mc_wrapper.xml into wrappers/motorControl/right_arm_no_hand-mc_wrapper.xml by performing the following modifications:

• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/wrappers/motorControl/right_arm_no_hand-mc_wrapper.xml#L10-L12
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/wrappers/motorControl/right_arm_no_hand-mc_wrapper.xml#L23
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/wrappers/motorControl/right_arm_no_hand-mc_wrapper.xml#L23

Then I modified the /wrappers/VFT/right_arm-VFT_wrapper.xml file with the new name /wrappers/VFT/right_arm_no_hand-VFT_wrapper.xml with the following modifications:

• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/wrappers/VFT/right_arm_no_hand-VFT_wrapper.xml#L12
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/wrappers/VFT/right_arm_no_hand-VFT_wrapper.xml#L22

Finally I edited the /calibrators/right_arm-calib.xml file into /calibrators/right_arm_no_hand-calib.xml by doing:

• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/calibrators/right_arm_no_hand-calib.xml#L9
• https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/calibrators/right_arm_no_hand-calib.xml#L35
• Removing all the columns from 4 to the end like in lines https://github.com/S-Dafarra/robots-configuration/blob/0c17f1fe232faad9eb1b239996696c0acc6526c7/iCubGenova04/calibrators/right_arm_no_hand-calib.xml#L12-L33

As I said I don't think this is the cleanest way to do so, neither the easiest, but maybe it is a solution. Hope this to be useful.

[DanielePucci]

👍