Fix bimanual (#336)

* fixing payload for bimanual * fixing payload for bimanual
shadow-robot · Feb 8, 2021 · 239144c · 239144c
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commit 239144c
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diff --git a/...-e/server/desktop-icons/templates/scripts/start-docker-container-nuc-bimanual-arm-hand.j2 b/...-e/server/desktop-icons/templates/scripts/start-docker-container-nuc-bimanual-arm-hand.j2
@@ -13,7 +13,7 @@ if [ $chrony_status -eq 0 ]; then
     sleep 3
 fi
 
-ssh -X $NUC_NAME@$NUC_ADDRESS CONTAINER={{ container_name }} SR_BRANCH={{ config_branch }} HAND_SERIALN={{ hand_serial }} HAND_SERIALN_LEFT={{ hand_serial_left }} ETH_PORT={{ ethercat_right_hand }} ETH_PORT_LHAND={{ ethercat_left_hand }} HOST_IP=$LOCAL_IP NUC_ADDRESS=$NUC_ADDRESS UR_TYPE={{ ur_robot_type }} ARM_PAYLOAD_MASS={{ arm_payload_mass }} 'bash -s' <<'ENDSSH'
+ssh -X $NUC_NAME@$NUC_ADDRESS CONTAINER={{ container_name }} SR_BRANCH={{ config_branch }} HAND_SERIALN={{ hand_serial }} HAND_SERIALN_LEFT={{ hand_serial_left }} ETH_PORT={{ ethercat_right_hand }} ETH_PORT_LHAND={{ ethercat_left_hand }} HOST_IP=$LOCAL_IP NUC_ADDRESS=$NUC_ADDRESS UR_TYPE={{ ur_robot_type }} ARM_PAYLOAD_MASS={{ arm_mass_payload }} 'bash -s' <<'ENDSSH'
 bash $(while [[ $(ss | grep $HOST_IP | grep $NUC_ADDRESS | grep ssh | grep ESTAB | wc -l) -gt 0 ]]; do sleep 1; done ; pkill -INT -f roslaunch) &
 XACRO='{{ xacro_system }}'
 MAPPING_RIGHT='{{ mapping_path_right }}'

diff --git a/...ucts/hand-e/server/desktop-icons/templates/scripts/start-docker-container-nuc-bimanual.j2 b/...ucts/hand-e/server/desktop-icons/templates/scripts/start-docker-container-nuc-bimanual.j2
@@ -13,7 +13,7 @@ if [ $chrony_status -eq 0 ]; then
     sleep 3
 fi
 
-ssh -X $NUC_NAME@$NUC_ADDRESS CONTAINER={{ container_name }} SR_BRANCH={{ config_branch }} HAND_SERIALN={{ hand_serial }} HAND_SERIALN_LEFT={{ hand_serial_left }} ETH_PORT={{ ethercat_right_hand }} ETH_PORT_LHAND={{ ethercat_left_hand }} HOST_IP=$LOCAL_IP NUC_ADDRESS=$NUC_ADDRESS UR_TYPE={{ ur_robot_type }} ARM_PAYLOAD_MASS={{ arm_payload_mass }} 'bash -s' <<'ENDSSH'
+ssh -X $NUC_NAME@$NUC_ADDRESS CONTAINER={{ container_name }} SR_BRANCH={{ config_branch }} HAND_SERIALN={{ hand_serial }} HAND_SERIALN_LEFT={{ hand_serial_left }} ETH_PORT={{ ethercat_right_hand }} ETH_PORT_LHAND={{ ethercat_left_hand }} HOST_IP=$LOCAL_IP NUC_ADDRESS=$NUC_ADDRESS UR_TYPE={{ ur_robot_type }} ARM_PAYLOAD_MASS={{ arm_mass_payload }} 'bash -s' <<'ENDSSH'
 bash $(while [[ $(ss | grep $HOST_IP | grep $NUC_ADDRESS | grep ssh | grep ESTAB | wc -l) -gt 0 ]]; do sleep 1; done ; pkill -INT -f roslaunch) &
 XACRO='{{ xacro_bimanual }}'
 MAPPING_RIGHT='{{ mapping_path_right }}'