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NicogeneNicogene
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Merge pull request #23 from robotology/fix/yarp3.6
Fix iCubBlinker compilation against yarp 3.6
2 parents d020e54 + 2ae10ae commit 5967d55

21 files changed

+194
-194
lines changed

‎app/scripts/shells/ADP_demo.sh‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@ speak() {
5050
}
5151

5252
blink() {
53-
echo "blink" | yarp rpc /iCubBlinker/rpc
53+
echo "blink_single" | yarp rpc /iCubBlinker/rpc
5454
sleep 0.5
5555
}
5656

@@ -266,12 +266,12 @@ noi_robot(){
266266
sleep 1.0
267267
me_and_you
268268
sleep 3.0
269-
go_home
269+
go_home
270270
}
271271

272272
questo_film(){
273273
show_iit
274-
speak "In questo breve filmato vi mostrerò come le mie capacità si siano evolute nel corso degli anni."
274+
speak "In questo breve filmato vi mostrerò come le mie capacità si siano evolute nel corso degli anni."
275275
sleep 3.0
276276
mostra_muscoli
277277
sleep 1.0

‎app/scripts/shells/D_G_drawing.sh‎

Lines changed: 51 additions & 51 deletions
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,7 @@ speak() {
6363
}
6464

6565
blink() {
66-
echo "blink" | yarp rpc /iCubBlinker/rpc
66+
echo "blink_single" | yarp rpc /iCubBlinker/rpc
6767
sleep 0.5
6868
}
6969

@@ -150,7 +150,7 @@ draw() {
150150
else if [ "$HAND" = "left" ]; then
151151
echo "$1 $2 $(bc <<< "$3+$OFFSET") $4 $5 $6 $7" | yarp write ... /armCtrl/left_arm/xd:i
152152
fi
153-
fi
153+
fi
154154
}
155155

156156
start_draw() {
@@ -210,7 +210,7 @@ right_arm_home(){
210210

211211
set_up_left_arm(){
212212
echo "ctpq time 1.5 off 7 pos (23.3295 30.7783 -3.06519 53.8881 49.0925 58.8869 45.9779 83.2985 140.312)" | yarp rpc /ctpservice/left_arm/rpc
213-
213+
214214
#with the glove
215215
#echo "ctpq time 1.5 off 8 pos (9.80532 0 139.999 47.7522 132.133 76.9429 109.127 270.001)" | yarp rpc /ctpservice/left_arm/rpc
216216
}
@@ -246,7 +246,7 @@ set_up_hand() {
246246
echo "Using left hand"
247247
set_up_left_arm
248248
fi
249-
fi
249+
fi
250250
}
251251

252252
prepare() {
@@ -289,7 +289,7 @@ calib_table()
289289
}
290290

291291
part_1() {
292-
292+
293293
if [ "$HAND" = "right" ]; then
294294
#high left arm drawing
295295
echo "ctpq time 10 off 0 pos (-15.0 0.0 -11.0 -10.0 -0.0 5.0)" | yarp rpc /ctpservice/head/rpc
@@ -311,7 +311,7 @@ part_1() {
311311

312312
#up face face drawing
313313
draw -0.386334435421571142921 0.0753170618625696063342 -0.040025084774475305771 -0.0558197697426994418612 0.889354215875829745563 -0.453798669025990086823 2.68235527666180484374
314-
314+
315315
else if [ "$HAND" = "left" ]; then
316316
#high left arm drawing
317317
draw -0.312099692973232367699 -0.0323477147963253594543 -0.0629028330966882788799 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
@@ -340,7 +340,7 @@ start_part_2() {
340340
X=-0.325723724067253908032
341341
Y=0.061830599363296217863
342342
Z=-0.0253764683221865031681
343-
AX=-0.0846392633486617862459
343+
AX=-0.0846392633486617862459
344344
AY=0.850400373120677621763
345345
AZ=-0.519283545373823929303
346346
THETA=2.80263529378769327138
@@ -376,7 +376,7 @@ part_2() {
376376

377377
draw -0.210324055274786971825 0.0726375747705533834075 -0.0732430696781040821985 -0.331076573016411412897 0.839284378792964691485 -0.431265619211427697621 2.33134272817010890222
378378
sleep 2.0
379-
379+
380380
draw -0.210324055274786971825 0.0726375747705533834075 -0.0192430696781040821985 -0.331076573016411412897 0.839284378792964691485 -0.431265619211427697621 2.33134272817010890222
381381
else if [ "$HAND" = "left" ]; then
382382
draw -0.325723724067253908032 -0.061830599363296217863 -0.0753764683221865031681 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
@@ -391,7 +391,7 @@ part_2() {
391391

392392
draw -0.210324055274786971825 -0.0726375747705533834075 -0.0732430696781040821985 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
393393
sleep 2.0
394-
394+
395395
draw -0.210324055274786971825 -0.0726375747705533834075 -0.0192430696781040821985 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
396396
fi
397397
fi
@@ -412,7 +412,7 @@ start_part_3() {
412412
AZ=$AZ_LEFT
413413
THETA=$THETA_LEFT
414414
fi
415-
415+
416416
start_draw $X $Y $Z $AX $AY $AZ $THETA
417417
sleep 1.0
418418

@@ -433,27 +433,27 @@ part_3() {
433433
if [ "$HAND" = "right" ]; then
434434
draw -0.315723724067253908032 0.11 -0.0733764683221865031681 -0.0846392633486617862459 0.850400373120677621763 -0.519283545373823929303 2.80263529378769327138
435435
sleep 2.0
436-
436+
437437
draw -0.2823724067253908032 0.10 -0.0733764683221865031681 -0.0846392633486617862459 0.850400373120677621763 -0.519283545373823929303 2.80263529378769327138
438-
sleep 2.0
439-
438+
sleep 2.0
439+
440440
draw -0.2653724067253908032 0.115 -0.0713764683221865031681 -0.0846392633486617862459 0.850400373120677621763 -0.519283545373823929303 2.80263529378769327138
441441
sleep 2.0
442-
442+
443443
draw -0.2023250129427876709 0.118728067975726200523 -0.0796862721934695412696 -0.00496676038412719334653 0.774492962781589078247 -0.632563026024350216758 2.56487352093593168334
444444
sleep 3.0
445445

446446
draw -0.2023250129427876709 0.118728067975726200523 -0.0236862721934695412696 -0.00496676038412719334653 0.774492962781589078247 -0.632563026024350216758 2.56487352093593168334
447447
else if [ "$HAND" = "left" ]; then
448448
draw -0.315723724067253908032 -0.11 -0.0733764683221865031681 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
449449
sleep 2.0
450-
450+
451451
draw -0.2823724067253908032 -0.10 -0.0733764683221865031681 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
452-
sleep 2.0
453-
452+
sleep 2.0
453+
454454
draw -0.2653724067253908032 -0.115 -0.0713764683221865031681 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
455455
sleep 2.0
456-
456+
457457
draw -0.2023250129427876709 -0.118728067975726200523 -0.0796862721934695412696 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
458458
sleep 3.0
459459

@@ -490,7 +490,7 @@ part_4() {
490490
if [ "$HAND" = "right" ]; then
491491
draw -0.350578938749672666564 0.0803265228440144745115 -0.069040502935731338785 -0.139080462476080801704 0.864773202310446520436 -0.482518324546513943663 2.60992081676853482364
492492
sleep 2.0
493-
493+
494494
draw -0.355263690567933779096 0.110372969207294786109 -0.0714483792852473856283 0.000476032722984540655753 0.899948998521016729768 -0.435994923656073951612 2.64223014371933695443
495495
sleep 2.0
496496

@@ -501,7 +501,7 @@ part_4() {
501501
else if [ "$HAND" = "left" ]; then
502502
draw -0.350578938749672666564 -0.0803265228440144745115 -0.069040502935731338785 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
503503
sleep 2.0
504-
504+
505505
draw -0.355263690567933779096 -0.110372969207294786109 -0.0714483792852473856283 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
506506
sleep 2.0
507507

@@ -528,34 +528,34 @@ start_part_5() {
528528
AZ=$AZ_LEFT
529529
THETA=$THETA_LEFT
530530
fi
531-
531+
532532
start_draw $X $Y $Z $AX $AY $AZ $THETA
533533
sleep 1.0
534-
534+
535535
echo "ctpq time 2 off 0 pos (-25.0 0.0 -11.0 -20.0 -0.0 5.0)" | yarp rpc /ctpservice/head/rpc
536536

537537
torso_low
538538
left_arm_low
539539
}
540540

541541
part_5() {
542-
542+
543543
echo "ctpq time 5 off 0 pos (-25.0 0.0 -18.0 -20.0 -0.0 5.0)" | yarp rpc /ctpservice/head/rpc
544544

545545
if [ "$HAND" = "right" ]; then
546546
draw -0.313077938533828088463 0.0777121914641277429237 -0.0758548882212590064311 -0.169874296403569297054 0.808215152442865791826 -0.563853696257413439241 2.59245150059519691155
547547
sleep 2.0
548548

549549
draw -0.306886776896212300603 0.127579528816639274136 -0.0788054075826516292613 -0.0406193229074667538914 0.812088367509156250357 -0.582119020444146206827 2.56000409079834900794
550-
sleep 2.0
550+
sleep 2.0
551551

552552
draw -0.306886776896212300603 0.127579528816639274136 -0.0488054075826516292613 -0.0406193229074667538914 0.812088367509156250357 -0.582119020444146206827 2.56000409079834900794
553553
else if [ "$HAND" = "left" ]; then
554554
draw -0.313077938533828088463 -0.0777121914641277429237 -0.0758548882212590064311 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
555555
sleep 2.0
556556

557557
draw -0.306886776896212300603 -0.127579528816639274136 -0.0788054075826516292613 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
558-
sleep 2.0
558+
sleep 2.0
559559

560560
draw -0.306886776896212300603 -0.127579528816639274136 -0.0488054075826516292613 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
561561
fi
@@ -601,15 +601,15 @@ part_6() {
601601
draw -0.288886776896212300603 -0.129579528816639274136 -0.0788054075826516292613 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
602602
sleep 2.0
603603

604-
draw -0.288886776896212300603 -0.129579528816639274136 -0.0488054075826516292613 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
604+
draw -0.288886776896212300603 -0.129579528816639274136 -0.0488054075826516292613 $AX_LEFT $AY_LEFT $AZ_LEFT $THETA_LEFT
605605
fi
606606
fi
607607
}
608608

609609
raise_up() {
610610

611611
#draw -0.288886776896212300603 0.129579528816639274136 -0.0488054075826516292613 -0.0406193229074667538914 0.812088367509156250357 -0.582119020444146206827 2.56000409079834900794
612-
612+
613613
echo $HAND
614614
X=-0.288886776896212300603
615615
Y=0.205579528816639274136
@@ -627,7 +627,7 @@ raise_up() {
627627
fi
628628
echo "ctpq time 3 off 0 pos (-25.0 0.0 -5.0 -18.0 -0.0 5.0)" | yarp rpc /ctpservice/head/rpc
629629

630-
draw $X $Y $Z $AX $AY $AZ $THETA
630+
draw $X $Y $Z $AX $AY $AZ $THETA
631631
}
632632

633633
all_parts() {
@@ -648,7 +648,7 @@ all_parts() {
648648
sleep 2.0
649649
part_3
650650
sleep 2.0
651-
651+
652652
start_part_4
653653
sleep 2.0
654654
part_4
@@ -664,50 +664,50 @@ all_parts() {
664664
part_6
665665
sleep 2.0
666666

667-
raise_up
667+
raise_up
668668
}
669669

670670
###################################################################
671-
# 21 feb
671+
# 21 feb
672672
###################################################################
673673

674-
speak_01()
674+
speak_01()
675675
{
676676
echo "\"Ciao Domenico e Stefano!!!\"" | yarp write ... /iSpeak
677-
mplayer /home/vvasco/stilisti/audio_01.mp3
677+
mplayer /home/vvasco/stilisti/audio_01.mp3
678678
}
679679

680-
#speak_02()
680+
#speak_02()
681681
#{
682682
# echo "\"Come sono felice ed emozionato di essere qui a Milano tra voi!!!!\"" | yarp write ... /iSpeak
683683
# mplayer /home/vvasco/stilisti/audio_02.mp3
684684
#}
685685

686-
#speak_03()
686+
#speak_03()
687687
#{
688688
# echo "\"Cosa mi potete insegnare????\"" | yarp write ... /iSpeak
689-
# mplayer /home/vvasco/stilisti/audio_03.mp3
689+
# mplayer /home/vvasco/stilisti/audio_03.mp3
690690
#}
691691

692-
speak_02()
692+
speak_02()
693693
{
694694
echo "\"Vorrei tanto imparare a disegnare!!!!\"" | yarp write ... /iSpeak
695695
mplayer /home/vvasco/stilisti/audio_02.mp3
696696
}
697697

698-
#speak_05()
698+
#speak_05()
699699
#{
700700
# echo "\"Come posso aiutarvi per preparare questa sfilata???\"" | yarp write ... /iSpeak
701701
# mplayer /home/vvasco/stilisti/audio_05.mp3
702702
#}
703703

704-
#speak_06()
704+
#speak_06()
705705
#{
706706
# echo "\"Wow che bel look!!!\"" | yarp write ... /iSpeak
707707
# mplayer /home/vvasco/stilisti/audio_06.mp3
708708
#}
709709

710-
#speak_07()
710+
#speak_07()
711711
#{
712712
# echo "\"Grazie Stefano e Domenico, ci vediamo alla sfilata!!!\"" | yarp write ... /iSpeak
713713
# mplayer /home/vvasco/stilisti/audio_07.mp3
@@ -721,40 +721,40 @@ speak_02()
721721

722722

723723
###################################################################
724-
# 22 feb
724+
# 22 feb
725725
###################################################################
726726
speak_03()
727727
{
728728
echo "\"Wow!!!\"" | yarp write ... /iSpeak
729729
mplayer /home/vvasco/stilisti/audio_03.mp3
730730
}
731731

732-
speak_04()
732+
speak_04()
733733
{
734734
echo "\"Wow che bel look!!!\"" | yarp write ... /iSpeak
735735
mplayer /home/vvasco/stilisti/audio_04.mp3
736736
}
737737

738-
speak_05()
738+
speak_05()
739739
{
740740
echo "\"Wow che bello!!!\"" | yarp write ... /iSpeak
741741
mplayer /home/vvasco/stilisti/audio_05.mp3
742742
}
743743

744744

745-
speak_06()
745+
speak_06()
746746
{
747747
echo "\"Interessante questo articolo!!!\"" | yarp write ... /iSpeak
748748
mplayer /home/vvasco/stilisti/audio_06.mp3
749749
}
750750

751-
speak_07()
751+
speak_07()
752752
{
753753
echo "\"Grazie Stefano e Domenico!!!\"" | yarp write ... /iSpeak
754754
mplayer /home/vvasco/stilisti/audio_07.mp3
755755
}
756756

757-
speak_08()
757+
speak_08()
758758
{
759759
echo "\"Grazie Stefano e Domenico, ci vediamo alla sfilata!!!\"" | yarp write ... /iSpeak
760760
mplayer /home/vvasco/stilisti/audio_08.mp3
@@ -811,16 +811,16 @@ point_left_front() {
811811
}
812812

813813
follow_left() {
814-
point_left_wide
815-
point_left_front
814+
point_left_wide
815+
point_left_front
816816
sleep 5.0
817-
home_left_arm
817+
home_left_arm
818818
}
819819

820820
follow_both() {
821821
for i in {1..$1}
822822
do
823-
follow_left
823+
follow_left
824824
sleep 6.0
825825
follow_right
826826
sleep 6.0
@@ -1023,7 +1023,7 @@ sequence_14() {
10231023
sleep 0.7
10241024
echo "ctpq time 1.0 off 0 pos (-22.0 34.0 48.0 73.0 37.0 3.0 -7.0 12.0 -6.0 37.0 2.0 0.0 3.0 2.0 1.0 0.0)" | yarp rpc /ctpservice/left_arm/rpc
10251025
sleep 3.0
1026-
1026+
10271027
home_left_arm
10281028
home_right_arm
10291029
}

‎app/scripts/shells/baricub.sh‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ speak() {
2121
}
2222

2323
blink() {
24-
echo "blink" | yarp rpc /iCubBlinker/rpc
24+
echo "blink_single" | yarp rpc /iCubBlinker/rpc
2525
sleep 0.5
2626
}
2727

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