Cannot launch demoYoga

[serena-ivaldi]

Hello I am trying to launch the demoYoga but it won't start from a file other than yoga.ini

This works: demoYoga --robot icubSim using yoga.ini

However, I cannot make it work from any file. I tried: demoYoga --robot icubSim --from two-hands.ini demoYoga --robot icubSim --config two-hands.ini demoYoga --robot icubSim --file two-hands.ini

None of the three work... How should I launch it?

ps: by the way, you should add the prefix of the yoga folder to the ini file of yoga.ini

[pattacini]

Hi @serena-ivaldi

The option --positionsfile-name should do the job. Consider that demoYoga is very old, thus does not comply with our standards, is no longer used and there's no chance we're going to upgrade it 😉

[serena-ivaldi]

What do you use to make simple demos like the yoga?

[pattacini]

Hi @serena-ivaldi

• For reproducing trajectories at the joints level we use ctpService.
• For controlling the movements of the arm in the Cartesian space, we use cartesianInterfaceControl.
• For controlling the gaze, obviously, the iKinGazeCtrl module.

All the above modules can be managed through bash scripts as done for example in funny-things repository.