Changes in yarpmotorgui home positions

[francesco-romano]

Disclaimer: this applies to YARP-devel but it will be merged into master in the future and released for everybody.

Dear @robotology/icub-developers (especially @robotology/codyco-developers who make extensive use of this feature for balancing demos),

Since robotology/yarp@af7b3e6 (currently in devel) the yarpmotorgui has changed on how it handles home positions.

The home position is now defined by the robot through the calibrator interfaces, and this configuration is the one applied when the user presses the Home button in the interface.

A new Custom position which substitutes the old zero in the configuration files can now be specified, see this diff.

There is the possibility to specify up to 2 custom configurations for each configuration file, which can then be applied by the new menu option:

[randaz81]

Just a quick additional note: options like --robot --names --parts are unnecessary and should be avoided if possible. Yarpmotorgui in devel automatically detects the available robot parts through the device description server mechanism. If the device description server is running, these options are ignored (the server has the priority on the user options)

Temporary note:
Since the development branch on icub-main is not yet merged, your files are ok for now, but please remove these options when the new yarp master release will be ready.