This page details how to run an experiment on Tiago

The best practice is to test the movement on Gazebo before performing on the real robot
Turn the Tiago on
If necessary, transfer your packages from the development machine to the robot
Check the Web Commander. Put the arm to the Home position

On Tiago-48c, run:

  python /opt/openrobots/share/sot-tiago/tests/stop-controllers.py

Run SoT on Tiago without using the mobile base

roslaunch roscontrol_sot_tiago sot_tiago_controller.launch

use_mobile_base:=false end-effctor:=schunk-wsg

Run your experiment as you do it in simulation. For instance, on development machine

   python /opt/openrobots/share/sot-tiago/tests/test.py

and/or \n

    rosrun dynamic_graph_bridge run_command

and run

    >> target = (0.5,0.5,0.5)
    >> gotoNd(taskRH,target,'111',(4.9,0.9,0.01,0.9))

Run the following command to restart PAL's deployer, in which SoT runs. This is required to restart SoT controller again
```
  pal_restart_deployer
```
When you are done, turn the robot off.
At the end of the day, please put Tiago back to its charging place.