From 2198f7a6d8d774cbbf2e8a99885835bbb06a3713 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Tue, 7 Nov 2023 17:16:51 +0100 Subject: [PATCH] Added for ergoCub teleoperation without iFeel --- .../xml/RobotStateProvider_ergoCub_openxr.xml | 178 ++++++++++++++++ ...tStateProvider_ergoCub_openxr_joystick.xml | 178 ++++++++++++++++ ...vider_ergoCub_openxr_joystick_trackers.xml | 190 ++++++++++++++++++ 3 files changed, 546 insertions(+) create mode 100644 conf/xml/RobotStateProvider_ergoCub_openxr.xml create mode 100644 conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml create mode 100644 conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr.xml b/conf/xml/RobotStateProvider_ergoCub_openxr.xml new file mode 100644 index 000000000..20eb3de73 --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr.xml @@ -0,0 +1,178 @@ + + + + + + 0.01 + /tf + /transformServer + + + + TransformServer + root_link_desired + PoseSensor + (root_link_desired + openxr_head + vive_tracker_right_elbow_pose + vive_tracker_left_elbow_pose) + + + TransformClient + + + + + + + () + false + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + ergoCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::root_link_desired, orientation) + (r_hand_palm, TransformServer::pose::vive_tracker_right_elbow_pose, pose) + (l_hand_palm, TransformServer::pose::vive_tracker_left_elbow_pose, pose) + (head, TransformServer::pose::openxr_head, pose) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "l_wrist_roll", + "l_wrist_pitch", + "l_wrist_yaw", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "r_wrist_roll", + "r_wrist_pitch", + "r_wrist_yaw", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 -0.02 + 0.0 -1.0 0.0 0.05 + 0.0 0.0 0.0 1.0) + (-1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 -0.02 + 0.0 1.0 0.0 0.05 + 0.0 0.0 0.0 1.0) + ( 0.0 -1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.1 + 0.0 0.0 0.0 1.0) + + + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + 0.7 + 0.7 + 0.7 + + + + + + + ( ) + + + ( ) + + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + + + ( + l_shoulder_roll, r_shoulder_roll) + ( + (1.0, 0.0), + (0.0, 1.0)) + ( + -100.0, -100.0) + ( + 1.4, 1.4) + 0.5 + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /ergoCub/RobotStateWrapper/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsWrapper/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml new file mode 100644 index 000000000..993afc81d --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick.xml @@ -0,0 +1,178 @@ + + + + + + 0.01 + /tf + /transformServer + + + + TransformServer + root_link_desired + PoseSensor + (root_link_desired + openxr_head + openxr_right_hand + openxr_left_hand) + + + TransformClient + + + + + + + () + false + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + ergoCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::root_link_desired, orientation) + (r_hand_palm, TransformServer::pose::openxr_right_hand, pose) + (l_hand_palm, TransformServer::pose::openxr_left_hand, pose) + (head, TransformServer::pose::openxr_head, pose) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "l_wrist_roll", + "l_wrist_pitch", + "l_wrist_yaw", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "r_wrist_roll", + "r_wrist_pitch", + "r_wrist_yaw", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 0.0 -1.0 0.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 -1.0 0.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 -1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.1 + 0.0 0.0 0.0 1.0) + + + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + 0.7 + 0.7 + 0.7 + + + + + + + ( ) + + + ( ) + + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + + + ( + l_shoulder_roll, r_shoulder_roll) + ( + (1.0, 0.0), + (0.0, 1.0)) + ( + -100.0, -100.0) + ( + 1.4, 1.4) + 0.5 + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /ergoCub/RobotStateWrapper/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsWrapper/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml new file mode 100644 index 000000000..6bd5dcf53 --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml @@ -0,0 +1,190 @@ + + + + + + 0.01 + /tf + /transformServer + + + + TransformServer + root_link_desired + PoseSensor + (root_link_desired + openxr_head + openxr_right_hand + openxr_left_hand + vive_tracker_right_elbow_pose + vive_tracker_left_elbow_pose) + + + TransformClient + + + + + + + () + false + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + ergoCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::root_link_desired, orientation) + (r_hand_palm, TransformServer::pose::openxr_right_hand, pose) + (l_hand_palm, TransformServer::pose::openxr_left_hand, pose) + (head, TransformServer::pose::openxr_head, pose) + (r_upperarm TransformServer::pose::vive_tracker_right_elbow_pose, orientation) + (l_upperarm TransformServer::pose::vive_tracker_left_elbow_pose, orientation) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "l_wrist_roll", + "l_wrist_pitch", + "l_wrist_yaw", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "r_wrist_roll", + "r_wrist_pitch", + "r_wrist_yaw", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 0.0 -1.0 0.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 -1.0 0.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 -1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.3 + 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + (-1.0 0.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + + + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + ( 0.7 0.7 0.6 ) + 0.7 + 0.7 + 0.7 + + + + + + + ( ) + + + ( ) + + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + + + ( + l_shoulder_roll, r_shoulder_roll) + ( + (1.0, 0.0), + (0.0, 1.0)) + ( + -100.0, -100.0) + ( + 1.4, 1.4) + 0.5 + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /ergoCub/RobotStateWrapper/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsWrapper/state:o + + + RobotStateProvider + + + + + +