From dcb576c57c2ed9b5a96c7eee980296a082f822c8 Mon Sep 17 00:00:00 2001
From: Stefano Dafarra <stefano.dafarra@gmail.com>
Date: Tue, 7 Nov 2023 17:19:01 +0100
Subject: [PATCH] Added vix conf file for ergoCub teleop no iFeel

---
 .../HumanStateVisualizer_ergoCub_openxr.ini   | 26 +++++++++++++++++++
 1 file changed, 26 insertions(+)
 create mode 100644 conf/app/HumanStateVisualizer_ergoCub_openxr.ini

diff --git a/conf/app/HumanStateVisualizer_ergoCub_openxr.ini b/conf/app/HumanStateVisualizer_ergoCub_openxr.ini
new file mode 100644
index 000000000..4faa84442
--- /dev/null
+++ b/conf/app/HumanStateVisualizer_ergoCub_openxr.ini
@@ -0,0 +1,26 @@
+name                    HumanStateVisualizer
+
+# Model Configuration options
+modelURDFName      "model.urdf"
+ignoreMissingLinks  true
+visualizeWrenches   false
+visualizeFrames     true
+visualizeTargets    true
+
+# Camera options
+cameraDeltaPosition  (0.0, 2.0, 0.5)
+useFixedCamera       true           # if set to false, the camera follows the model base link
+fixedCameraTarget    (0.0, 0.0, 0.0) # this option is unused when useFixedCamera is false
+maxVisualizationFPS  65
+
+# Link visualization option
+visualizedLinksFrame (r_hand_palm l_hand_palm root_link head) 
+linksFrameScalingFactor   0.1
+
+# Targets visualization option
+visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_Head)
+targetsFrameScalingFactor  0.2
+
+# Remapper Configuration
+humanStateDataPortName "/ergoCub/RobotStateWrapper/state:o"
+wearableTargetsWrapperPortName "/HDE/WearableTargetsWrapper/state:o"