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Added conf file for IK using 5 trackers (#394)
* Added conf file for IK using 5 trackers For ergoCub * Added conf file for IK for using Ultimate Trackers and joysticks * Added application to use 5 ultimate trackers * Updates on the 5 tracker confs before demo * Added possibility to move height of the base THis would allow controlling the height of the CoM on the robot * Prepared configuration files to run teleoperation on iRonCub * Updated configuration files for iRonCub IK * Changed the role of the trackers when using joystick and trackers * Using left_glove and right_glove in the hand transforms in 5 trackers configurations Added 5 trackers configuration for iRonCub * Added option to control base height when using 5 trackers * Using right_ and left_glove instead of the actual tracker poses in ergoCub and iRonCub --------- Co-authored-by: ergocub <[email protected]>
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| name HumanStateVisualizer | ||
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| # Model Configuration options | ||
| modelURDFName "model.urdf" | ||
| ignoreMissingLinks true | ||
| visualizeWrenches false | ||
| visualizeFrames true | ||
| visualizeTargets true | ||
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| # 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 | ||
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| # Link visualization option | ||
| visualizedLinksFrame (head, r_elbow_1 l_elbow_1 root_link ) | ||
| linksFrameScalingFactor 0.1 | ||
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| # Targets visualization option | ||
| visualizedTargetsFrame (target_Head target_RightHand target_LeftHand) | ||
| targetsFrameScalingFactor 0.2 | ||
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| # Client Configuration | ||
| humanStateDataPortName "/iCub/RobotStateServer/state:o" | ||
| wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" |
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| name HumanStateVisualizer | ||
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| # Model Configuration options | ||
| modelURDFName "model.urdf" | ||
| ignoreMissingLinks true | ||
| visualizeWrenches false | ||
| visualizeFrames true | ||
| visualizeTargets true | ||
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| # 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 | ||
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| # Link visualization option | ||
| visualizedLinksFrame (root_link l_shoulder_3 r_shoulder_3 head chest) | ||
| linksFrameScalingFactor 0.1 | ||
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| # Targets visualization option | ||
| visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_Head target_Chest target_r_upper_arm target_l_upper_arm) | ||
| targetsFrameScalingFactor 0.2 | ||
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| # Client Configuration | ||
| humanStateDataPortName "/iCub/RobotStateServer/state:o" | ||
| wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" |
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conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd"> | ||
| <robot name="ergoCub-Retargeting" build=0 portprefix=""> | ||
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| <device type="frameTransformClient" name="TransformClient"> | ||
| <param name="period">0.01</param> | ||
| <param name="filexml_option">ftc_yarp_only.xml</param> | ||
| <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param> | ||
| <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param> | ||
| <param name="ftc_storage_timeout">10.0</param> | ||
| </device> | ||
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| <device type="iframetransform_to_iwear" name="IFrameTransformToIWear"> | ||
| <param name="wearableName">TransformServer</param> | ||
| <param extern-name="rootFrame" name="rootFrameID">world_grounded</param> | ||
| <param name="wearableSensorType">PoseSensor</param> | ||
| <param extern-name="frames" name="frameIDs">(root_link_desired | ||
| openxr_head | ||
| right_glove | ||
| left_glove | ||
| vive_tracker_right_shoulder_pose | ||
| vive_tracker_left_shoulder_pose)</param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="IFrameTransformToIWearLabel">TransformClient</elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach"/> | ||
| </device> | ||
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| <device type="iwear_remapper" name="XSenseIWearRemapper"> | ||
| <param name="wearableDataPorts">()</param> | ||
| <param name="useRPC">false</param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="IFrameTransformToIWear">IFrameTransformToIWear</elem> | ||
| </paramlist> | ||
| </action> | ||
| </device> | ||
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| <device type="human_state_provider" name="RobotStateProvider"> | ||
| <param name="period">0.01</param> | ||
| <param name="urdf">model.urdf</param> | ||
| <param name="floatingBaseFrame">root_link</param> | ||
| <!-- ikSolver options: pairwised, global, dynamical --> | ||
| <param name="ikSolver">dynamical</param> | ||
| <param name="allowIKFailures">true</param> | ||
| <param name="useDirectBaseMeasurement">false</param> | ||
| <!-- optimization parameters --> | ||
| <param name="maxIterationsIK">300</param> | ||
| <param name="ikLinearSolver">ma27</param> | ||
| <param name="ikPoolSizeOption">2</param> | ||
| <param name="posTargetWeight">0.0</param> | ||
| <param name="rotTargetWeight">1.0</param> | ||
| <param name="costRegularization">1.0</param> | ||
| <param name="costTolerance">0.001</param> | ||
| <param name="rpcPortPrefix">ergoCub</param> | ||
| <!-- inverse velocity kinematics parameters --> | ||
| <!-- inverseVelocityKinematicsSolver values: | ||
| QP | ||
| moorePenrose, | ||
| completeOrthogonalDecomposition, | ||
| leastSquare, | ||
| choleskyDecomposition, | ||
| sparseCholeskyDecomposition, | ||
| robustCholeskyDecomposition, | ||
| sparseRobustCholeskyDecomposition --> | ||
| <param name='inverseVelocityKinematicsSolver'>QP</param> | ||
| <param name="linVelTargetWeight">1.0</param> | ||
| <param name="angVelTargetWeight">1.0</param> | ||
| <!-- integration based IK parameters --> | ||
| <param name='dynamicalIKJointVelocityLimit'>10.0</param> <!-- comment or -1.0 for no limits --> | ||
| <param name="dynamicalIKMeasuredVelocityGainLinRot">(1.0 1.0)</param> | ||
| <param name="dynamicalIKCorrectionGainsLinRot">(200.0 20.0)</param> | ||
| <param name="dynamicalIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param> | ||
| <group name="WEARABLE_SENSOR_TARGETS"> | ||
| <param name="target_Pelvis">(root_link, TransformServer::pose::root_link_desired, orientation)</param> | ||
| <param name="target_RightHand">(r_hand_palm, TransformServer::pose::right_glove, pose)</param> | ||
| <param name="target_LeftHand">(l_hand_palm, TransformServer::pose::left_glove, pose)</param> | ||
| <param name="target_Head">(head, TransformServer::pose::openxr_head, pose)</param> | ||
| <param name="target_r_upper_arm">(r_upper_arm TransformServer::pose::vive_tracker_right_shoulder_pose, orientation)</param> | ||
| <param name="target_l_upper_arm">(l_upper_arm TransformServer::pose::vive_tracker_left_shoulder_pose, orientation)</param> | ||
| </group> | ||
| <param name="jointList">("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", | ||
| "camera_tilt") | ||
| </param> | ||
| <group name="MEASUREMENT_TO_LINK_TRANSFORMS"> | ||
| <param name="target_LeftHand">( 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)</param> | ||
| <param name="target_RightHand">(-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)</param> | ||
| <param name="target_Head">( 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)</param> | ||
| <param name="target_l_upper_arm">( 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)</param> | ||
| <param name="target_r_upper_arm">(-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)</param> | ||
| </group> | ||
| <group name="MEASUREMENT_POSITION_SCALE_FACTOR"> | ||
| <param name="target_Head">( 0.7 0.7 0.6 )</param> | ||
| <param name="target_LeftHand">( 0.7 0.7 0.6 )</param> | ||
| <param name="target_RightHand">( 0.7 0.7 0.6 )</param> | ||
| <param name="x_scale_factor_all" extern-name="xy_scale">0.7</param> | ||
| <param name="y_scale_factor_all" extern-name="xy_scale">0.7</param> | ||
| <param name="z_scale_factor_all" extern-name="z_scale">0.7</param> | ||
| </group> | ||
| <group name="CUSTOM_CONSTRAINTS"> | ||
| <!-- check issue https://github.com/robotology/human-dynamics-estimation/issues/132 for more info--> | ||
| <!-- note that a group can not be empty, otherwise it returns error--> | ||
| <!-- custom joint limits velocities--> | ||
| <!--param name="custom_joints_velocity_limits_names">(neck_roll, neck_pitch)</param--> | ||
| <param name="custom_joints_velocity_limits_names">()</param> | ||
| <!-- the upper bound is "+", while the lower bounds are "-" --> | ||
| <!--param name="custom_joints_velocity_limits_values">(10.0, 15.0)</param--> | ||
| <param name="custom_joints_velocity_limits_values">()</param> | ||
| <!-- **** base velocity limit: x, y, z, roll, pitch, yaw ****--> | ||
| <param name="base_velocity_limit_upper_buond">(0.0, 0.0, 0.2, 0.0, 0.0, 0.0)</param> | ||
| <param name="base_velocity_limit_lower_buond">(0.0, 0.0, -0.2, 0.0, 0.0, 0.0)</param> | ||
| <!-- Custom joint Configuration constraints--> | ||
| <!-- if the boudary value is inf, I will use -1000.0 rad, or +1000.0 rad--> | ||
| <param name="custom_constraint_variables">( | ||
| l_shoulder_roll, r_shoulder_roll, camera_tilt)</param> | ||
| <param name="custom_constraint_matrix"> ( | ||
| (1.0, 0.0, 0.0), | ||
| (0.0, 1.0, 0.0), | ||
| (0.0, 0.0, 1.0))</param> | ||
| <param name="custom_constraint_lower_bound"> ( | ||
| -100.0, -100.0, -0.1)</param> | ||
| <param name="custom_constraint_upper_bound"> ( | ||
| 1.4, 1.4, 0.1)</param> | ||
| <param name="k_u">0.5</param> | ||
| <param name="k_l">0.5</param> | ||
| </group> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="HumanStateProviderLabel">XSenseIWearRemapper</elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach"/> | ||
| </device> | ||
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| <!-- Uncomment to stream the output of HumanStateProvider on a YARP port --> | ||
| <device type="human_state_nws_yarp" name="RobotState_nws_yarp"> | ||
| <param name="period">0.01</param> | ||
| <param name="outputPort">/ergoCub/RobotStateServer/state:o</param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="HumanStateServerLabel">RobotStateProvider</elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach"/> | ||
| </device> | ||
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| <device type="wearable_targets_nws_yarp" name="WearableTargets_nws_yarp"> | ||
| <param name="period">0.01</param> | ||
| <param name="outputPort">/HDE/WearableTargetsServer/state:o</param> | ||
| <action phase="startup" level="5" type="attach"> | ||
| <paramlist name="networks"> | ||
| <elem name="HumanStateServerLabel">RobotStateProvider</elem> | ||
| </paramlist> | ||
| </action> | ||
| <action phase="shutdown" level="5" type="detach"/> | ||
| </device> | ||
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| </robot> |
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