diff --git a/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini b/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini index 053073b0..2277b0ff 100644 --- a/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini +++ b/conf/app/HumanStateVisualizer_iCub2_5_openxr.ini @@ -1,7 +1,7 @@ name HumanStateVisualizer # Model Configuration options -modelURDFName "teleoperation_iCub_model_V_2_5.urdf" +modelURDFName "model.urdf" ignoreMissingLinks true visualizeWrenches false visualizeFrames true @@ -14,15 +14,13 @@ fixedCameraTarget (0.0, 0.0, 0.0) # this option is unused when useFixedCamera maxVisualizationFPS 65 # Link visualization option -# visualizedLinksFrame (r_hand_fake l_hand_fake root_link_fake l_upper_arm_fake l_forearm_fake r_upper_arm_fake r_forearm_fake head) -visualizedLinksFrame (r_hand_fake l_hand_fake ) +visualizedLinksFrame (head, l_hand r_hand root_link ) linksFrameScalingFactor 0.1 # Targets visualization option -visualizedTargetsFrame ( target_RightHand target_LeftHand) -# visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm_fake target_l_forearm_fake target_r_upper_arm_fake target_r_forearm_fake target_Head) +visualizedTargetsFrame (target_Head target_RightHand target_LeftHand) targetsFrameScalingFactor 0.2 # Client Configuration humanStateDataPortName "/iCub/RobotStateServer/state:o" -wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" +wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini b/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini index 4fa7c336..0735daba 100644 --- a/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini +++ b/conf/app/HumanStateVisualizer_iCub2_5_openxr_ifeel.ini @@ -1,7 +1,7 @@ name HumanStateVisualizer # Model Configuration options -modelURDFName "teleoperation_iCub_model_V_2_5.urdf" +modelURDFName "model.urdf" ignoreMissingLinks true visualizeWrenches false visualizeFrames true @@ -14,13 +14,13 @@ fixedCameraTarget (0.0, 0.0, 0.0) # this option is unused when useFixedCamera maxVisualizationFPS 65 # Link visualization option -visualizedLinksFrame (r_hand_fake l_hand_fake root_link_fake l_upper_arm_fake l_forearm_fake r_upper_arm_fake r_forearm_fake head) +visualizedLinksFrame (root_link l_shoulder_3 l_forearm r_shoulder_3 r_forearm head chest) linksFrameScalingFactor 0.1 # Targets visualization option -visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_l_upper_arm_fake target_l_forearm_fake target_r_upper_arm_fake target_r_forearm_fake target_Head) +visualizedTargetsFrame ( target_RightHand target_LeftHand target_Pelvis target_Head target_Chest target_r_upper_arm target_l_upper_arm target_r_forearm target_l_forearm) targetsFrameScalingFactor 0.2 # Client Configuration humanStateDataPortName "/iCub/RobotStateServer/state:o" -wearableTargetsServerPortName "/HDE/WearableTargetsServer/state:o" +wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iRonCub_openxr.ini b/conf/app/HumanStateVisualizer_iRonCub_openxr.ini new file mode 100644 index 00000000..5d0ec173 --- /dev/null +++ b/conf/app/HumanStateVisualizer_iRonCub_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 (head, r_elbow_1 l_elbow_1 root_link ) +linksFrameScalingFactor 0.1 + +# Targets visualization option +visualizedTargetsFrame (target_Head target_RightHand target_LeftHand) +targetsFrameScalingFactor 0.2 + +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" diff --git a/conf/app/HumanStateVisualizer_iRonCub_openxr_ifeel.ini b/conf/app/HumanStateVisualizer_iRonCub_openxr_ifeel.ini new file mode 100644 index 00000000..7bf9f200 --- /dev/null +++ b/conf/app/HumanStateVisualizer_iRonCub_openxr_ifeel.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 (root_link l_shoulder_3 r_shoulder_3 head chest) +linksFrameScalingFactor 0.1 + +# 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 + +# Client Configuration +humanStateDataPortName "/iCub/RobotStateServer/state:o" +wearableTargetsServerPortName "/iCub/HDE/WearableTargetsServer/state:o" diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr.xml b/conf/xml/RobotStateProvider_ergoCub_openxr.xml index 64620c2b..e224bc5d 100644 --- a/conf/xml/RobotStateProvider_ergoCub_openxr.xml +++ b/conf/xml/RobotStateProvider_ergoCub_openxr.xml @@ -16,8 +16,8 @@ PoseSensor (root_link_desired openxr_head - vive_tracker_right_elbow_pose - vive_tracker_left_elbow_pose) + right_glove + left_glove) TransformClient @@ -73,8 +73,8 @@ (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) + (r_hand_palm, TransformServer::pose::right_glove, pose) + (l_hand_palm, TransformServer::pose::left_glove, pose) (head, TransformServer::pose::openxr_head, pose) ("l_shoulder_pitch", diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml new file mode 100644 index 00000000..1a1ebef1 --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml @@ -0,0 +1,194 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /IFrameTransformToIWear/tf + /IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + world_grounded + PoseSensor + (root_link_desired + openxr_head + right_glove + left_glove + vive_tracker_right_shoulder_pose + vive_tracker_left_shoulder_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) + (200.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::root_link_desired, orientation) + (r_hand_palm, TransformServer::pose::right_glove, pose) + (l_hand_palm, TransformServer::pose::left_glove, pose) + (head, TransformServer::pose::openxr_head, pose) + (r_upper_arm TransformServer::pose::vive_tracker_right_shoulder_pose, orientation) + (l_upper_arm TransformServer::pose::vive_tracker_left_shoulder_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", + "camera_tilt") + + + ( 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 0.3 + 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, 0.2, 0.0, 0.0, 0.0) + (0.0, 0.0, -0.2, 0.0, 0.0, 0.0) + + + ( + l_shoulder_roll, r_shoulder_roll, camera_tilt) + ( + (1.0, 0.0, 0.0), + (0.0, 1.0, 0.0), + (0.0, 0.0, 1.0)) + ( + -100.0, -100.0, -0.1) + ( + 1.4, 1.4, 0.1) + 0.5 + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /ergoCub/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml new file mode 100644 index 00000000..1e66c06c --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml @@ -0,0 +1,194 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /IFrameTransformToIWear/tf + /IFrameTransformToIWear/tf/local_rpc + 1.0 + + + + TransformServer + world_ut + PoseSensor + (world_ut + openxr_head + right_glove + left_glove + vive_tracker_right_shoulder_pose + vive_tracker_left_shoulder_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) + (500.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::world_ut, orientation) + (r_hand_palm, TransformServer::pose::right_glove, pose) + (l_hand_palm, TransformServer::pose::left_glove, pose) + (head, TransformServer::pose::openxr_head, pose) + (r_upper_arm TransformServer::pose::vive_tracker_right_shoulder_pose, orientation) + (l_upper_arm TransformServer::pose::vive_tracker_left_shoulder_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", + "camera_tilt") + + + (-1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 -1.0 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 1.0 0.0 0.0 + 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 -1.0 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, camera_tilt) + ( + (1.0, 0.0, 0.0), + (0.0, 1.0, 0.0), + (0.0, 0.0, 1.0)) + ( + -100.0, -100.0, -0.1) + ( + 1.4, 1.4, 0.1) + 0.5 + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /ergoCub/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml index 507a761d..648e3078 100644 --- a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml @@ -7,17 +7,17 @@ ftc_yarp_only.xml /IFrameTransformToIWear/tf /IFrameTransformToIWear/tf/local_rpc - 1.0 + 10.0 TransformServer - root_link_desired + world_grounded PoseSensor (root_link_desired openxr_head - vive_tracker_right_elbow_pose - vive_tracker_left_elbow_pose) + right_glove + left_glove) TransformClient @@ -68,13 +68,13 @@ 10.0 (1.0 1.0) - (700.0 20.0) + (200.0 20.0) (0.0 0.0) - (root_link, TransformServer::pose::root_link_desired, orientation) + (root_link, TransformServer::pose::root_link_desired, pose) (chest, iFeelSuit::vLink::Node#6, gravity) - (r_hand_palm, TransformServer::pose::vive_tracker_right_elbow_pose, pose) - (l_hand_palm, TransformServer::pose::vive_tracker_left_elbow_pose, pose) + (r_hand_palm, TransformServer::pose::right_glove, pose) + (l_hand_palm, TransformServer::pose::left_glove, pose) (head, TransformServer::pose::openxr_head, pose) (l_upper_arm iFeelSuit::vLink::Node#5, gravity) (l_forearm, iFeelSuit::vLink::Node#4, gravity) @@ -155,8 +155,8 @@ () - (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) - (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + (0.0, 0.0, 0.4, 0.0, 0.0, 0.0) + (0.0, 0.0, -0.4, 0.0, 0.0, 0.0) ( diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml index 55bf8e23..04989934 100644 --- a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml @@ -18,8 +18,8 @@ openxr_head openxr_right_hand openxr_left_hand - vive_tracker_right_elbow_pose - vive_tracker_left_elbow_pose) + vive_tracker_right_shoulder_pose + vive_tracker_left_shoulder_pose) TransformClient @@ -78,8 +78,8 @@ (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) + (r_upperarm TransformServer::pose::vive_tracker_right_shoulder_pose, orientation) + (l_upperarm TransformServer::pose::vive_tracker_left_shoulder_pose, orientation) ("l_shoulder_pitch", "l_shoulder_roll", diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_ultimateTrackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_ultimateTrackers.xml new file mode 100644 index 00000000..adc2e4ca --- /dev/null +++ b/conf/xml/RobotStateProvider_ergoCub_openxr_joystick_ultimateTrackers.xml @@ -0,0 +1,192 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /IFrameTransformToIWear/tf + /IFrameTransformToIWear/tf/local_rpc + 1.0 + + + + TransformServer + world_ut + PoseSensor + (world_ut + 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) + (500.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::world_ut, 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 1.0 0.0 0.0 + 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 -1.0 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/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_iCub2_5_openxr.xml b/conf/xml/RobotStateProvider_iCub2_5_openxr.xml index f7bdc30a..45cba310 100644 --- a/conf/xml/RobotStateProvider_iCub2_5_openxr.xml +++ b/conf/xml/RobotStateProvider_iCub2_5_openxr.xml @@ -2,14 +2,44 @@ + + 0.01 + ftc_yarp_only.xml + /icub/IFrameTransformToIWear/tf + /icub/IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + iCub_robots_base_link + PoseSensor + (iCub_robots_base_link + openxr_head + vive_tracker_right_elbow_pose + vive_tracker_left_elbow_pose) + + + TransformClient + + + + + - (/Wearable/OpenXRTransform/data:o) + () + false + + + IFrameTransformToIWear + + 0.01 - teleoperation_iCub_model_V_2_5.urdf - chest_fake + model.urdf + root_link dynamical true @@ -42,11 +72,10 @@ (700.0 20.0) (0.0 0.0) - (root_link_fake, TransformServer::pose::virtualizer_frame, orientation) - (chest_fake, TransformServer::pose::virtualizer_frame, pose) - (r_hand_fake, TransformServer::pose::/trackers/LHR-3C2E1582, pose) - (l_hand_fake, TransformServer::pose::/trackers/LHR-8F3A4D72, pose) - (head_fake, TransformServer::pose::/hmd/LHR-752422B9, pose) + (root_link, TransformServer::pose::iCub_robots_base_link, orientation) + (r_hand, TransformServer::pose::vive_tracker_right_elbow_pose, pose) + (l_hand, TransformServer::pose::vive_tracker_left_elbow_pose, pose) + (head, TransformServer::pose::openxr_head, pose) ("l_shoulder_pitch", "l_shoulder_roll", @@ -62,40 +91,34 @@ "r_wrist_prosup", "r_wrist_pitch", "r_wrist_yaw", - "j_l_upper_arm_fake", - "j_r_upper_arm_fake", - "j_l_forearm_fake", - "j_r_forearm_fake", - "j_l_hand_fake", - "j_r_hand_fake", "torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", - "neck_yaw", - "j_chest_fake", - "j_root_link_fake", - "j_head_fake") + "neck_yaw") - ( 1.0 0.0 0.0 0.0 - 0.0 -1.0 0.0 0.025 - 0.0 0.0 -1.0 0.11 + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 -0.1 + 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 1.0 0.0 0.025 - 0.0 0.0 -1.0 0.11 + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 -0.1 + 0.0 -1.0 0.0 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 + (-1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 -0.2 + 0.0 0.0 -1.0 0.2 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 + 0.6 @@ -107,8 +130,8 @@ (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0) - (0.0, 0.0, 0.0, 1.0, 1.0, 1.0 ) - (0.0, 0.0, 0.0, -1.0, -1.0, -1.0 ) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ) ( @@ -158,10 +181,10 @@ - + 0.01 - /HDE/WearableTargetsServer/state:o + /iCub/HDE/WearableTargetsServer/state:o RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml index d86daeef..74c7ea94 100644 --- a/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml +++ b/conf/xml/RobotStateProvider_iCub2_5_openxr_ifeel.xml @@ -2,14 +2,43 @@ + + 0.01 + ftc_yarp_only.xml + /icub/IFrameTransformToIWear/tf + /icub/IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + iCub_robots_base_link + PoseSensor + (iCub_robots_base_link + openxr_head + vive_tracker_right_elbow_pose + vive_tracker_left_elbow_pose) + + + TransformClient + + + + + - (/Wearable/OpenXRTransform/data:o /iFeelSuit/WearableData/data:o) + (/iFeelSuit/WearableData/data:o) + + + IFrameTransformToIWear + + 0.01 - teleoperation_iCub_model_V_2_5.urdf - chest_fake + model.urdf + root_link dynamical true @@ -42,15 +71,15 @@ (700.0 20.0) (0.0 0.0) - (root_link_fake, TransformServer::pose::virtualizer_frame, orientation) - (chest_fake, TransformServer::pose::virtualizer_frame, pose) - (r_hand_fake, TransformServer::pose::/trackers/LHR-3C2E1582, pose) - (l_hand_fake, TransformServer::pose::/trackers/LHR-8F3A4D72, pose) - (head_fake, TransformServer::pose::/hmd/LHR-752422B9, pose) - (l_upper_arm_fake iFeelSuit::vLink::Node#5, orientationAndVelocity) - (l_forearm_fake, iFeelSuit::vLink::Node#4, orientationAndVelocity) - (r_upper_arm_fake iFeelSuit::vLink::Node#7, orientationAndVelocity) - (r_forearm_fake, iFeelSuit::vLink::Node#8, orientationAndVelocity) + (root_link, TransformServer::pose::iCub_robots_base_link, pose) + (r_hand, TransformServer::pose::vive_tracker_right_elbow_pose, pose) + (l_hand, TransformServer::pose::vive_tracker_left_elbow_pose, pose) + (head, TransformServer::pose::openxr_head, pose) + (chest, iFeelSuit::vLink::Node#6, gravity) + (l_shoulder_3 iFeelSuit::vLink::Node#5, gravity) + (l_forearm, iFeelSuit::vLink::Node#4, gravity) + (r_shoulder_3 iFeelSuit::vLink::Node#7, gravity) + (r_forearm, iFeelSuit::vLink::Node#8, gravity) ("l_shoulder_pitch", "l_shoulder_roll", @@ -66,35 +95,46 @@ "r_wrist_prosup", "r_wrist_pitch", "r_wrist_yaw", - "j_l_upper_arm_fake", - "j_r_upper_arm_fake", - "j_l_forearm_fake", - "j_r_forearm_fake", - "j_l_hand_fake", - "j_r_hand_fake", "torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", - "neck_yaw", - "j_chest_fake", - "j_root_link_fake", - "j_head_fake") + "neck_yaw") - ( 1.0 0.0 0.0 0.0 - 0.0 -1.0 0.0 0.025 - 0.0 0.0 -1.0 0.11 + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 -0.1 + 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 1.0 0.0 0.025 - 0.0 0.0 -1.0 0.11 + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 -0.1 + 0.0 -1.0 0.0 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 + (-1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 -0.2 + 0.0 0.0 -1.0 0.2 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) ( 0.7 0.7 0.6 ) @@ -114,8 +154,8 @@ (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0) - (0.0, 0.0, 0.0, 1.0, 1.0, 1.0 ) - (0.0, 0.0, 0.0, -1.0, -1.0, -1.0 ) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ) + (0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ) ( @@ -165,10 +205,10 @@ - + 0.01 - /HDE/WearableTargetsServer/state:o + /iCub/HDE/WearableTargetsServer/state:o RobotStateProvider diff --git a/conf/xml/RobotStateProvider_iRonCub_openxr.xml b/conf/xml/RobotStateProvider_iRonCub_openxr.xml new file mode 100644 index 00000000..ca93bff4 --- /dev/null +++ b/conf/xml/RobotStateProvider_iRonCub_openxr.xml @@ -0,0 +1,184 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /icub/IFrameTransformToIWear/tf + /icub/IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + iCub_robots_base_link + PoseSensor + (iCub_robots_base_link + openxr_head + right_glove + left_glove) + + + TransformClient + + + + + + + () + false + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + iCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::iCub_robots_base_link, orientation) + (r_elbow_1, TransformServer::pose::right_glove, pose) + (l_elbow_1, TransformServer::pose::left_glove, pose) + (head, TransformServer::pose::openxr_head, pose) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.1 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 0.1 + 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 1.0 0.0 -0.2 + 0.0 0.0 -1.0 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 + 0.6 + + + + + + + (l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, torso_roll, torso_pitch, torso_yaw) + + + (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0) + + (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_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw) + ( + (1.7105, -1.7105, 0.0, 0.0, 0.0, 0.0, ), + (1.7105, -1.7105, -1.7105, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 1.0, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0427, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0, 0.0, 0.0, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, -1.7105, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 1.0, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0427, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0, ), + ) + ( + -6.0563, -6.3979, -1.1623, 0.4611, 0.5, + -6.0563, -6.3979, -1.1623, 0.4611, 0.5,) + ( + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453, + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453,) + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /iCub/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /iCub/HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_iRonCub_openxr_5trackers.xml b/conf/xml/RobotStateProvider_iRonCub_openxr_5trackers.xml new file mode 100644 index 00000000..7b6d8edd --- /dev/null +++ b/conf/xml/RobotStateProvider_iRonCub_openxr_5trackers.xml @@ -0,0 +1,196 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /icub/IFrameTransformToIWear/tf + /icub/IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + iCub_robots_base_link + PoseSensor + (iCub_robots_base_link + openxr_head + right_glove + left_glove + vive_tracker_right_shoulder_pose + vive_tracker_left_shoulder_pose) + + + TransformClient + + + + + + + () + false + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + iCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::iCub_robots_base_link, orientation) + (r_elbow_1, TransformServer::pose::right_glove, pose) + (l_elbow_1, TransformServer::pose::left_glove, pose) + (r_shoulder_3 TransformServer::pose::vive_tracker_right_shoulder_pose, orientation) + (l_shoulder_3 TransformServer::pose::vive_tracker_left_shoulder_pose, orientation) + (head, TransformServer::pose::openxr_head, pose) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.1 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 0.1 + 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 1.0 0.0 -0.2 + 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 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 + 0.6 + + + + + + + (l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, torso_roll, torso_pitch, torso_yaw) + + + (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0) + + (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_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw) + ( + (1.7105, -1.7105, 0.0, 0.0, 0.0, 0.0, ), + (1.7105, -1.7105, -1.7105, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 1.0, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0427, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0, 0.0, 0.0, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, -1.7105, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 1.0, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0427, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0, ), + ) + ( + -6.0563, -6.3979, -1.1623, 0.4611, 0.5, + -6.0563, -6.3979, -1.1623, 0.4611, 0.5,) + ( + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453, + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453,) + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /iCub/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /iCub/HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + + diff --git a/conf/xml/RobotStateProvider_iRonCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iRonCub_openxr_ifeel.xml new file mode 100644 index 00000000..870054b5 --- /dev/null +++ b/conf/xml/RobotStateProvider_iRonCub_openxr_ifeel.xml @@ -0,0 +1,198 @@ + + + + + + 0.01 + ftc_yarp_only.xml + /icub/IFrameTransformToIWear/tf + /icub/IFrameTransformToIWear/tf/local_rpc + 10.0 + + + + TransformServer + iCub_robots_base_link + PoseSensor + (iCub_robots_base_link + openxr_head + right_glove + left_glove) + + + TransformClient + + + + + + + (/iFeelSuit/WearableData/data:o) + + + IFrameTransformToIWear + + + + + + 0.01 + model.urdf + root_link + + dynamical + true + false + + 300 + ma27 + 2 + 0.0 + 1.0 + 1.0 + 0.001 + iCub + + + QP + 1.0 + 1.0 + + 10.0 + (1.0 1.0) + (700.0 20.0) + (0.0 0.0) + + (root_link, TransformServer::pose::iCub_robots_base_link, orientation) + (r_elbow_1, TransformServer::pose::right_glove, pose) + (l_elbow_1, TransformServer::pose::left_glove, pose) + (head, TransformServer::pose::openxr_head, pose) + (chest, iFeelSuit::vLink::Node#6, gravity) + (l_shoulder_3 iFeelSuit::vLink::Node#5, gravity) + (r_shoulder_3 iFeelSuit::vLink::Node#7, gravity) + + ("l_shoulder_pitch", + "l_shoulder_roll", + "l_shoulder_yaw", + "l_elbow", + "r_shoulder_pitch", + "r_shoulder_roll", + "r_shoulder_yaw", + "r_elbow", + "torso_pitch", + "torso_roll", + "torso_yaw", + "neck_pitch", + "neck_roll", + "neck_yaw") + + + ( 0.0 0.0 1.0 0.0 + -1.0 0.0 0.0 0.1 + 0.0 -1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 -1.0 0.0 + 1.0 0.0 0.0 0.1 + 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 1.0 0.0 -0.2 + 0.0 0.0 -1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 1.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 0.0 + 0.0 1.0 0.0 0.0 + 0.0 0.0 0.0 1.0) + ( 0.0 0.0 1.0 0.0 + 1.0 0.0 0.0 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 + 0.6 + + + + + + + (l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, torso_roll, torso_pitch, torso_yaw) + + + (2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 1.0, 1.0, 1.0) + + (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_pitch, l_shoulder_roll, l_shoulder_yaw, r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw) + ( + (1.7105, -1.7105, 0.0, 0.0, 0.0, 0.0, ), + (1.7105, -1.7105, -1.7105, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 1.0, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0427, 0.0, 0.0, 0.0, ), + (0.0, 1.0, 0.0, 0.0, 0.0, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, 0.0, ), + (0.0, 0.0, 0.0, 1.7105, -1.7105, -1.7105, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 1.0, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0427, ), + (0.0, 0.0, 0.0, 0.0, 1.0, 0.0, ), + ) + ( + -6.0563, -6.3979, -1.1623, 0.4611, 0.5, + -6.0563, -6.3979, -1.1623, 0.4611, 0.5,) + ( + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453, + 1000.0, 1.9622, 3.7228, 1000.0, 1.7453,) + 0.5 + + + + XSenseIWearRemapper + + + + + + + + 0.01 + /iCub/RobotStateServer/state:o + + + RobotStateProvider + + + + + + + 0.01 + /iCub/HDE/WearableTargetsServer/state:o + + + RobotStateProvider + + + + + +