Merge pull request #151 from robotology/cdpDemo

Cdp demo
robotology · Oct 25, 2024 · ecc9ac3 · ecc9ac3
2 parents 6dd9e8e + a93077e
commit ecc9ac3
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Showing 32 changed files with 647 additions and 5 deletions.
diff --git a/app/robots/ergoCubGazeboV1/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubGazeboV1/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubGazeboV1/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubGazeboV1/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN000/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN000/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN000/openXRHeadsetParameters.ini b/app/robots/ergoCubSN000/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       3
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -49,6 +49,72 @@ euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, -0.2, 0.0)
 
+[CUSTOM_POSE_3]
+name               world_fixed
+parent_frame       openxr_origin
+euler_angles       xyz
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (-1.5708, 0.0, 1.5708)
+
+[CUSTOM_POSE_4]
+name               world_grounded
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, *, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+
+[CUSTOM_POSE_5]
+name               iCub_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
+# Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
+name               rotated_waist_ut
+parent_frame       vive_tracker_waist_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 3.1415, -1.5708)
+
+[CUSTOM_POSE_10]
+name               stable_waist_ut
+parent_frame       rotated_waist_ut
+euler_angles       xzy
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (*, *, 0.0)
+
+[CUSTOM_POSE_11]
+name               world_ut
+parent_frame       stable_waist_ut
+euler_angles       zyx
+relative_position  (0.0, -0.1, 0.1)
+relative_rotation  (0.0, -1.5708, -1.5708)
+
 [GUI_0]
 width              1.50
 height             1.50

diff --git a/app/robots/ergoCubSN000/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN000/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN001/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN001/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN001/openXRHeadsetParameters.ini b/app/robots/ergoCubSN001/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       3
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -49,6 +49,72 @@ euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, -0.2, 0.0)
 
+[CUSTOM_POSE_3]
+name               world_fixed
+parent_frame       openxr_origin
+euler_angles       xyz
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (-1.5708, 0.0, 1.5708)
+
+[CUSTOM_POSE_4]
+name               world_grounded
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, *, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+
+[CUSTOM_POSE_5]
+name               iCub_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
+# Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
+name               rotated_waist_ut
+parent_frame       vive_tracker_waist_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 3.1415, -1.5708)
+
+[CUSTOM_POSE_10]
+name               stable_waist_ut
+parent_frame       rotated_waist_ut
+euler_angles       xzy
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (*, *, 0.0)
+
+[CUSTOM_POSE_11]
+name               world_ut
+parent_frame       stable_waist_ut
+euler_angles       zyx
+relative_position  (0.0, -0.1, 0.1)
+relative_rotation  (0.0, -1.5708, -1.5708)
+
 [GUI_0]
 width              1.50
 height             1.50

diff --git a/app/robots/ergoCubSN001/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN001/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN002/leftFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN002/leftFingersHapticRetargetingParams.ini
@@ -49,6 +49,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       3
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -49,6 +49,72 @@ euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, -0.2, 0.0)
 
+[CUSTOM_POSE_3]
+name               world_fixed
+parent_frame       openxr_origin
+euler_angles       xyz
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (-1.5708, 0.0, 1.5708)
+
+[CUSTOM_POSE_4]
+name               world_grounded
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, *, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+
+[CUSTOM_POSE_5]
+name               iCub_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
+# Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
+name               rotated_waist_ut
+parent_frame       vive_tracker_waist_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 3.1415, -1.5708)
+
+[CUSTOM_POSE_10]
+name               stable_waist_ut
+parent_frame       rotated_waist_ut
+euler_angles       xzy
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (*, *, 0.0)
+
+[CUSTOM_POSE_11]
+name               world_ut
+parent_frame       stable_waist_ut
+euler_angles       zyx
+relative_position  (0.0, -0.1, 0.1)
+relative_rotation  (0.0, -1.5708, -1.5708)
+
 [GUI_0]
 width              1.50
 height             1.50

diff --git a/app/robots/ergoCubSN002/rightFingersHapticRetargetingParams.ini b/app/robots/ergoCubSN002/rightFingersHapticRetargetingParams.ini
@@ -48,6 +48,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubErzelli02/leftFingersHapticRetargetingParams.ini b/app/robots/iCubErzelli02/leftFingersHapticRetargetingParams.ini
@@ -50,6 +50,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubErzelli02/rightFingersHapticRetargetingParams.ini b/app/robots/iCubErzelli02/rightFingersHapticRetargetingParams.ini
@@ -50,6 +50,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV2_5/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV2_5/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV2_5/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV2_5/rightFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV3/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV3/leftFingersHapticRetargetingParams.ini
@@ -61,6 +61,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGazeboV3/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGazeboV3/rightFingersHapticRetargetingParams.ini
@@ -62,6 +62,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova04/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGenova04/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova04/rightFingersHapticRetargetingParams.ini b/app/robots/iCubGenova04/rightFingersHapticRetargetingParams.ini
@@ -59,6 +59,8 @@ hand_link           r_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/RightHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/RightHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/RightHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/RightHand/Actuators/input:i"

diff --git a/app/robots/iCubGenova09/leftFingersHapticRetargetingParams.ini b/app/robots/iCubGenova09/leftFingersHapticRetargetingParams.ini
@@ -60,6 +60,8 @@ hand_link           l_hand
 
 wearable_data_ports ("/WearableData/HapticGlove/LeftHand/data:o")
 
+wearable_data_locals ("/WearableData/HapticGlove/LeftHand/data:i")
+
 wearable_data_actuator_ports_out "/WearableData/HapticGlove/LeftHand/Actuators/input:o"
 
 wearable_data_actuator_ports_in "/WearableData/HapticGlove/LeftHand/Actuators/input:i"