Using right_ and left_glove instead of the actual tracker poses in er…

…goCub and iRonCub
robotology · Nov 29, 2024 · 8063532 · 8063532
1 parent 49d3e17
commit 8063532
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Showing 5 changed files with 20 additions and 20 deletions.
diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr.xml b/conf/xml/RobotStateProvider_ergoCub_openxr.xml
@@ -16,8 +16,8 @@
         <param name="wearableSensorType">PoseSensor</param>
         <param extern-name="frames" name="frameIDs">(root_link_desired
                                                      openxr_head
-                                                     vive_tracker_right_elbow_pose
-                                                     vive_tracker_left_elbow_pose)</param>
+                                                     right_glove
+                                                     left_glove)</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="IFrameTransformToIWearLabel">TransformClient</elem>
@@ -73,8 +73,8 @@
         <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::vive_tracker_right_elbow_pose, pose)</param>
-            <param name="target_LeftHand">(l_hand_palm, TransformServer::pose::vive_tracker_left_elbow_pose, pose)</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>
         </group>
         <param name="jointList">("l_shoulder_pitch",

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml
@@ -16,8 +16,8 @@
         <param name="wearableSensorType">PoseSensor</param>
         <param extern-name="frames" name="frameIDs">(world_ut
                                                      openxr_head
-                                                     vive_tracker_right_elbow_pose
-                                                     vive_tracker_left_elbow_pose
+                                                     right_glove
+                                                     left_glove
                                                      vive_tracker_right_shoulder_pose
                                                      vive_tracker_left_shoulder_pose)</param>
         <action phase="startup" level="5" type="attach">
@@ -75,8 +75,8 @@
         <param name="dynamicalIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param>
         <group name="WEARABLE_SENSOR_TARGETS">
             <param name="target_Pelvis">(root_link, TransformServer::pose::world_ut, orientation)</param>
-            <param name="target_RightHand">(r_hand_palm, TransformServer::pose::vive_tracker_right_elbow_pose, pose)</param>
-            <param name="target_LeftHand">(l_hand_palm, TransformServer::pose::vive_tracker_left_elbow_pose, pose)</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>

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml
@@ -16,8 +16,8 @@
         <param name="wearableSensorType">PoseSensor</param>
         <param extern-name="frames" name="frameIDs">(root_link_desired
                                                      openxr_head
-                                                     vive_tracker_right_elbow_pose
-                                                     vive_tracker_left_elbow_pose)</param>
+                                                     right_glove
+                                                     left_glove)</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="IFrameTransformToIWearLabel">TransformClient</elem>
@@ -73,8 +73,8 @@
         <group name="WEARABLE_SENSOR_TARGETS">
             <param name="target_Pelvis">(root_link, TransformServer::pose::root_link_desired, pose)</param>
             <param name="target_Chest">(chest, iFeelSuit::vLink::Node#6, gravity)</param>
-            <param name="target_RightHand">(r_hand_palm, TransformServer::pose::vive_tracker_right_elbow_pose, pose)</param>
-            <param name="target_LeftHand">(l_hand_palm, TransformServer::pose::vive_tracker_left_elbow_pose, pose)</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_l_upper_arm">(l_upper_arm iFeelSuit::vLink::Node#5, gravity)</param>
             <param name="target_l_forearm">(l_forearm, iFeelSuit::vLink::Node#4, gravity)</param>

diff --git a/conf/xml/RobotStateProvider_iRonCub_openxr.xml b/conf/xml/RobotStateProvider_iRonCub_openxr.xml
@@ -16,8 +16,8 @@
         <param name="wearableSensorType">PoseSensor</param>
         <param extern-name="frames" name="frameIDs">(iCub_robots_base_link
                                                      openxr_head
-                                                     vive_tracker_right_elbow_pose
-                                                     vive_tracker_left_elbow_pose)</param>
+                                                     right_glove
+                                                     left_glove)</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="IFrameTransformToIWearLabel">TransformClient</elem>
@@ -73,8 +73,8 @@
         <param name="dynamicalIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param>
         <group name="WEARABLE_SENSOR_TARGETS">
             <param name="target_Pelvis">(root_link, TransformServer::pose::iCub_robots_base_link, orientation)</param>
-            <param name="target_RightHand">(r_elbow_1, TransformServer::pose::vive_tracker_right_elbow_pose, pose)</param>
-            <param name="target_LeftHand">(l_elbow_1, TransformServer::pose::vive_tracker_left_elbow_pose, pose)</param>
+            <param name="target_RightHand">(r_elbow_1, TransformServer::pose::right_glove, pose)</param>
+            <param name="target_LeftHand">(l_elbow_1, TransformServer::pose::left_glove, pose)</param>
             <param name="target_Head">(head, TransformServer::pose::openxr_head, pose)</param>
         </group>
         <param name="jointList">("l_shoulder_pitch",

diff --git a/conf/xml/RobotStateProvider_iRonCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_iRonCub_openxr_ifeel.xml
@@ -16,8 +16,8 @@
         <param name="wearableSensorType">PoseSensor</param>
         <param extern-name="frames" name="frameIDs">(iCub_robots_base_link
                                                      openxr_head
-                                                     vive_tracker_right_elbow_pose
-                                                     vive_tracker_left_elbow_pose)</param>
+                                                     right_glove
+                                                     left_glove)</param>
         <action phase="startup" level="5" type="attach">
             <paramlist name="networks">
                 <elem name="IFrameTransformToIWearLabel">TransformClient</elem>
@@ -72,8 +72,8 @@
         <param name="dynamicalIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param>
         <group name="WEARABLE_SENSOR_TARGETS">
             <param name="target_Pelvis">(root_link, TransformServer::pose::iCub_robots_base_link, orientation)</param>
-            <param name="target_RightHand">(r_elbow_1, TransformServer::pose::vive_tracker_right_elbow_pose, pose)</param>
-            <param name="target_LeftHand">(l_elbow_1, TransformServer::pose::vive_tracker_left_elbow_pose, pose)</param>
+            <param name="target_RightHand">(r_elbow_1, TransformServer::pose::right_glove, pose)</param>
+            <param name="target_LeftHand">(l_elbow_1, TransformServer::pose::left_glove, pose)</param>
             <param name="target_Head">(head, TransformServer::pose::openxr_head, pose)</param>
             <param name="target_Chest">(chest, iFeelSuit::vLink::Node#6, gravity)</param>
             <param name="target_l_upper_arm">(l_shoulder_3 iFeelSuit::vLink::Node#5, gravity)</param>