add camera tilt to robot states provider (#391)

Co-authored-by: icub <icub@foo.com>
robotology · Jun 25, 2024 · 16fe774 · 16fe774
1 parent 9d680e3
commit 16fe774
Showing 1 changed file with 10 additions and 8 deletions.
diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml
@@ -100,7 +100,8 @@
                                  "torso_yaw",
                                  "neck_pitch",
                                  "neck_roll",
-                                 "neck_yaw")
+                                 "neck_yaw",
+				 "camera_tilt")
         </param>
         <group name="MEASUREMENT_TO_LINK_TRANSFORMS">
             <param name="target_LeftHand">( 1.0   0.0  0.0  0.0
@@ -149,24 +150,25 @@
         <!-- 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>
+            <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>
+            <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, 0.0, 0.0, 0.0, 0.0)</param>
             <param name="base_velocity_limit_lower_buond">(0.0, 0.0, 0.0, 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)</param>
+             l_shoulder_roll, r_shoulder_roll, camera_tilt)</param>
             <param name="custom_constraint_matrix"> (
-            (1.0, 0.0),
-            (0.0, 1.0))</param>
+            (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)</param>
+            -100.0, -100.0, -0.1)</param>
             <param name="custom_constraint_upper_bound"> (
-             1.4, 1.4)</param>
+             1.4, 1.4, 0.1)</param>
             <param name="k_u">0.5</param>
             <param name="k_l">0.5</param>
         </group>