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Changed the role of the trackers when using joystick and trackers
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@S-Dafarra
S-Dafarra authored and erogucubmonteporzio committed Sep 30, 2024
1 parent 801eb16 commit 41cb71e
Showing 1 changed file with 4 additions and 4 deletions.
8 changes: 4 additions & 4 deletions conf/xml/RobotStateProvider_ergoCub_openxr_joystick_trackers.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,8 @@
openxr_head
openxr_right_hand
openxr_left_hand
vive_tracker_right_elbow_pose
vive_tracker_left_elbow_pose)</param>
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>
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<param name="target_RightHand">(r_hand_palm, TransformServer::pose::openxr_right_hand, pose)</param>
<param name="target_LeftHand">(l_hand_palm, TransformServer::pose::openxr_left_hand, pose)</param>
<param name="target_Head">(head, TransformServer::pose::openxr_head, pose)</param>
<param name="target_r_upper_arm">(r_upperarm TransformServer::pose::vive_tracker_right_elbow_pose, orientation)</param>
<param name="target_l_upper_arm">(l_upperarm TransformServer::pose::vive_tracker_left_elbow_pose, orientation)</param>
<param name="target_r_upper_arm">(r_upperarm TransformServer::pose::vive_tracker_right_shoulder_pose, orientation)</param>
<param name="target_l_upper_arm">(l_upperarm TransformServer::pose::vive_tracker_left_shoulder_pose, orientation)</param>
</group>
<param name="jointList">("l_shoulder_pitch",
"l_shoulder_roll",
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