From d1e4fb3008d60508b570dbcc9fc9e449cd1e5d06 Mon Sep 17 00:00:00 2001
From: ergocub <ergocub@iit.it>
Date: Fri, 6 Sep 2024 16:40:42 +0200
Subject: [PATCH] Updates on the 5 tracker confs before demo

---
 ...obotStateProvider_ergoCub_openxr_5trackers.xml | 15 +++++++++------
 ...eProvider_ergoCub_openxr_5ultimateTrackers.xml | 15 +++++++++------
 2 files changed, 18 insertions(+), 12 deletions(-)

diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml
index a9bce97a..472c0a15 100644
--- a/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml
+++ b/conf/xml/RobotStateProvider_ergoCub_openxr_5trackers.xml
@@ -7,6 +7,7 @@
         <param name="filexml_option">ftc_yarp_only.xml</param>
         <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param>
         <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param>
+        <param name="ftc_storage_timeout">1.0</param>
     </device>
 
     <device type="iframetransform_to_iwear" name="IFrameTransformToIWear">
@@ -99,7 +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
@@ -146,14 +148,15 @@
         <!-- 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>
diff --git a/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml b/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml
index 755ae1c3..d78de9f1 100644
--- a/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml
+++ b/conf/xml/RobotStateProvider_ergoCub_openxr_5ultimateTrackers.xml
@@ -7,6 +7,7 @@
         <param name="filexml_option">ftc_yarp_only.xml</param>
         <param name="ft_client_prefix">/IFrameTransformToIWear/tf</param>
         <param name="local_rpc">/IFrameTransformToIWear/tf/local_rpc</param>
+        <param name="ftc_storage_timeout">1.0</param>
     </device>
 
     <device type="iframetransform_to_iwear" name="IFrameTransformToIWear">
@@ -99,7 +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
@@ -146,14 +148,15 @@
         <!-- 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>