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add camera tilt to robot states provider #391

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merged 1 commit into from
Jun 25, 2024
Merged

add camera tilt to robot states provider #391

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18 changes: 10 additions & 8 deletions conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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>
Expand Down
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