Added static poses for left and right glove

robotology · Oct 16, 2024 · a93077e · a93077e
1 parent 27e074c
commit a93077e
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Showing 3 changed files with 57 additions and 9 deletions.
diff --git a/app/robots/ergoCubSN000/openXRHeadsetParameters.ini b/app/robots/ergoCubSN000/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       7
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -78,21 +78,37 @@ relative_position  (0.0, 0.0, -1.0)
 relative_rotation  (3.1415, 0.0, 0.0)
 
 [CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
 # Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
 name               rotated_waist_ut
 parent_frame       vive_tracker_waist_pose
 euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, 3.1415, -1.5708)
 
-[CUSTOM_POSE_8]
+[CUSTOM_POSE_10]
 name               stable_waist_ut
 parent_frame       rotated_waist_ut
 euler_angles       xzy
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (*, *, 0.0)
 
-[CUSTOM_POSE_9]
+[CUSTOM_POSE_11]
 name               world_ut
 parent_frame       stable_waist_ut
 euler_angles       zyx

diff --git a/app/robots/ergoCubSN001/openXRHeadsetParameters.ini b/app/robots/ergoCubSN001/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       7
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -78,21 +78,37 @@ relative_position  (0.0, 0.0, -1.0)
 relative_rotation  (3.1415, 0.0, 0.0)
 
 [CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
 # Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
 name               rotated_waist_ut
 parent_frame       vive_tracker_waist_pose
 euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, 3.1415, -1.5708)
 
-[CUSTOM_POSE_8]
+[CUSTOM_POSE_10]
 name               stable_waist_ut
 parent_frame       rotated_waist_ut
 euler_angles       xzy
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (*, *, 0.0)
 
-[CUSTOM_POSE_9]
+[CUSTOM_POSE_11]
 name               world_ut
 parent_frame       stable_waist_ut
 euler_angles       zyx

diff --git a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini
@@ -21,7 +21,7 @@ vr_poses_prediction_in_ms 0
 eye_z_position      -0.8
 
 ### Custom frames
-custom_poses       7
+custom_poses      9
 
 ### Gui params
 gui_elements       1
@@ -78,21 +78,37 @@ relative_position  (0.0, 0.0, -1.0)
 relative_rotation  (3.1415, 0.0, 0.0)
 
 [CUSTOM_POSE_7]
+name               left_glove
+parent_frame       vive_tracker_left_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_8]
+name               right_glove
+parent_frame       vive_tracker_right_elbow_pose
+euler_angles       zyx
+relative_position  (0.0, 0.0, 0.0)
+relative_rotation  (0.0, 0.0, 0.0)
+static_pose
+
+[CUSTOM_POSE_9]
 # Align the Ultimate Tracker be oriented as a classical tracker, but with the led up and not down
 name               rotated_waist_ut
 parent_frame       vive_tracker_waist_pose
 euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, 3.1415, -1.5708)
 
-[CUSTOM_POSE_8]
+[CUSTOM_POSE_10]
 name               stable_waist_ut
 parent_frame       rotated_waist_ut
 euler_angles       xzy
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (*, *, 0.0)
 
-[CUSTOM_POSE_9]
+[CUSTOM_POSE_11]
 name               world_ut
 parent_frame       stable_waist_ut
 euler_angles       zyx