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GiulioRomualdiGiulioRomualdi
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Add openXR module configuration files for iCubGenova09
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‎modules/OpenXR_module/config/robots/iCubGenova09/headRetargetingParams.ini‎

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remote_control_boards ("head")
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# Notice the order of the joint list is not wrong.
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# Indeed they are written according to the joint order of the icub-neck
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joints_list ("neck_pitch", "neck_roll", "neck_yaw")
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smoothingTime 1.0
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PreparationSmoothingTime 3.0
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PreparationJointReferenceValues (0.0 , 0.0 , 0.0)

‎modules/OpenXR_module/config/robots/iCubGenova09/leftFingersRetargetingParams.ini‎

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remote_control_boards ("left_arm")
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joints_list ("l_thumb_proximal", "l_thumb_distal", "l_index_proximal", "l_index-distal", "l_middle-proximal", "l_middle-distal", "l_little-fingers")
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useVelocity 1
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fingersScaling (1, 3.5, 2, 3.5, 1, 3.5, 5)

‎modules/OpenXR_module/config/robots/iCubGenova09/leftHandRetargetingParams.ini‎

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# additional rotations
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# the following rotation map the hand oculus frame and the hand robot frame
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handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
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# the following rotation map the teleoperation frame and the teleoperation robot
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# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
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# CAD has:
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# The z-axis is parallel to gravity but pointing upwards.
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# The x-axis points behind the robot.
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# The y-axis points laterally and is chosen according to the right-hand rule.
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# the Teleoperation frame is attached to the virtualizer and the origin is the
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# same oculus inertial frame. In other words:
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# The z-axis is parallel to gravity but pointing upwards
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# The x-axis points forward
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# The y-axis points laterally and is chosen according to the right-hand rule.
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# So the rotation matrix is simply given by Rotz(pi)
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teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))

‎modules/OpenXR_module/config/robots/iCubGenova09/openXRConfig.ini‎

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name openXRRetargeting
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# ports
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leftHandPosePort /leftHandPose:o
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rightHandPosePort /rightHandPose:o
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rpcWalkingPort_name /walkingRpc
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[GENERAL]
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samplingTime 0.01
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robot icub
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enableMoveRobot 1
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# the following value is a threshold used to update the teleoperation frame position
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# when the human rotates inside the virtualizer
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playerOrientationThreshold 0.2
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# For kinematic scaling for task-space retargeting
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humanHeight 1.76
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# The robot arm span is the distance between the left and right index fingertips when the arms are aligned, i.e. T pose.
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robotArmSpan 1.0
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# If resetCameras !=0, the module will attempt to reset the cameras during the initialization phase.
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resetCameras 0
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# The leftCameraPort and rightCameraPort are needed only if resetCameras is 1
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leftCameraPort /icub/cam/left
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rightCameraPort /icub/cam/right
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# include head parameters
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[include HEAD_RETARGETING "headRetargetingParams.ini"]
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# include fingers parameters
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[include LEFT_FINGERS_RETARGETING "leftFingersRetargetingParams.ini"]
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[include RIGHT_FINGERS_RETARGETING "rightFingersRetargetingParams.ini"]
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# include hand parameters
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[include LEFT_HAND_RETARGETING "leftHandRetargetingParams.ini"]
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[include RIGHT_HAND_RETARGETING "rightHandRetargetingParams.ini"]
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[OPENXR]
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root_frame_name openxr_origin
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left_hand_frame_name openxr_left_hand
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right_hand_frame_name openxr_right_hand
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head_frame_name openxr_head
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oculusOrientationPort /oculusOrientation:i
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oculusPositionPort /oculusPosition:i
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move_icub_using_joypad 1
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deadzone 0.3
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fullscale 1.0
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scale_X 5.0
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scale_Y 5.0
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# {"/user/hand/left/input/menu/click", "vive_left_menu"},
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# {"/user/hand/left/input/trigger/click", "vive_left_trigger_click"},
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# {"/user/hand/left/input/squeeze/click", "vive_left_squeeze_click"},
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# {"/user/hand/left/input/trackpad/click", "vive_left_trackpad_click"},
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# {"/user/hand/right/input/menu/click", "vive_right_menu"},
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# {"/user/hand/right/input/trigger/click", "vive_right_trigger_click"},
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# {"/user/hand/right/input/squeeze/click", "vive_right_squeeze_click"},
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# {"/user/hand/right/input/trackpad/click", "vive_right_trackpad_click"}
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prepare_walking_buttons_map (0, 0, 0, 0, 1, 0, 0, 0)
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start_walking_buttons_map (1, 0, 0, 0, 0, 0, 0, 0)
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left_fingers_squeeze_buttons_map (0, 0, 0, 0, 0, 0, 0, 0)
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left_fingers_release_buttons_map (0, 1, 0, 0, 0, 0, 0, 0)
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right_fingers_squeeze_buttons_map (0, 0, 0, 0, 0, 0, 0, 0)
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right_fingers_release_buttons_map (0, 0, 0, 0, 0, 1, 0, 0)

‎modules/OpenXR_module/config/robots/iCubGenova09/rightFingersRetargetingParams.ini‎

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remote_control_boards ("right_arm")
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joints_list ("r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index-distal", "r_middle-proximal", "r_middle-distal", "r_little-fingers")
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useVelocity 1
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fingersScaling (1, 3.5, 2, 3.5, 1, 3.5, 5)

‎modules/OpenXR_module/config/robots/iCubGenova09/rightHandRetargetingParams.ini‎

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# additional rotations
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# the following rotation map the hand oculus frame and the hand robot frame
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handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
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# the following rotation map the teleoperation frame and the teleoperation robot
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# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
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# CAD has:
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# The z-axis is parallel to gravity but pointing upwards.
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# The x-axis points behind the robot.
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# The y-axis points laterally and is chosen according to the right-hand rule.
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# the Teleoperation frame is attached to the virtualizer and the origin is the
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# same oculus inertial frame. In other words:
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# The z-axis is parallel to gravity but pointing upwards
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# The x-axis points forward
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# The y-axis points laterally and is chosen according to the right-hand rule.
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# So the rotation matrix is simply given by Rotz(pi)
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teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))

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