enable tt robots custom pose without restarting device

robotology · Sep 20, 2024 · 746000a · 746000a
1 parent a908b0b
commit 746000a
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Showing 3 changed files with 30 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       5
+custom_poses       6
 
 ### Gui params
 gui_elements       1
@@ -64,21 +64,28 @@ relative_position  (0.0, *, 0.0)
 relative_rotation  (0.0, 0.0, 0.0)
 
 [CUSTOM_POSE_5]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
 # 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_6]
+[CUSTOM_POSE_7]
 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_7]
+[CUSTOM_POSE_8]
 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       5
+custom_poses       6
 
 ### Gui params
 gui_elements       1
@@ -64,21 +64,28 @@ relative_position  (0.0, *, 0.0)
 relative_rotation  (0.0, 0.0, 0.0)
 
 [CUSTOM_POSE_5]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
 # 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_6]
+[CUSTOM_POSE_7]
 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_7]
+[CUSTOM_POSE_8]
 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       5
+custom_poses       6
 
 ### Gui params
 gui_elements       1
@@ -64,21 +64,28 @@ relative_position  (0.0, *, 0.0)
 relative_rotation  (0.0, 0.0, 0.0)
 
 [CUSTOM_POSE_5]
+name               tt_robots_base_link
+parent_frame       world
+euler_angles       zyx
+relative_position  (0.0, 0.0, -1.0)
+relative_rotation  (3.1415, 0.0, 0.0)
+
+[CUSTOM_POSE_6]
 # 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_6]
+[CUSTOM_POSE_7]
 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_7]
+[CUSTOM_POSE_8]
 name               world_ut
 parent_frame       stable_waist_ut
 euler_angles       zyx