From b0d4ffa3159649a004674d581cbfe6f7cb5ef298 Mon Sep 17 00:00:00 2001
From: Stefano Dafarra <stefano.dafarra@gmail.com>
Date: Fri, 5 Jul 2024 19:02:35 +0200
Subject: [PATCH] Added transformations to use an ultimate tracker as world

---
 .../ergoCubSN002/openXRHeadsetParameters.ini  | 24 ++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/app/robots/ergoCubSN002/openXRHeadsetParameters.ini b/app/robots/ergoCubSN002/openXRHeadsetParameters.ini
index 25429324..40fb714e 100644
--- 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       3
+custom_poses       6
 
 ### Gui params
 gui_elements       1
@@ -49,6 +49,28 @@ euler_angles       zyx
 relative_position  (0.0, 0.0, 0.0)
 relative_rotation  (0.0, -0.2, 0.0)
 
+[CUSTOM_POSE_3]
+# 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_4]
+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_5]
+name               world_ut
+parent_frame       stable_waist_ut
+euler_angles       zyx
+relative_position  (0.0, -0.1, 0.1)
+relative_rotation  (0.0, -1.5708, -1.5708)
+
 [GUI_0]
 width              1.50
 height             1.50