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Control the fingers and the walking through the OpenXR joystick #130

Merged
merged 21 commits into from
Oct 16, 2023
Merged

Control the fingers and the walking through the OpenXR joystick #130

merged 21 commits into from
Oct 16, 2023

Commits on Aug 11, 2023

  1. First draft of OpenXRJoypadModule. 

    Inherited from the branch refactoring_and_htc_rebased
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  2. Using again the openxrheadset device as subdevice to use the joypad

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  3. [OpenXRJoypadModule] Enable to generation of the walking comman only … 

    …if the button associated to the motion is pressed
    @GiulioRomualdi @S-Dafarra
    GiulioRomualdi authored and S-Dafarra committed Aug 11, 2023
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  4. Robustified OpenXRJoypadModule 

    - The buttons mask does not require the mask in conf file to have the same dimension of the number of buttons.
- The module can start even if the connection to the fingers fails. Also, there will not be continuous errors printed.
- Removed the internal state machine
- Added possibility to print buttons and axes
- The number of buttons is retrieved only once
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  5. Set the number of axes corresponding to what found in Honda

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  6. Added possibility to avoid checking if left and right hand are inverted.

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  7. Changed the logic to read axis, allowing to read also sticks

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  8. Retrieving the axes for the fingers also from config file

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  9. Added possibility to avoid controlling fingers

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  10. Obtaining the stop walking map from config file. 

    Added "swapped" maps to control the walking.
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  11. Uniformed logic when swapping hands.

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  12. Added print when left and right hands are swapped.

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  13. Removed spurious print and avoid to close the module when sending sto… 

    …pWalking.
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  14. Added a comment on the OpenXRJoypad conf file about how the buttons a… 

    …re handled.
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  15. Sending commands to walkingModule only when a map is satisfied

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  16. Improved logic to send commands to the walking. 

    This is to make it easier to trigger commands that require combination of buttons
    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  17. Fixed the indentation of OpenXRJoystick CMakeLists.

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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  18. Added OpenXRJoypad application 

    Removed the dependencies from the RobotStateProvider to allow starting even when not using iFeel
    @S-Dafarra
    iCub authored and S-Dafarra committed Aug 11, 2023
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  19. Changed license and applied clang format

    @S-Dafarra
    S-Dafarra committed Aug 11, 2023
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Commits on Oct 16, 2023

  1. Apply suggestions from code review 

    Explicitly using parenthesis in for loops

Co-authored-by: Giulio Romualdi <[email protected]>
    @S-Dafarra @GiulioRomualdi
    S-Dafarra and GiulioRomualdi authored Oct 16, 2023
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  2. Make the deisred acceleration vector a class attribute of RobotContro… 

    …lHelper
    @S-Dafarra
    S-Dafarra committed Oct 16, 2023
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