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Merge pull request #142 from kouroshD/feature/AddRetargetingRobotsCon…
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Add he configuration files needed to run retargeting on different robot models.
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@yeshasvitirupachuri
yeshasvitirupachuri authored Aug 21, 2019
2 parents 3f7387f + 7a820e3 commit dfaf717
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173 changes: 173 additions & 0 deletions conf/xml/RobotStateProvider_Atlas.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
<robot name="Human-HDE" build=0 portprefix="">

<device type="transformServer" name="TransformServer">
<param name="transforms_lifetime">0.2</param>
<group name="ROS">
<param name="enable_ros_publisher">true</param>
<param name="enable_ros_subscriber">false</param>
</group>
</device>

<device type="iwear_remapper" name="XSenseIWearRemapper">
<param name="wearableDataPorts">(/XSensSuit/WearableData/data:o)</param>
<param name="useRPC">false</param>
<param name="wearableRPCPorts">(/XSensSuit/WearableData/metadataRpc:o)</param>
<param name="outputPortName">/HDE/XsensIWearRemapper/data:o</param>
</device>

<device type="human_state_provider" name="RobotStateProvider">
<param name="period">0.02</param>
<param name="urdf">model.urdf</param>
<param name="floatingBaseFrame">(pelvis, XsensSuit::vLink::Pelvis)</param>
<!-- ikSolver options: pairwised, global, integrationbased -->
<param name="ikSolver">integrationbased</param>
<param name="useXsensJointsAngles">false</param>
<param name="allowIKFailures">true</param>
<param name="useDirectBaseMeasurement">false</param>
<!-- optimization parameters -->
<param name="maxIterationsIK">300</param>
<param name="ikLinearSolver">ma27</param>
<param name="ikPoolSizeOption">2</param>
<param name="posTargetWeight">0.0</param>
<param name="rotTargetWeight">1.0</param>
<param name="costRegularization">1.0</param>
<param name="costTolerance">0.001</param>
<!-- inverse velocity kinematics parameters -->
<!-- inverseVelocityKinematicsSolver values:
QP
moorePenrose,
completeOrthogonalDecomposition,
leastSquare,
choleskyDecomposition,
sparseCholeskyDecomposition,
robustCholeskyDecomposition,
sparseRobustCholeskyDecomposition -->
<param name='inverseVelocityKinematicsSolver'>sparseRobustCholeskyDecomposition</param>
<param name="linVelTargetWeight">0.0</param>
<param name="angVelTargetWeight">1.0</param>
<!-- integration based IK parameters -->
<param name='integrationBasedJointVelocityLimit'>10.0</param> <!-- comment or -1.0 for no limits -->
<param name ="integrationBasedIKMeasuredVelocityGainLinRot">(1.0 1.0)</param>
<param name="integrationBasedIKCorrectionGainsLinRot">(2.0 10.0)</param>
<param name="integrationBasedIKIntegralCorrectionGainsLinRot">(0.0 0.0)</param>
<group name="MODEL_TO_DATA_LINK_NAMES">
<param name="map_Pelvis">(pelvis, XsensSuit::vLink::Pelvis)</param>
<param name="map_T8">(utorso, XsensSuit::vLink::T8)</param>
<param name="map_Head">(head, XsensSuit::vLink::Head)</param>
<param name="map_RightUpperArm">(r_uarm_fake, XsensSuit::vLink::RightUpperArm)</param>
<param name="map_RightForeArm">(r_ufarm_fake, XsensSuit::vLink::RightForeArm)</param>
<param name="map_RightHand">(r_hand_fake, XsensSuit::vLink::RightHand)</param>
<param name="map_LeftUpperArm">(l_uarm_fake, XsensSuit::vLink::LeftUpperArm)</param>
<param name="map_LeftForeArm">(l_ufarm_fake, XsensSuit::vLink::LeftForeArm)</param>
<param name="map_LeftHand">(l_hand_fake, XsensSuit::vLink::LeftHand)</param>
<param name="map_RightUpperLeg">(r_uleg, XsensSuit::vLink::RightUpperLeg)</param>
<param name="map_RightLowerLeg">(r_lleg, XsensSuit::vLink::RightLowerLeg)</param>
<param name="map_RightFoot">(r_foot, XsensSuit::vLink::RightFoot)</param>
<param name="map_LeftUpperLeg">(l_uleg, XsensSuit::vLink::LeftUpperLeg)</param>
<param name="map_LeftLowerLeg">(l_lleg, XsensSuit::vLink::LeftLowerLeg)</param>
<param name="map_LeftFoot">(l_foot, XsensSuit::vLink::LeftFoot)</param>
</group>
<group name="CUSTOM_CONSTRAINTS">
<!-- check issue 132 for more info-->
<!-- note that a group can not be empty, otherwise it returns error-->
<!-- custom joint limits velocities-->
<!--param name="custom_joints_velocity_limits_names">(neck_roll, neck_pitch)</param-->
<param name="custom_joints_velocity_limits_names">()</param>
<!-- the upper bound is "+", while the lower bounds are "-" -->
<!--param name="custom_joints_velocity_limits_values">(10.0, 15.0)</param-->
<param name="custom_joints_velocity_limits_values">()</param>
<!-- **** velocity: roll, pitch, yaw, x, y, z ****-->
<!--param name="base_velocity_limit_upper_buond">(1.0, 1.0, 1.0, 1.0, 1.0, 1.0 )</param>
<param name="base_velocity_limit_lower_buond">(-1.0, -1.0, -1.0, -1.0, -1.0, -1.0 )</param-->
<!-- Custom joint Configuration constraints-->
<!-- if the boudary value is inf, I will use -1000.0 rad, or +1000.0 rad-->
<!--param name="custom_constraint_variables">(
l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow, l_wrist_prosup,
r_shoulder_pitch, r_shoulder_roll, r_shoulder_yaw, r_elbow, r_wrist_prosup)</param>
<param name="custom_constraint_matrix"> (
(1.7105, -1.7105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(1.7105, -1.7105, -1.7105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 1.0, 0.0427, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 0.0, 0.0, 2.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 0.0, 0.0, -2.5, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0),
(0.0, 0.0, 0.0, 0.0, 0.0, 1.7105, -1.7105, 0.0, 0.0, 0.0),
(0.0, 0.0, 0.0, 0.0, 0.0, 1.7105, -1.7105, -1.7105, 0.0, 0.0,),
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0,),
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0427, 0.0, 0.0,),
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0,),
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.5, 1.0,),
(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -2.5, 1.0,),
)</param>
<param name="custom_constraint_lower_bound"> (
-6.0563, -6.3979, -1.1623, 0.4611, -1000.0, -1000.0, -5.2796,
-6.0563, -6.3979, -1.1623, 0.4611, -1000.0, -1000.0, -5.2796)</param>
<param name="custom_constraint_upper_bound"> (
1000.0, 1.9622, 3.7228, 1000.0, 1.7453, 5.2796, 1000.0,
1000.0, 1.9622, 3.7228, 1000.0, 1.7453, 5.2796, 1000.0)</param-->
<!--param name="custom_constraint_upper_bound"> (46.0, 305.7)</param>
<param name="custom_constraint_lower_bound"> (-404.0, -54.3)</param-->
<!--param name="k_u">4.0</param>
<param name="k_l">1.0</param-->
</group>

<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="HumanStateProviderLabel">XSenseIWearRemapper</elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach"/>
</device>

<!-- Uncomment to stream the output of HumanStateProvider on a YARP port -->
<device type="human_state_wrapper" name="RobotStateWrapper">
<param name="period">0.01</param>
<param name="outputPort">/HDE/RobotStateWrapper/state:o</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="HumanStateWrapperLabel">RobotStateProvider</elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach"/>
</device>

<device type="human_state_publisher" name="RobotStatePublisher">
<param name="period">0.02</param>
<param name="baseTFName">/Robot/pelvis</param>
<param name="humanJointsTopic">/Robot/joint_states</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="HumanStatePublisherLabel">RobotStateProvider</elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach"/>
</device>

<!-- uncomment if you want to use the RobotStateProvider data to control the robot position -->
<!--device type="robot_position_controller" name="RobotPositionController">
<param name="period">0.100</param>
<param name="controlMode">positionDirect</param>
<param name="refSpeed">15.0</param>
<param name="samplingTime">0.01</param>
<param name="smoothingTime">0.25</param>
<param name="controlBoardsList">(head torso left_arm right_arm left_leg right_leg)</param>
<param name="remotePrefix">/icub</param>
<param name="localPrefix">/robotPositionController</param>
<param name="head">(neck_pitch neck_roll neck_yaw)</param>
<param name="torso">(torso_yaw torso_roll torso_pitch)</param>
<param name="left_arm">(l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow l_wrist_prosup l_wrist_pitch l_wrist_yaw)</param>
<param name="right_arm">(r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow r_wrist_prosup r_wrist_pitch r_wrist_yaw)</param>
<param name="left_leg">(l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll)</param>
<param name="right_leg">(r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)</param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="RobotPositionController">RobotStateProvider</elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach"/>
</device-->

</robot>
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