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Add retargeting robots config files #142

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Aug 21, 2019
Merged

Add retargeting robots config files #142

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b6c0383
Add NAO xml file
yeshasvitirupachuri Jul 1, 2019
3a13322
Add xml files of other retargetted robot
kouroshD Jul 2, 2019
7a820e3
add xml file of the atlas robot
kouroshD Jul 7, 2019
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173 changes: 173 additions & 0 deletions conf/xml/RobotStateProvider_Atlas.xml
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Original file line number Diff line number Diff line change
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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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