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[jaxon_jvrc/JAXON_JVRC] add t265, l515 camera #358

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[jaxon_jvrc/JAXON_JVRC] add t265, l515 camera #358

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2842b63
[jaxon_jvrc/JAXON_JVRC] add t265, l515 camera
Naoki-Hiraoka Nov 23, 2021
985972d
[jaxon_jvrc/JAXON_JVRC] fix t265, l515 camera
Naoki-Hiraoka Dec 6, 2021
df47bb7
Merge remote-tracking branch 'origin/master' into PR-JAXON_t265_l515
Naoki-Hiraoka Jun 28, 2024
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53 changes: 53 additions & 0 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -451,6 +451,59 @@ DEF JAXON_JVRC Humanoid {
fieldOfView 1.5708
sensorId 1
}
DEF rs_l515 Joint {
translation 0.140 0.0 -0.015
rotation 0.0 1.0 0.0 0.785398
jointType "fixed"
children [
DEF rs_l515_link Segment {
} #Segment rs_l515_link
DEF rs_l515_color_optical_frame VisionSensor { # for l515
name "rs_l515_color_optical_frame"
translation 0.004 -0.000 0.014
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.582492 -0.58157 -0.567872 2.11931
type "COLOR"
sensorId 7
width 1920
height 1080
fieldOfView 0.750492 #43deg (70deg x 43deg)
frameRate 30
}
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
name "rs_l515_depth_optical_frame"
translation 0.0 0.0 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.57735 -0.57735 -0.57735 2.0944
type "COLOR_DEPTH"
sensorId 8
width 1024
height 768
fieldOfView 0.959931 #55deg (70deg x 55deg)
frameRate 30
}
]
}
DEF rs_t265 Joint {
translation 0.1459 0.00775 0.0085
jointType "fixed"
children [
DEF rs_t265_link Segment {
} #Segment rs_t265_link
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
name "rs_t265_fisheye1_optical_frame"
translation 0.0 0.032 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
rotation 0.58051 -0.576581 -0.574946 2.08517
type "MONO"
sensorId 9
width 848
height 800
fieldOfView 2.84489 #163deg fisheye like
frameRate 30
} #VisionSensor rs_t265
]
}
DEF HeadMainLight SpotLightDevice {
translation 0.1005 0.035 0.05425
# rotation
Expand Down
53 changes: 53 additions & 0 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -451,6 +451,59 @@ DEF JAXON_JVRC Humanoid {
fieldOfView 1.5708
sensorId 1
}
DEF rs_l515 Joint {
translation 0.140 0.0 -0.015
rotation 0.0 1.0 0.0 0.785398
jointType "fixed"
children [
DEF rs_l515_link Segment {
} #Segment rs_l515_link
DEF rs_l515_color_optical_frame VisionSensor { # for l515
name "rs_l515_color_optical_frame"
translation 0.004 -0.000 0.014
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.582492 -0.58157 -0.567872 2.11931
type "COLOR"
sensorId 7
width 1920
height 1080
fieldOfView 0.750492 #43deg (70deg x 43deg)
frameRate 30
}
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
name "rs_l515_depth_optical_frame"
translation 0.0 0.0 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.57735 -0.57735 -0.57735 2.0944
type "COLOR_DEPTH"
sensorId 8
width 1024
height 768
fieldOfView 0.959931 #55deg (70deg x 55deg)
frameRate 30
}
]
}
DEF rs_t265 Joint {
translation 0.1459 0.00775 0.0085
jointType "fixed"
children [
DEF rs_t265_link Segment {
} #Segment rs_t265_link
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
name "rs_t265_fisheye1_optical_frame"
translation 0.0 0.032 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
rotation 0.58051 -0.576581 -0.574946 2.08517
type "MONO"
sensorId 9
width 848
height 800
fieldOfView 2.84489 #163deg fisheye like
frameRate 30
} #VisionSensor rs_t265
]
}
DEF HeadMainLight SpotLightDevice {
translation 0.1005 0.035 0.05425
# rotation
Expand Down
53 changes: 53 additions & 0 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -490,6 +490,59 @@ DEF JAXON_JVRC Humanoid {
fieldOfView 1.5708
sensorId 1
}
DEF rs_l515 Joint {
translation 0.140 0.0 -0.015
rotation 0.0 1.0 0.0 0.785398
jointType "fixed"
children [
DEF rs_l515_link Segment {
} #Segment rs_l515_link
DEF rs_l515_color_optical_frame VisionSensor { # for l515
name "rs_l515_color_optical_frame"
translation 0.004 -0.000 0.014
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.582492 -0.58157 -0.567872 2.11931
type "COLOR"
sensorId 7
width 1920
height 1080
fieldOfView 0.750492 #43deg (70deg x 43deg)
frameRate 30
}
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
name "rs_l515_depth_optical_frame"
translation 0.0 0.0 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
rotation 0.57735 -0.57735 -0.57735 2.0944
type "COLOR_DEPTH"
sensorId 8
width 1024
height 768
fieldOfView 0.959931 #55deg (70deg x 55deg)
frameRate 30
}
]
}
DEF rs_t265 Joint {
translation 0.1459 0.00775 0.0085
jointType "fixed"
children [
DEF rs_t265_link Segment {
} #Segment rs_t265_link
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
name "rs_t265_fisheye1_optical_frame"
translation 0.0 0.032 0.0
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
rotation 0.58051 -0.576581 -0.574946 2.08517
type "MONO"
sensorId 9
width 848
height 800
fieldOfView 2.84489 #163deg fisheye like
frameRate 30
} #VisionSensor rs_t265
]
}
DEF HeadMainLight SpotLightDevice {
translation 0.1005 0.035 0.05425
# rotation
Expand Down
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