Add openXR module configuration files for iCubGenova09

modules/OpenXR_module/config/robots/iCubGenova09/headRetargetingParams.ini

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+remote_control_boards   ("head")
+# Notice the order of the joint list is not wrong.
+# Indeed they are written according to the joint order of the icub-neck
+joints_list             ("neck_pitch", "neck_roll", "neck_yaw")
+
+smoothingTime   1.0
+PreparationSmoothingTime 3.0
+PreparationJointReferenceValues (0.0 , 0.0 , 0.0)

modules/OpenXR_module/config/robots/iCubGenova09/leftFingersRetargetingParams.ini

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+remote_control_boards   ("left_arm")
+joints_list             ("l_thumb_proximal", "l_thumb_distal", "l_index_proximal", "l_index-distal", "l_middle-proximal", "l_middle-distal", "l_little-fingers")
+
+useVelocity           1
+
+fingersScaling        (1, 3.5, 2, 3.5, 1, 3.5, 5)

modules/OpenXR_module/config/robots/iCubGenova09/leftHandRetargetingParams.ini

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+# additional rotations
+# the following rotation map the hand oculus frame and the hand robot frame
+handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
+
+# the following rotation map the teleoperation frame and the teleoperation robot
+# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
+# CAD has:
+# The z-axis is parallel to gravity but pointing upwards.
+# The x-axis points behind the robot.
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# the Teleoperation frame is attached to the virtualizer and the  origin is the
+# same oculus inertial frame. In other words:
+# The z-axis is parallel to gravity but pointing upwards
+# The x-axis points forward
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# So the rotation matrix is simply given by Rotz(pi)
+teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))

modules/OpenXR_module/config/robots/iCubGenova09/openXRConfig.ini

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+name                    openXRRetargeting
+
+# ports
+leftHandPosePort        /leftHandPose:o
+rightHandPosePort       /rightHandPose:o
+rpcWalkingPort_name     /walkingRpc
+
+[GENERAL]
+samplingTime            0.01
+robot                   icub
+enableMoveRobot         1
+# the following value is a threshold used to update the teleoperation frame position
+# when the human rotates inside the virtualizer
+playerOrientationThreshold    0.2
+
+# For kinematic scaling for task-space retargeting
+humanHeight                   1.76
+# The robot arm span is the distance between the left and right index fingertips when the arms are aligned, i.e. T pose.
+robotArmSpan                  1.0
+# If resetCameras !=0, the module will attempt to reset the cameras during the initialization phase.
+resetCameras            0
+# The leftCameraPort and rightCameraPort are needed only if resetCameras is 1
+leftCameraPort          /icub/cam/left
+rightCameraPort         /icub/cam/right
+
+
+# include head parameters
+[include HEAD_RETARGETING "headRetargetingParams.ini"]
+
+# include fingers parameters
+[include LEFT_FINGERS_RETARGETING "leftFingersRetargetingParams.ini"]
+[include RIGHT_FINGERS_RETARGETING "rightFingersRetargetingParams.ini"]
+
+# include hand parameters
+[include LEFT_HAND_RETARGETING "leftHandRetargetingParams.ini"]
+[include RIGHT_HAND_RETARGETING "rightHandRetargetingParams.ini"]
+
+[OPENXR]
+root_frame_name                 openxr_origin
+left_hand_frame_name            openxr_left_hand
+right_hand_frame_name           openxr_right_hand
+head_frame_name                 openxr_head
+oculusOrientationPort           /oculusOrientation:i
+oculusPositionPort              /oculusPosition:i
+
+move_icub_using_joypad        1
+deadzone                      0.3
+fullscale                     1.0
+scale_X                       5.0
+scale_Y                       5.0
+
+
+# {"/user/hand/left/input/menu/click",      "vive_left_menu"},
+# {"/user/hand/left/input/trigger/click",   "vive_left_trigger_click"},
+# {"/user/hand/left/input/squeeze/click",   "vive_left_squeeze_click"},
+# {"/user/hand/left/input/trackpad/click",  "vive_left_trackpad_click"},
+# {"/user/hand/right/input/menu/click",     "vive_right_menu"},
+# {"/user/hand/right/input/trigger/click",  "vive_right_trigger_click"},
+# {"/user/hand/right/input/squeeze/click",  "vive_right_squeeze_click"},
+# {"/user/hand/right/input/trackpad/click", "vive_right_trackpad_click"}
+
+prepare_walking_buttons_map        (0, 0, 0, 0, 1, 0, 0, 0)
+start_walking_buttons_map          (1, 0, 0, 0, 0, 0, 0, 0)
+left_fingers_squeeze_buttons_map   (0, 0, 0, 0, 0, 0, 0, 0)
+left_fingers_release_buttons_map   (0, 1, 0, 0, 0, 0, 0, 0)
+right_fingers_squeeze_buttons_map  (0, 0, 0, 0, 0, 0, 0, 0)
+right_fingers_release_buttons_map  (0, 0, 0, 0, 0, 1, 0, 0)

modules/OpenXR_module/config/robots/iCubGenova09/rightFingersRetargetingParams.ini

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+remote_control_boards   ("right_arm")
+joints_list             ("r_thumb_proximal", "r_thumb_distal", "r_index_proximal", "r_index-distal", "r_middle-proximal", "r_middle-distal", "r_little-fingers")
+
+useVelocity           1
+
+fingersScaling        (1, 3.5, 2, 3.5, 1, 3.5, 5)

modules/OpenXR_module/config/robots/iCubGenova09/rightHandRetargetingParams.ini

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+# additional rotations
+# the following rotation map the hand oculus frame and the hand robot frame
+handOculusFrame_R_handRobotFrame ((0.0 0.0 -1.0), (-1.0 0.0 0.0), (0.0 1.0 0.0))
+
+# the following rotation map the teleoperation frame and the teleoperation robot
+# frame the Teleoperation robot frame chosen is "imu_frame" and according to iCub
+# CAD has:
+# The z-axis is parallel to gravity but pointing upwards.
+# The x-axis points behind the robot.
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# the Teleoperation frame is attached to the virtualizer and the  origin is the
+# same oculus inertial frame. In other words:
+# The z-axis is parallel to gravity but pointing upwards
+# The x-axis points forward
+# The y-axis points laterally and is chosen according to the right-hand rule.
+# So the rotation matrix is simply given by Rotz(pi)
+teleoperationRobotFrame_R_teleoperationFrame ((1.0 0.0 0.0), (0.0 1.0 0.0), (0.0 0.0 1.0))