AizuSpiderSS.yaml

rarm:
  - SHOULDER : rarm-shoulder-y
  - ARM      : rarm-shoulder-p
  - FOREARM  : rarm-elbow-p
  - WRIST1   : rarm-wrist-r
  - WRIST2   : rarm-wrist-p
  - HAND     : rarm-wrist-y
  - FINGER1  : rarm-hand-f1
  - FINGER2  : rarm-hand-f2
  - FINGER3  : rarm-hand-f3
rleg:
  - FR_FLIPPER : rleg-crotch-p
  - BR_FLIPPER : rleg-knee-p
lleg:
  - FL_FLIPPER : lleg-crotch-p
  - BL_FLIPPER : lleg-knee-p

rarm-end-coords:
  parent    : HAND
  translate : [ 0.0,  0.0, 0.140 ]
  rotate    : [ -0.57735026918963, -0.57735026918963, -0.57735026918963, 120]
# rleg-end-coords:
#   translate : [0.0, -0.035, -0.09]
#   rotate    : [-0.283404137769, 0.916168532224, -0.283403096769, 95.010341341304]
# lleg-end-coords:
#   translate : [0.0, -0.035, -0.09]
#   rotate    : [-0.283404137769, 0.916168532224, -0.283403096769, 95.010341341304]

##
## reset-pose
##
angle-vector:
  reset-pose : [
  -90, 50, 50,   0, 0, 0,  0, 0, 0,
  0, 0,   0, 0,
  ]
  reset-manip-pose : [
  -91.7032, 54.5555, 118.99, -37.7216, 115.846, -37.0257,
  0, 0, 0,
  0, 0,   0, 0,
  ]