Merge pull request start-jsk#165 from YoheiKakiuchi/update_jaxon_yaml

update jaxon.yaml
robograffitti · Jan 28, 2015 · 2aecded · 2aecded
2 parents abafaf7 + 02bafbd
commit 2aecded
Showing 1 changed file with 17 additions and 5 deletions.
diff --git a/hrpsys_ros_bridge_tutorials/models/jaxon.yaml b/hrpsys_ros_bridge_tutorials/models/jaxon.yaml
@@ -47,12 +47,18 @@ torso:
 ##
 rarm-end-coords:
   parent: RARM_LINK7
-  translate : [0,  0.055, -0.217]
-  rotate    : [0.0, 1.0, 0.0, 90.0]
+# original
+#  translate : [0,  0.055, -0.217]
+#  rotate    : [0.0, 1.0, 0.0, 90.0]
+  translate : [-0.055, 0.0, -0.237]
+  rotate    : [-0.57735, 0.57735, 0.57735, 120]
 larm-end-coords:
   parent: LARM_LINK7
-  translate : [0, -0.055, -0.217]
-  rotate    : [0.0, 1.0, 0.0, 90.0]
+# original
+#  translate : [0, -0.055, -0.217]
+#  rotate    : [0.0, 1.0, 0.0, 90.0]
+  translate : [-0.055, 0.0, -0.237]
+  rotate    : [0.57735, 0.57735, -0.57735, 120]
 rleg-end-coords:
   parent: RLEG_LINK5
   translate : [0, 0, -0.096]
@@ -64,7 +70,13 @@ lleg-end-coords:
 ## reset-pose
 ##
 angle-vector:
-  reset-pose : [0.0, -30.0, -30.0, 0.0, +30.0, 0.0, 0.0, 0.0,
+  reset-pose : [0.0, +40.0, -15.0, -90.0, +80.0, -20.0, 0.0, 0.0,
+                0.0, +40.0, +15.0, +90.0, -80.0, +20.0, 0.0, 0.0,
+                0.0, 0.0, -20.0, 40.0, -20.0, 0.0,
+                0.0, 0.0, -20.0, 40.0, -20.0, 0.0,
+                0.0, 0.0,
+                0.0, 0.0, 0.0]
+  reset-servo-off-pose : [0.0, -30.0, -30.0, 0.0, +30.0, 0.0, 0.0, 0.0,
                 0.0, -30.0, +30.0, 0.0, -30.0, 0.0, 0.0, 0.0,
                 0.0, 0.0, -20.0, 40.0, -20.0, 0.0,
                 0.0, 0.0, -20.0, 40.0, -20.0, 0.0,