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jaxon_jvrc.yaml
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##
## - collada_joint_name : euslisp_joint_name (start with :)
##
rleg:
- RLEG_JOINT0 : rleg-crotch-y
- RLEG_JOINT1 : rleg-crotch-r
- RLEG_JOINT2 : rleg-crotch-p
- RLEG_JOINT3 : rleg-knee-p
- RLEG_JOINT4 : rleg-ankle-p
- RLEG_JOINT5 : rleg-ankle-r
lleg:
- LLEG_JOINT0 : lleg-crotch-y
- LLEG_JOINT1 : lleg-crotch-r
- LLEG_JOINT2 : lleg-crotch-p
- LLEG_JOINT3 : lleg-knee-p
- LLEG_JOINT4 : lleg-ankle-p
- LLEG_JOINT5 : lleg-ankle-r
torso:
- CHEST_JOINT0 : torso-waist-r
- CHEST_JOINT1 : torso-waist-p
- CHEST_JOINT2 : torso-waist-y
head:
- HEAD_JOINT0 : head-neck-y
- HEAD_JOINT1 : head-neck-p
rarm:
- RARM_JOINT0 : rarm-collar-y
- RARM_JOINT1 : rarm-shoulder-p
- RARM_JOINT2 : rarm-shoulder-r
- RARM_JOINT3 : rarm-shoulder-y
- RARM_JOINT4 : rarm-elbow-p
- RARM_JOINT5 : rarm-wrist-y
- RARM_JOINT6 : rarm-wrist-r
- RARM_JOINT7 : rarm-wrist-p
larm:
- LARM_JOINT0 : larm-collar-y
- LARM_JOINT1 : larm-shoulder-p
- LARM_JOINT2 : larm-shoulder-r
- LARM_JOINT3 : larm-shoulder-y
- LARM_JOINT4 : larm-elbow-p
- LARM_JOINT5 : larm-wrist-y
- LARM_JOINT6 : larm-wrist-r
- LARM_JOINT7 : larm-wrist-p
##
## end-coords
##
rarm-end-coords:
parent: RARM_LINK7
translate : [0, 0, -0.217]
rotate : [0.0, 1.0, 0.0, 90.0]
larm-end-coords:
parent: LARM_LINK7
translate : [0, 0, -0.217]
rotate : [0.0, 1.0, 0.0, 90.0]
rleg-end-coords:
parent: RLEG_LINK5
translate : [0, 0, -0.1]
lleg-end-coords:
parent: LLEG_LINK5
translate : [0, 0, -0.1]
head-end-coords:
parent: HEAD_LINK1
translate : [0.1, 0.0, 0.1]
rotate : [0.0, 1.0, 0.0, 90.0]
##
## reset-pose
##
angle-vector:
collision-free-init-pose : [0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0,
0.0, 0.0, -15.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 15.0, 0.0, 0.0, 0.0, 0.0, 0.0]
reset-pose : [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,
0.0, +40.0, -20.0, -5.0, -80.0, 0.0, 0.0, -20.0,
0.0, +40.0, +20.0, +5.0, -80.0, 0.0, 0.0, -20.0]
reset-servo-off-pose : [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,
0.0, -5.0, -20.0, 0.0, -20.0, 0.0, 0.0, 0.0,
0.0, -5.0, +20.0, 0.0, -20.0, 0.0, 0.0, 0.0]
reset-manip-pose : [0.00, 0.00, -20.00, 40.00, -20.00, 0.00,
0.00, 0.00, -20.00, 40.00, -20.00, 0.00,
0.00, 0.00, 0.00,
0.00, 30.00,
0.00, 55.00, -20.00, -15.00, -100.00, -25.00, 0.00, -45.00,
0.00, 55.00, 20.00, 15.00, -100.00, 25.00, 0.00, -45.00]
calib-pose : [0.0, 0.0, -45.0, 90.0, -45.0, 0.0,
0.0, 0.0, -45.0, 90.0, -45.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0,
0.0, 0.0, -150.0, 90.0, -120.0, 90.0, +60.0, 0.0,
0.0, 0.0, 30.0, 90.0, -120.0, 90.0, +60.0, 0.0]
narrow-width-pose : [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,
+40.0, -40.0, -30.0, -30.0, -100.0, +90.0, -20.0, 0.0,
-40.0, -40.0, +30.0, +30.0, -100.0, -90.0, +20.0, 0.0]
##
## sensors
##
#sensors:
### sensor position should be confirmed
# - {sensor_name: 'rfsensor', sensor_type: 'base_force6d', parent_link: 'RLEG_LINK5', translate: '0 0 -0.069', rotate: '0 1 0 180'}
# - {sensor_name: 'lfsensor', sensor_type: 'base_force6d', parent_link: 'LLEG_LINK5', translate: '0 0 -0.069', rotate: '0 1 0 180'}
# - {sensor_name: 'rhsensor', sensor_type: 'base_force6d', parent_link: 'RARM_LINK7', translate: '0 0 -0.069', rotate: '-0.382683 -0.92388 0 180'}
# - {sensor_name: 'lhsensor', sensor_type: 'base_force6d', parent_link: 'LARM_LINK7', translate: '0 0 -0.069', rotate: '0.382683 -0.92388 0 180'}
# - {sensor_name: 'fisheye', sensor_type: 'camera', parent_link: 'CHEST_LINK2', translate: '0.164 0 -0.007', rotate: '-0.6846672430748852 0.6846672430748857 -0.2499230531993218 151.9358119944814689'}
#links:
# - {name: 'head_hokuyo_frame', parent_link: 'HEAD_RANGE'}
# - {name: "multisense/left_camera_optiocal_frame", parent_link: 'HEAD_LEFT_CAMERA'}