Merge pull request start-jsk#191 from orikuma/modify-staro-robotiq-st…

…raight-end-coords Modify staro robotiq straight end coords
robograffitti · Mar 3, 2015 · 65a6dfd · 65a6dfd
2 parents f593be8 + efd4c2d
commit 65a6dfd
Showing 1 changed file with 13 additions and 13 deletions.
diff --git a/hrpsys_ros_bridge_tutorials/models/staro.yaml b/hrpsys_ros_bridge_tutorials/models/staro.yaml
@@ -48,13 +48,13 @@ rleg-end-coords:
   translate : [0.0, 0, -0.096]
 lleg-end-coords:
   translate : [0.0, 0, -0.096]
-# straigh ver
-# rarm-end-coords:
-#   translate : [-0.063286056916196, -0.1488, -0.063286056916196] # 89.5 / sqrt(2) * 0.001
-#   rotate : [-0.281085, 0.678598, 0.678598, 148.6]
-# larm-end-coords:
-#   translate : [-0.063286056916196, 0.1488, -0.063286056916196]
-#   rotate : [0.281085, 0.678598, -0.678598, 148.6]
+# straight ver
+rarm-end-coords:
+  translate : [0, -0.1893, 0]
+  rotate : [0.678598, -0.678598, -0.281085, 148.6]
+larm-end-coords:
+  translate : [0, 0.1893, 0]
+  rotate : [-0.678598, -0.678598, 0.281085, 148.6]
 # side version
 # contact-end-coords
 # rarm-end-coords:
@@ -64,12 +64,12 @@ lleg-end-coords:
 #   translate : [0, 0.2393, 0]
 #   rotate : [0.281085, 0.678598, -0.678598, 148.6]
 # grasp-end-coords
-rarm-end-coords:
-  translate : [-0.063286, -0.146, -0.063286]
-  rotate : [-0.281085, 0.678598, 0.678598, 148.6]
-larm-end-coords:
-  translate : [-0.063286, 0.146, -0.063286]
-  rotate : [0.281085, 0.678598, -0.678598, 148.6]
+# rarm-end-coords:
+#   translate : [-0.063286, -0.146, -0.063286]
+#   rotate : [-0.281085, 0.678598, 0.678598, 148.6]
+# larm-end-coords:
+#   translate : [-0.063286, 0.146, -0.063286]
+#   rotate : [0.281085, 0.678598, -0.678598, 148.6]
 head-end-coords:
   translate : [0.1, 0, 0.2]
   rotate    : [0, 1, 0, 90]