Fix the coordinate of the DoubleArmV7 models

s-nakaoka · Sep 18, 2018 · f56fbb9 · f56fbb9
1 parent f7af1cc
commit f56fbb9
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Showing 7 changed files with 1,196 additions and 1,094 deletions.
diff --git a/sample/SimpleController/DoubleArmV7A.cnoid b/sample/SimpleController/DoubleArmV7A.cnoid
@@ -53,18 +53,10 @@ items:
                 modelFile: "${SHARE}/model/DoubleArmV7/DoubleArmV7A.body"
                 currentBaseLink: "TFRAME"
                 rootPosition: [ 0, 0, 0.537615659 ]
-                rootAttitude: [ 
-                  -1, 0, 0,
-                   0, 0, 1,
-                   0, 1, 0 ]
                 jointPositions: [ 
                    -0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
                   -0.000000, -0.000000,  0.000000,  0.000000, -0.000000, -0.000000,  0.000000,  0.000000 ]
                 initialRootPosition:  [ 0, 0, 0.537615659 ]
-                initialRootAttitude: [ 
-                  -1, 0, 0,
-                   0, 0, 1,
-                   0, 1, 0 ]
                 initialJointPositions: [ 
                    -0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
                   -0.000000, -0.000000,  0.000000,  0.000000, -0.000000, -0.000000,  0.000000,  0.000000 ]

diff --git a/sample/SimpleController/DoubleArmV7S.cnoid b/sample/SimpleController/DoubleArmV7S.cnoid
@@ -23,18 +23,10 @@ items:
             modelFile: "${SHARE}/model/DoubleArmV7/DoubleArmV7S.body"
             currentBaseLink: "TFRAME"
             rootPosition: [ 0, 0, 0.52 ]
-            rootAttitude: [ 
-              -1, -7.49879891e-33, 1.2246468e-16, 
-              1.2246468e-16, -6.123234e-17, 1, 
-              0, 1, 6.123234e-17 ]
             jointPositions: [ 
                0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
                0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000 ]
             initialRootPosition: [ 0, 0, 0.52 ]
-            initialRootAttitude: [ 
-              -1, -1.23259516e-32, 1.2246468e-16, 
-              1.2246468e-16, -2.22044605e-16, 1, 
-              1.23259516e-32, 1, 2.22044605e-16 ]
             initialJointPositions: [ 
               0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
               0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000 ]

diff --git a/sample/WRS2018/DoubleArmV7A.cnoid b/sample/WRS2018/DoubleArmV7A.cnoid
@@ -13,18 +13,10 @@ items:
         modelFile: "${SHARE}/model/DoubleArmV7/DoubleArmV7A.body"
         currentBaseLink: "TFRAME"
         rootPosition: [ 1, 0.0037, 0.5376 ]
-        rootAttitude: [ 
-          -0.999948147, 0.00052335579, -0.0101699709, 
-          -0.0101699455, 5.11842633e-05, 0.999948283, 
-          0.000523849266, 0.999999862, -4.58589129e-05 ]
         jointPositions: [ 
            0.391500, -0.762258, -1.310742,  2.654646,  0.000000,  0.101593, -0.349066, -0.349066, 
           -0.000000, -0.000000,  0.000000,  0.000000, -0.000000, -0.000000,  0.000000,  0.000000 ]
         initialRootPosition: [ 1, 0.0037, 0.5376 ]
-        initialRootAttitude: [ 
-          -0.999948147, 0.000523355781, -0.0101699709, 
-          -0.0101699455, 5.11835545e-05, 0.999948283, 
-          0.000523849249, 0.999999862, -4.58582042e-05 ]
         initialJointPositions: [ 
            0.391500, -0.762258, -1.310742,  2.654646,  0.000000,  0.101593, -0.349066, -0.349066, 
           -0.000000, -0.000000,  0.000000,  0.000000, -0.000000, -0.000000,  0.000000,  0.000000 ]

diff --git a/sample/WRS2018/DoubleArmV7S.cnoid b/sample/WRS2018/DoubleArmV7S.cnoid
@@ -13,18 +13,10 @@ items:
         modelFile: "${SHARE}/model/DoubleArmV7/DoubleArmV7S.body"
         currentBaseLink: "TFRAME"
         rootPosition: [ 1, 0.0037, 0.5376 ]
-        rootAttitude: [ 
-          -0.999948147, 0.00052335579, -0.0101699709, 
-          -0.0101699455, 5.11842633e-05, 0.999948283, 
-          0.000523849266, 0.999999862, -4.58589129e-05 ]
         jointPositions: [ 
           0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
           0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000 ]
         initialRootPosition: [ 1, 0.0037, 0.5376 ]
-        initialRootAttitude: [ 
-          -0.999948147, 0.000523355779, -0.0101699709, 
-          -0.0101699455, 5.11833774e-05, 0.999948283, 
-          0.000523849245, 0.999999862, -4.5858027e-05 ]
         initialJointPositions: [ 
           0.000000,  0.000000, -1.221730,  2.617994,  0.000000,  0.000000,  0.000000,  0.000000, 
           0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000,  0.000000 ]