From 35be7a8fec738d6fca4438ee19bb7138ceeb992e Mon Sep 17 00:00:00 2001
From: Yu Ohara <ohara@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 1 Apr 2015 22:07:15 +0900
Subject: [PATCH] update HRP2 calibration file for MultisenseSL

---
 .../hrp2016_multisense_calib_20150401.yaml    | 29 +++++++++++++++++++
 jsk_hrp2_ros_bridge/launch/hrp2016.launch     |  2 +-
 2 files changed, 30 insertions(+), 1 deletion(-)
 create mode 100644 jsk_hrp2_ros_bridge/calib_data/hrp2016_multisense_calib_20150401.yaml

diff --git a/jsk_hrp2_ros_bridge/calib_data/hrp2016_multisense_calib_20150401.yaml b/jsk_hrp2_ros_bridge/calib_data/hrp2016_multisense_calib_20150401.yaml
new file mode 100644
index 00000000..53afe241
--- /dev/null
+++ b/jsk_hrp2_ros_bridge/calib_data/hrp2016_multisense_calib_20150401.yaml
@@ -0,0 +1,29 @@
+HEAD_JOINT0:
+  rpy: [0.0, -0.0, 0.0316251872467]
+LARM_JOINT0:
+  rpy: [0.0, 0.000854815894298, 0.0]
+LARM_JOINT1:
+  rpy: [0.0343352365413, -0.0, 0.0]
+LARM_JOINT2:
+  rpy: [0.0, -0.0, 0.00835187610966]
+LARM_JOINT3:
+  rpy: [0.0, 0.00362347273254, 0.0]
+LARM_JOINT4:
+  rpy: [0.0, -0.0, 0.00941868306995]
+LARM_JOINT5:
+  rpy: [0.0087903032663, -0.0, 0.0]
+RARM_JOINT0:
+  rpy: [0.0, 0.00975292586376, 0.0]
+RARM_JOINT1:
+  rpy: [-0.0166174454263, 0.0, 0.0]
+RARM_JOINT2:
+  rpy: [0.0, 0.0, -0.000836467724238]
+RARM_JOINT3:
+  rpy: [0.0, 0.00806829254868, 0.0]
+RARM_JOINT4:
+  rpy: [0.0, 0.0, -0.0159011176311]
+RARM_JOINT5:
+  rpy: [-0.00135522004212, 0.0, 0.0]
+hrp2_to_multisense:
+  rpy: [-0.0238645564025, 0.201268189697, -0.02736138928]
+  xyz: [0.0301261763697, 0.0089882882932, 0.102898708707]
diff --git a/jsk_hrp2_ros_bridge/launch/hrp2016.launch b/jsk_hrp2_ros_bridge/launch/hrp2016.launch
index aafb9298..4dd46f43 100644
--- a/jsk_hrp2_ros_bridge/launch/hrp2016.launch
+++ b/jsk_hrp2_ros_bridge/launch/hrp2016.launch
@@ -1,5 +1,5 @@
 <launch>
-  <arg name="CALIB_FILE" default="hrp2016_multisense_calib_20150304.yaml" />
+  <arg name="CALIB_FILE" default="hrp2016_multisense_calib_20150401.yaml" />
   <rosparam command="load"
             file="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_controller_config.yaml" />
   <include file="$(find jsk_hrp2_ros_bridge)/launch/jsk_hrp2_ros_bridge.launch" >