JAXON yaml file for choreonoid

JAXON.yaml

modelFile: JAXONmain.wrl

standardPose: [
  0, 0, -20, 40, -20, 0,
  0, 0, -20, 40, -20, 0,
  0, 0, 0,
  0, 0,
  0, 40, -20, -5, -80, 0, 0, -20,
  0, 40, 20, 5, -80, 0, 0, -20 ]

linkGroup:
  - name: UPPER-BODY
    links:
      - name: CHEST
        links: [ CHEST_JOINT0, CHEST_JOINT1, CHEST_JOINT2 ]
      - name: HEAD
        links: [ HEAD_JOINT0, HEAD_JOINT1 ]
      - name: ARMS
        links:
          - name: R-ARM
            links: [ RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4, RARM_JOINT5, RARM_JOINT6, RARM_JOINT7 ]
          - name: L-ARM
            links: [ LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4, LARM_JOINT5, LARM_JOINT6, LARM_JOINT7 ]
  - BODY
  - name: LEGS
    links:
      - name: R-LEG
        links: [ RLEG_JOINT0, RLEG_JOINT1, RLEG_JOINT2, RLEG_JOINT3, RLEG_JOINT4, RLEG_JOINT5 ]
      - name: L-LEG
        links: [ LLEG_JOINT0, LLEG_JOINT1, LLEG_JOINT2, LLEG_JOINT3, LLEG_JOINT4, LLEG_JOINT5 ]

possibleIkInterpolationLinks: [ BODY, RLEG_JOINT5, LLEG_JOINT5 ]
defaultIkInterpolationLinks: [ BODY, RLEG_JOINT5, LLEG_JOINT5 ]
possileSupportLinks: [ RLEG_JOINT5, LLEG_JOINT5 ]

defaultIKsetup:
  BODY: [ RLEG_JOINT5, LLEG_JOINT5 ]
  RARM_JOINT7: [ CHEST_JOINT2 ]
  LARM_JOINT7: [ CHEST_JOINT2 ]
  RLEG_JOINT5: [ BODY ]
  LLEG_JOINT5: [ BODY ]

footLinks:
  - link: RLEG_JOINT5
    soleCenter: [ 0.0, 0.0, -0.0955 ]
  - link: LLEG_JOINT5
    soleCenter: [ 0.0, 0.0, -0.0955 ]

selfCollisionDetection:
  excludeTreeDepth: 3
  excludeLinks: [ ]

# divisionNumberOfPrimitiveGeometries: 6

Place this file in the same directory as JAXONmain.wrl.
You can download JAXON model from https://jvrc.org/download.html