sobit_mini_pose.yaml

sobit_mini_pose:
    - { 
        pose_name: "initial_pose",
        l_arm_shoulder_roll_joint: 0.0,
        l_arm_shoulder_pan_joint: -1.25,
        l_arm_elbow_tilt_joint: 0.0,
        l_arm_wrist_tilt_joint: 0.0,
        l_hand_joint: 0.0,
        r_arm_shoulder_roll_joint: 0.0,
        r_arm_shoulder_pan_joint: -1.25,
        r_arm_elbow_tilt_joint: 0.0,
        r_arm_wrist_tilt_joint: 0.0,
        r_hand_joint: 0.0,
        body_roll_joint: 0.0,
        head_pan_joint: 0.0,
        head_tilt_joint: 0.0
    }

    - { 
        pose_name: "attention_pose",
        l_arm_shoulder_roll_joint: 0.0,
        l_arm_shoulder_pan_joint: -1.30,
        l_arm_elbow_tilt_joint: 0.0,
        l_arm_wrist_tilt_joint: 0.0,
        l_hand_joint: 0.0,
        r_arm_shoulder_roll_joint: 0.0,
        r_arm_shoulder_pan_joint: -1.30,
        r_arm_elbow_tilt_joint: 0.0,
        r_arm_wrist_tilt_joint: 0.0,
        r_hand_joint: 0.0,
        body_roll_joint: 0.0,
        head_pan_joint: 0.0,
        head_tilt_joint: 0.0
    }

    - { 
        pose_name: "receive_pose", 
        l_arm_shoulder_roll_joint: 0.0,
        l_arm_shoulder_pan_joint: -1.30,
        l_arm_elbow_tilt_joint: 0.0,
        l_arm_wrist_tilt_joint: 0.0,
        l_hand_joint: 0.0,
        r_arm_shoulder_roll_joint: 0.0,
        r_arm_shoulder_pan_joint: -1.30,
        r_arm_elbow_tilt_joint: 1.57,
        r_arm_wrist_tilt_joint: 0.0,
        r_hand_joint: 0.0,
        body_roll_joint: 0.0,
        head_pan_joint: -0.2,
        head_tilt_joint: 0.0
    }