fix quaternion convention and small changes in reference configurations for armsFront and legsSide

src/hpp/corbaserver/rbprm/talos/robot.py

@@ -66,21 +66,21 @@ class Robot (Parent):
         0.,  0.]
 
     referenceConfig_armsFront =[
-        0.0, 0.0,  1.0232773,  1 ,  0.0, 0.0, 0.0,                     #Free flyer
+        0.0, 0.0,  1.0232773,  0 ,  0.0, 0.0, 1.0,                     #Free flyer
         0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,         #Left Leg
         0.0,  0.0, -0.411354,  0.859395, -0.448041, -0.001708,         #Right Leg
         0.0 ,  0.006761,                                               #Chest
         -0.5 ,  0.173046, -0.0002, -0.525366, 0.0, -0.0,  0.1,-0.005,  #Left Arm
         0.5 , -0.173046, 0.0002  , -0.525366, 0.0,  0.0,  0.1,-0.005,  #Right Arm
-        0.,  0.]
+        0.,  0.] 
 
     referenceConfig_legsSide=[
-        0.0, 0.0, 0.9832773, 1, 0.0, 0.0, 0.0,                      #Free flyer
+        0, 0, 0.9832773, 0, 0.0, 0.0, 1.0,                      #Free flyer
         1.57, 0.0, -0.611354, 1.059395, -0.448041,-0.001708,        #Left Leg
         -1.57, 0.0, -0.611354, 1.059395, -0.448041, -0.001708,      #Right Leg
          0.0, 0.006761,                                             #Chest
-         -0.5,0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, #Left Arm
-        0.5, -0.173046, 0.0002, -0.525366, 0.0, 0.0, 0.1, -0.005,   #Right Arm
+        0.25847 ,  0.173046, -0.0002, -0.525366, 0.0, -0.0,  0.1,-0.005,  #Left Arm
+        -0.25847 , -0.173046, 0.0002  , -0.525366, 0.0,  0.0,  0.1,-0.005,#Right Arm
         0.0, 0.0]
 
     postureWeights = [0,0,0,0,0,0,# freeflyer