diff --git a/hrpsys_ros_bridge_tutorials/CMakeLists.txt b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
index a1e5b88f..00a26e7a 100644
--- a/hrpsys_ros_bridge_tutorials/CMakeLists.txt
+++ b/hrpsys_ros_bridge_tutorials/CMakeLists.txt
@@ -402,12 +402,13 @@ compile_rbrain_model_for_closed_robots(JAXON_BLUE JAXON_BLUE JAXON_BLUE
   ## KAWADA foot
   --conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.096,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.055,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,-0.055,-0.217,0,1.0,0.0,1.5708,"
   ## KAWADA foot with rubber shoes
-  --conf-file-option "end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,"
+  --conf-file-option "end_effectors: rleg,RLEG_JOINT5,WAIST,0.05,0.0,-0.124,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.05,0.0,-0.124,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.220,0.0,1.0,0.0,1.5708,"
   ## KAWADA foot with rubber shoes + hand contact end-coords
   --conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.238,0.0,0.0,-1.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0.0,-0.238,0.0,0.0,1.0,1.5708,# KAWADA foot with rubber shoes + hand contact end-coords"
   ## JSK foot : mechanical 103.5mm, sole rubber 2mm
   --conf-file-option "# end_effectors: rleg,RLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, lleg,LLEG_JOINT5,WAIST,0.0,0.0,-0.1055,0.0,0.0,0.0,0.0, rarm,RARM_JOINT6,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708, larm,LARM_JOINT6,CHEST_JOINT2,0.0,0,-0.217,0,1.0,0.0,1.5708,"
-  --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2"
+  # --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT2:RARM_JOINT3 RLEG_JOINT2:RARM_JOINT4 RLEG_JOINT2:RARM_JOINT5 RLEG_JOINT2:RARM_JOINT6 RLEG_JOINT2:LARM_JOINT3 RLEG_JOINT2:LARM_JOINT4 RLEG_JOINT2:LARM_JOINT5 RLEG_JOINT2:LARM_JOINT6 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT3:RARM_JOINT3 RLEG_JOINT3:RARM_JOINT4 RLEG_JOINT3:RARM_JOINT5 RLEG_JOINT3:RARM_JOINT6 RLEG_JOINT3:LARM_JOINT3 RLEG_JOINT3:LARM_JOINT4 RLEG_JOINT3:LARM_JOINT5 RLEG_JOINT3:LARM_JOINT6 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5 RLEG_JOINT5:RARM_JOINT3 RLEG_JOINT5:RARM_JOINT4 RLEG_JOINT5:RARM_JOINT5 RLEG_JOINT5:RARM_JOINT6 RLEG_JOINT5:LARM_JOINT3 RLEG_JOINT5:LARM_JOINT4 RLEG_JOINT5:LARM_JOINT5 RLEG_JOINT5:LARM_JOINT6 LLEG_JOINT2:RARM_JOINT3 LLEG_JOINT2:RARM_JOINT4 LLEG_JOINT2:RARM_JOINT5 LLEG_JOINT2:RARM_JOINT6 LLEG_JOINT2:LARM_JOINT3 LLEG_JOINT2:LARM_JOINT4 LLEG_JOINT2:LARM_JOINT5 LLEG_JOINT2:LARM_JOINT6 LLEG_JOINT3:RARM_JOINT3 LLEG_JOINT3:RARM_JOINT4 LLEG_JOINT3:RARM_JOINT5 LLEG_JOINT3:RARM_JOINT6 LLEG_JOINT3:LARM_JOINT3 LLEG_JOINT3:LARM_JOINT4 LLEG_JOINT3:LARM_JOINT5 LLEG_JOINT3:LARM_JOINT6 LLEG_JOINT5:RARM_JOINT3 LLEG_JOINT5:RARM_JOINT4 LLEG_JOINT5:RARM_JOINT5 LLEG_JOINT5:RARM_JOINT6 LLEG_JOINT5:LARM_JOINT3 LLEG_JOINT5:LARM_JOINT4 LLEG_JOINT5:LARM_JOINT5 LLEG_JOINT5:LARM_JOINT6 CHEST_JOINT1:RARM_JOINT2 CHEST_JOINT1:RARM_JOINT3 CHEST_JOINT1:RARM_JOINT4 CHEST_JOINT1:RARM_JOINT5 CHEST_JOINT1:RARM_JOINT6 CHEST_JOINT1:LARM_JOINT2 CHEST_JOINT1:LARM_JOINT3 CHEST_JOINT1:LARM_JOINT4 CHEST_JOINT1:LARM_JOINT5 CHEST_JOINT1:LARM_JOINT6 HEAD_JOINT1:RARM_JOINT3 HEAD_JOINT1:RARM_JOINT4 HEAD_JOINT1:RARM_JOINT5 HEAD_JOINT1:RARM_JOINT6 HEAD_JOINT1:LARM_JOINT3 HEAD_JOINT1:LARM_JOINT4 HEAD_JOINT1:LARM_JOINT5 HEAD_JOINT1:LARM_JOINT6 RARM_JOINT0:LARM_JOINT4 RARM_JOINT0:LARM_JOINT5 RARM_JOINT0:LARM_JOINT6 RARM_JOINT2:LARM_JOINT4 RARM_JOINT2:LARM_JOINT5 RARM_JOINT2:LARM_JOINT6 RARM_JOINT2:WAIST RARM_JOINT3:LARM_JOINT3 RARM_JOINT3:LARM_JOINT4 RARM_JOINT3:LARM_JOINT5 RARM_JOINT3:LARM_JOINT6 RARM_JOINT3:WAIST RARM_JOINT4:LARM_JOINT0 RARM_JOINT4:LARM_JOINT2 RARM_JOINT4:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT4:LARM_JOINT5 RARM_JOINT4:LARM_JOINT6 RARM_JOINT4:WAIST RARM_JOINT5:LARM_JOINT0 RARM_JOINT5:LARM_JOINT2 RARM_JOINT5:LARM_JOINT3 RARM_JOINT5:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 RARM_JOINT5:LARM_JOINT6 RARM_JOINT5:WAIST RARM_JOINT6:LARM_JOINT0 RARM_JOINT6:LARM_JOINT2 RARM_JOINT6:LARM_JOINT3 RARM_JOINT6:LARM_JOINT4 RARM_JOINT6:LARM_JOINT5 RARM_JOINT6:LARM_JOINT6 RARM_JOINT6:WAIST LARM_JOINT2:WAIST LARM_JOINT3:WAIST LARM_JOINT4:WAIST LARM_JOINT5:WAIST LARM_JOINT6:WAIST CHEST_JOINT2:RARM_JOINT3 CHEST_JOINT2:RARM_JOINT4 CHEST_JOINT2:RARM_JOINT5 CHEST_JOINT2:RARM_JOINT6 CHEST_JOINT2:LARM_JOINT3 CHEST_JOINT2:LARM_JOINT4 CHEST_JOINT2:LARM_JOINT5 CHEST_JOINT2:LARM_JOINT6 CHEST_JOINT2:LARM_JOINT2 CHEST_JOINT2:RARM_JOINT2"
+  --conf-file-option "collision_pair: RLEG_JOINT2:LLEG_JOINT2 RLEG_JOINT2:LLEG_JOINT3 RLEG_JOINT2:LLEG_JOINT5 RLEG_JOINT3:LLEG_JOINT2 RLEG_JOINT3:LLEG_JOINT3 RLEG_JOINT3:LLEG_JOINT5 RLEG_JOINT5:LLEG_JOINT2 RLEG_JOINT5:LLEG_JOINT3 RLEG_JOINT5:LLEG_JOINT5"
   --conf-file-option "collision_model: convex hull"
   --conf-file-option "# SequencePlayer optional data (contactStates x 4 + controlSwingTime x 4 (4 is rfsensor, lfsensor, rhsensor, lhsensor)"
   --conf-file-option "seq_optional_data_dim: 8"
@@ -754,6 +755,10 @@ if(${jsk_models_FOUND})
   attach_sensor_and_endeffector_to_staro_urdf(TABLIS TABLIS.urdf TABLIS_SENSORS.urdf tablis.yaml)
 endif()
 
+if(${jsk_models_FOUND})
+  attach_sensor_and_endeffector_to_staro_urdf(JAXON_BLUE JAXON_BLUE.urdf JAXON_BLUE_SENSORS.urdf jaxon_blue.yaml)
+endif()
+
 # for SampleRobot
 attach_sensor_and_endeffector_to_hrp2jsk_urdf(SampleRobot SampleRobot.urdf
   SampleRobot_WH_SENSORS.urdf samplerobot.yaml)
diff --git a/hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat
index 51dceecb..951ea4ef 100644
--- a/hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat
+++ b/hrpsys_ros_bridge_tutorials/models/CHIDORI.PDgains_sim.dat
@@ -1,12 +1,12 @@
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
diff --git a/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat b/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat
index bf9ae5da..859df320 100644
--- a/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat
+++ b/hrpsys_ros_bridge_tutorials/models/JAXON_BLUE.PDgains_sim.dat
@@ -1,31 +1,31 @@
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-33000 240
-83000 240
-33000 240
-33000 240
-47000 240
-33000 240
-83000 240
-83000 240
-83000 240
-10000 200
-10000 200
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
-20000 320
\ No newline at end of file
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+33000 240 1 0
+83000 240 1 0
+33000 240 1 0
+33000 240 1 0
+47000 240 1 0
+33000 240 1 0
+83000 240 1 0
+83000 240 1 0
+83000 240 1 0
+10000 200 1 0
+10000 200 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
+20000 320 1 0
\ No newline at end of file
diff --git a/hrpsys_ros_bridge_tutorials/models/jaxon_blue.yaml b/hrpsys_ros_bridge_tutorials/models/jaxon_blue.yaml
index 437d75bd..7c0af058 100644
--- a/hrpsys_ros_bridge_tutorials/models/jaxon_blue.yaml
+++ b/hrpsys_ros_bridge_tutorials/models/jaxon_blue.yaml
@@ -69,10 +69,10 @@ larm-end-coords:
 ## KAWADA FOOT : CAD -> -0.096; gomugutsu+midori -> -0.004
 rleg-end-coords:
   parent: RLEG_LINK5
-  translate : [0, 0, -0.100]
+  translate : [0.05, 0, -0.124]
 lleg-end-coords:
   parent: LLEG_LINK5
-  translate : [0, 0, -0.100]
+  translate : [0.05, 0, -0.124]
 ## JSK FOOT
 # rleg-end-coords:
 #   parent: RLEG_LINK5
diff --git a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py
index a64c7eb8..1cb5f049 100755
--- a/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py
+++ b/hrpsys_ros_bridge_tutorials/src/hrpsys_ros_bridge_tutorials/urata_hrpsys_config.py
@@ -326,12 +326,13 @@ def setStAbcIcParametersJAXON(self, foot="KAWADA"):
     def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"):
         # abc setting
         abcp=self.abc_svc.getAutoBalancerParam()[1]
-        abcp.default_zmp_offsets=[[0.05, 0.0, 0.0], [0.05, 0.0, 0.0], [0, 0, 0], [0, 0, 0]];
+        abcp.default_zmp_offsets=[[0.0, 0.02, 0.0], [0.0, -0.02, 0.0], [0, 0, 0], [0, 0, 0]];
         abcp.move_base_gain=0.8
         self.abc_svc.setAutoBalancerParam(abcp)
         # kf setting
         kfp=self.kf_svc.getKalmanFilterParam()[1]
         kfp.R_angle=1000
+        kfp.sensorRPY_offset=[0.7*3.14/180, 0, 0]
         self.kf_svc.setKalmanFilterParam(kfp)
         # st setting
         stp=self.st_svc.getParameter()
@@ -387,10 +388,10 @@ def setStAbcIcParametersJAXON_BLUE(self, foot="KAWADA"):
         larm_vertices = lleg_vertices
         stp.eefm_support_polygon_vertices_sequence = map (lambda x : OpenHRP.StabilizerService.SupportPolygonVertices(vertices=x), [rleg_vertices, lleg_vertices, rarm_vertices, larm_vertices])
         stp.eefm_cogvel_cutoff_freq = 4.0
-        # for only leg
-        stp.eefm_k1=[-1.36334,-1.36334]
-        stp.eefm_k2=[-0.343983,-0.343983]
-        stp.eefm_k3=[-0.161465,-0.161465]
+        # for leg + body
+        stp.eefm_k1 = [-1.40928, -1.40928]
+        stp.eefm_k2 = [-0.398194, -0.398194]
+        stp.eefm_k3 = [-0.178433, -0.178433]
         self.st_svc.setParameter(stp)
         # Abc setting
         #gg=self.abc_svc.getGaitGeneratorParam()[1]
@@ -818,7 +819,7 @@ def jaxonResetLandingPose (self):
         return [0.004318,0.005074,-0.134838,1.18092,-0.803855,-0.001463,0.004313,0.005079,-0.133569,1.18206,-0.806262,-0.001469,0.003782,-0.034907,0.004684,0.0,0.0,0.0,0.698132,-0.349066,-0.087266,-1.39626,0.0,0.0,-0.349066,0.0,0.698132,0.349066,0.087266,-1.39626,0.0,0.0,-0.349066]
 
     def jaxonBlueResetLandingPose (self):
-        return self.jaxonBlueResetPose()
+        return [0.0,0.0,-0.73796,1.45379,-0.715828,0.0, 0.0,0.0,-0.73796,1.45379,-0.715828,0.0, 0.0,0.0,0.0, 0.0,0.0, 0.698132,-0.349066,-0.087266,-1.39626,0.0,0.0,0.0, 0.698132,0.349066,0.087266,-1.39626,0.0,0.0,0.0]
 
     # handmade
     def chidoriResetLandingPose (self):
@@ -889,7 +890,7 @@ def setCollisionFreeResetPose(self):
             self.seq_svc.setJointAngles(self.jaxonCollisionFreeResetPose(), 10.0)
 
     def setResetLandingPose(self):
-        if self.ROBOT_NAME == 0:
+        if self.ROBOT_NAME == "JAXON_BLUE":
             self.seq_svc.setJointAngles(self.jaxonBlueResetLandingPose(), 5.0)
         if self.ROBOT_NAME.find("JAXON") == 0:
             self.seq_svc.setJointAngles(self.jaxonResetLandingPose(), 5.0)