| { |
| "h1_simple_hand": [ |
| { |
| "init_state": { |
| "h1_simple_hand": { |
| "dof_pos": { |
| "left_hip_yaw": 0.0, |
| "left_hip_roll": 0.0, |
| "left_hip_pitch": -0.4, |
| "left_knee": 0.8, |
| "left_ankle": -0.4, |
| "right_hip_yaw": 0.0, |
| "right_hip_roll": 0.0, |
| "right_hip_pitch": -0.4, |
| "right_knee": 0.8, |
| "right_ankle": -0.4, |
| "torso": 0.0, |
| "left_shoulder_pitch": 0.0, |
| "left_shoulder_roll": 0.0, |
| "left_shoulder_yaw": 0.0, |
| "left_elbow": 0.0, |
| "left_hand": 0.0, |
| "right_shoulder_pitch": 0.0, |
| "right_shoulder_roll": 0.0, |
| "right_shoulder_yaw": 0.0, |
| "right_elbow": 0.0, |
| "right_hand": 0.0, |
| "L_index_proximal": 0.0, |
| "L_index_intermediate": 0.0, |
| "L_middle_proximal": 0.0, |
| "L_middle_intermediate": 0.0, |
| "L_ring_proximal": 0.0, |
| "L_ring_intermediate": 0.0, |
| "L_pinky_proximal": 0.0, |
| "L_pinky_intermediate": 0.0, |
| "L_thumb_proximal_yaw": 0.0, |
| "L_thumb_proximal_pitch": 0.0, |
| "L_thumb_intermediate": 0.0, |
| "L_thumb_distal": 0.0, |
| "R_index_proximal": 0.0, |
| "R_index_intermediate": 0.0, |
| "R_middle_proximal": 0.0, |
| "R_middle_intermediate": 0.0, |
| "R_ring_proximal": 0.0, |
| "R_ring_intermediate": 0.0, |
| "R_pinky_proximal": 0.0, |
| "R_pinky_intermediate": 0.0, |
| "R_thumb_proximal_yaw": 0.0, |
| "R_thumb_proximal_pitch": 0.0, |
| "R_thumb_intermediate": 0.0, |
| "R_thumb_distal": 0.0 |
| }, |
| "pos": [ |
| 0.0, |
| 0.0, |
| 0.98 |
| ], |
| "rot": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| } |
| } |
| } |
| ] |
| } |
|
|
