| { |
| "open": { |
| "right_thumb_CMC_FE": 1.5, |
| "right_thumb_CMC_AA": -0.2, |
| "right_thumb_MCP_FE": 0.0, |
| "right_thumb_MCP_AA": 0.0, |
| "right_thumb_IP": 0.0, |
| "right_index_MCP_FE": 0.0, |
| "right_index_MCP_AA": 0.0, |
| "right_index_PIP": 0.0, |
| "right_index_DIP": 0.0, |
| "right_middle_MCP_FE": 0.0, |
| "right_middle_MCP_AA": 0.0, |
| "right_middle_PIP": 0.0, |
| "right_middle_DIP": 0.0, |
| "right_ring_MCP_FE": 0.0, |
| "right_ring_MCP_AA": 0.0, |
| "right_ring_PIP": 0.0, |
| "right_ring_DIP": 0.0, |
| "right_pinky_CMC": 0.0, |
| "right_pinky_MCP_FE": 0.0, |
| "right_pinky_MCP_AA": 0.0, |
| "right_pinky_PIP": 0.0, |
| "right_pinky_DIP": 0.0 |
| }, |
| "close": { |
| "right_thumb_CMC_FE": 1.5, |
| "right_thumb_CMC_AA": -0.2, |
| "right_thumb_MCP_FE": 1.3, |
| "right_thumb_MCP_AA": 0.0, |
| "right_thumb_IP": 1.5, |
| "right_index_MCP_FE": 1.5, |
| "right_index_MCP_AA": 0.0, |
| "right_index_PIP": 1.5, |
| "right_index_DIP": 1.3, |
| "right_middle_MCP_FE": 1.5, |
| "right_middle_MCP_AA": 0.0, |
| "right_middle_PIP": 1.5, |
| "right_middle_DIP": 1.3, |
| "right_ring_MCP_FE": 1.5, |
| "right_ring_MCP_AA": 0.0, |
| "right_ring_PIP": 1.5, |
| "right_ring_DIP": 1.3, |
| "right_pinky_CMC": 0.0, |
| "right_pinky_MCP_FE": 1.5, |
| "right_pinky_MCP_AA": 0.0, |
| "right_pinky_PIP": 1.5, |
| "right_pinky_DIP": 1.3 |
| }, |
| "fingertip": [ |
| 0.0, |
| 0.0, |
| 0.14 |
| ], |
| "sweep_volume": { |
| "extents": [ |
| 0.07, |
| 0.055, |
| 0.04 |
| ], |
| "offset": [ |
| 0.0, |
| 0.0, |
| 0.13 |
| ], |
| "extents2": [ |
| 0.04, |
| 0.055, |
| 0.03 |
| ], |
| "offset2": [ |
| 0.0, |
| 0.0, |
| 0.11 |
| ] |
| }, |
| "links": [ |
| "world", |
| "right_hand_C_MC", |
| "right_thumb_CMC_VL", |
| "right_thumb_MC", |
| "right_thumb_MCP_VL", |
| "right_thumb_PP", |
| "right_thumb_DP", |
| "right_thumb_elastomer", |
| "right_thumb_fingertip", |
| "right_index_MCP_VL", |
| "right_index_PP", |
| "right_index_MP", |
| "right_index_DP", |
| "right_index_elastomer", |
| "right_index_fingertip", |
| "right_middle_MCP_VL", |
| "right_middle_PP", |
| "right_middle_MP", |
| "right_middle_DP", |
| "right_middle_elastomer", |
| "right_middle_fingertip", |
| "right_ring_MCP_VL", |
| "right_ring_PP", |
| "right_ring_MP", |
| "right_ring_DP", |
| "right_ring_elastomer", |
| "right_ring_fingertip", |
| "right_pinky_MC", |
| "right_pinky_MCP_VL", |
| "right_pinky_PP", |
| "right_pinky_MP", |
| "right_pinky_DP", |
| "right_pinky_elastomer", |
| "right_pinky_fingertip" |
| ], |
| "standoff": [ |
| 0.0, |
| 0.005 |
| ], |
| "bbox": [ |
| [-0.12065732, -0.04615228, -0.00631555], |
| [ 0.0628942, 0.04367957, 0.17017567] |
| ], |
| "symmetric": false, |
| "type": "revolute_3f" |
| } |
|
|
