| |
| |
| joints: |
| |
| "left_shoulder_pitch_joint": 0 |
| "right_shoulder_pitch_joint": 1 |
| "left_shoulder_roll_joint": 2 |
| "right_shoulder_roll_joint": 3 |
| "left_shoulder_yaw_joint": 4 |
| "right_shoulder_yaw_joint": 5 |
| "left_elbow_pitch_joint": 6 |
| "right_elbow_pitch_joint": 7 |
| "left_wrist_yaw_joint": 8 |
| "right_wrist_yaw_joint": 9 |
| "left_wrist_roll_joint": 10 |
| "right_wrist_roll_joint": 11 |
| "left_wrist_pitch_joint": 12 |
| "right_wrist_pitch_joint": 13 |
|
|
| |
| "L_index_proximal_joint": 14 |
| "L_middle_proximal_joint": 15 |
| "L_pinky_proximal_joint": 16 |
| "L_ring_proximal_joint": 17 |
| "L_thumb_proximal_yaw_joint": 18 |
| "R_index_proximal_joint": 19 |
| "R_middle_proximal_joint": 20 |
| "R_pinky_proximal_joint": 21 |
| "R_ring_proximal_joint": 22 |
| "R_thumb_proximal_yaw_joint": 23 |
| "L_index_intermediate_joint": 24 |
| "L_middle_intermediate_joint": 25 |
| "L_pinky_intermediate_joint": 26 |
| "L_ring_intermediate_joint": 27 |
| "L_thumb_proximal_pitch_joint": 28 |
| "R_index_intermediate_joint": 29 |
| "R_middle_intermediate_joint": 30 |
| "R_pinky_intermediate_joint": 31 |
| "R_ring_intermediate_joint": 32 |
| "R_thumb_proximal_pitch_joint": 33 |
| "L_thumb_distal_joint": 34 |
| "R_thumb_distal_joint": 35 |
|
|
| |
| total_joints: 36 |
|
|
