| { |
| "model": "g1_29dof_rev_1_0", |
| "mode": 15, |
| "nq": 80, |
| "nv": 79, |
| "nu": 44, |
| "joints": [ |
| { |
| "name": "floating_base_joint", |
| "type": "mjJNT_FREE", |
| "qpos_address": 0, |
| "dof_address": 0, |
| "limited": false, |
| "range": [ |
| 0.0, |
| 0.0 |
| ] |
| }, |
| { |
| "name": "left_hip_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 7, |
| "dof_address": 6, |
| "limited": true, |
| "range": [ |
| -2.5307, |
| 2.8798 |
| ] |
| }, |
| { |
| "name": "left_hip_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 8, |
| "dof_address": 7, |
| "limited": true, |
| "range": [ |
| -0.5236, |
| 2.9671 |
| ] |
| }, |
| { |
| "name": "left_hip_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 9, |
| "dof_address": 8, |
| "limited": true, |
| "range": [ |
| -2.7576, |
| 2.7576 |
| ] |
| }, |
| { |
| "name": "left_knee_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 10, |
| "dof_address": 9, |
| "limited": true, |
| "range": [ |
| -0.087267, |
| 2.8798 |
| ] |
| }, |
| { |
| "name": "left_ankle_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 11, |
| "dof_address": 10, |
| "limited": true, |
| "range": [ |
| -0.87267, |
| 0.5236 |
| ] |
| }, |
| { |
| "name": "left_ankle_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 12, |
| "dof_address": 11, |
| "limited": true, |
| "range": [ |
| -0.2618, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "right_hip_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 13, |
| "dof_address": 12, |
| "limited": true, |
| "range": [ |
| -2.5307, |
| 2.8798 |
| ] |
| }, |
| { |
| "name": "right_hip_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 14, |
| "dof_address": 13, |
| "limited": true, |
| "range": [ |
| -2.9671, |
| 0.5236 |
| ] |
| }, |
| { |
| "name": "right_hip_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 15, |
| "dof_address": 14, |
| "limited": true, |
| "range": [ |
| -2.7576, |
| 2.7576 |
| ] |
| }, |
| { |
| "name": "right_knee_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 16, |
| "dof_address": 15, |
| "limited": true, |
| "range": [ |
| -0.087267, |
| 2.8798 |
| ] |
| }, |
| { |
| "name": "right_ankle_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 17, |
| "dof_address": 16, |
| "limited": true, |
| "range": [ |
| -0.87267, |
| 0.5236 |
| ] |
| }, |
| { |
| "name": "right_ankle_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 18, |
| "dof_address": 17, |
| "limited": true, |
| "range": [ |
| -0.2618, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "waist_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 19, |
| "dof_address": 18, |
| "limited": true, |
| "range": [ |
| -2.618, |
| 2.618 |
| ] |
| }, |
| { |
| "name": "waist_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 20, |
| "dof_address": 19, |
| "limited": true, |
| "range": [ |
| -0.52, |
| 0.52 |
| ] |
| }, |
| { |
| "name": "waist_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 21, |
| "dof_address": 20, |
| "limited": true, |
| "range": [ |
| -0.52, |
| 0.52 |
| ] |
| }, |
| { |
| "name": "left_shoulder_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 22, |
| "dof_address": 21, |
| "limited": true, |
| "range": [ |
| -3.0892, |
| 2.6704 |
| ] |
| }, |
| { |
| "name": "left_shoulder_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 23, |
| "dof_address": 22, |
| "limited": true, |
| "range": [ |
| -1.5882, |
| 2.2515 |
| ] |
| }, |
| { |
| "name": "left_shoulder_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 24, |
| "dof_address": 23, |
| "limited": true, |
| "range": [ |
| -2.618, |
| 2.618 |
| ] |
| }, |
| { |
| "name": "left_elbow_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 25, |
| "dof_address": 24, |
| "limited": true, |
| "range": [ |
| -1.0472, |
| 2.0944 |
| ] |
| }, |
| { |
| "name": "left_wrist_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 26, |
| "dof_address": 25, |
| "limited": true, |
| "range": [ |
| -1.97222, |
| 1.97222 |
| ] |
| }, |
| { |
| "name": "left_wrist_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 27, |
| "dof_address": 26, |
| "limited": true, |
| "range": [ |
| -1.61443, |
| 1.61443 |
| ] |
| }, |
| { |
| "name": "left_wrist_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 28, |
| "dof_address": 27, |
| "limited": true, |
| "range": [ |
| -1.61443, |
| 1.61443 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_CMC_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 29, |
| "dof_address": 28, |
| "limited": true, |
| "range": [ |
| -0.1745, |
| 1.9199 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_CMC_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 30, |
| "dof_address": 29, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 31, |
| "dof_address": 30, |
| "limited": true, |
| "range": [ |
| -0.5236, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 32, |
| "dof_address": 31, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_IP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 33, |
| "dof_address": 32, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_index_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 34, |
| "dof_address": 33, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_index_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 35, |
| "dof_address": 34, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_index_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 36, |
| "dof_address": 35, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_index_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 37, |
| "dof_address": 36, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 38, |
| "dof_address": 37, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 39, |
| "dof_address": 38, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 40, |
| "dof_address": 39, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 41, |
| "dof_address": 40, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 42, |
| "dof_address": 41, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 43, |
| "dof_address": 42, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 44, |
| "dof_address": 43, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 45, |
| "dof_address": 44, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_CMC", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 46, |
| "dof_address": 45, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 47, |
| "dof_address": 46, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 48, |
| "dof_address": 47, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 49, |
| "dof_address": 48, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 50, |
| "dof_address": 49, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "right_shoulder_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 51, |
| "dof_address": 50, |
| "limited": true, |
| "range": [ |
| -3.0892, |
| 2.6704 |
| ] |
| }, |
| { |
| "name": "right_shoulder_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 52, |
| "dof_address": 51, |
| "limited": true, |
| "range": [ |
| -2.2515, |
| 1.5882 |
| ] |
| }, |
| { |
| "name": "right_shoulder_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 53, |
| "dof_address": 52, |
| "limited": true, |
| "range": [ |
| -2.618, |
| 2.618 |
| ] |
| }, |
| { |
| "name": "right_elbow_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 54, |
| "dof_address": 53, |
| "limited": true, |
| "range": [ |
| -1.0472, |
| 2.0944 |
| ] |
| }, |
| { |
| "name": "right_wrist_roll_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 55, |
| "dof_address": 54, |
| "limited": true, |
| "range": [ |
| -1.97222, |
| 1.97222 |
| ] |
| }, |
| { |
| "name": "right_wrist_pitch_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 56, |
| "dof_address": 55, |
| "limited": true, |
| "range": [ |
| -1.61443, |
| 1.61443 |
| ] |
| }, |
| { |
| "name": "right_wrist_yaw_joint", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 57, |
| "dof_address": 56, |
| "limited": true, |
| "range": [ |
| -1.61443, |
| 1.61443 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_CMC_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 58, |
| "dof_address": 57, |
| "limited": true, |
| "range": [ |
| -0.1745, |
| 1.9199 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_CMC_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 59, |
| "dof_address": 58, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 60, |
| "dof_address": 59, |
| "limited": true, |
| "range": [ |
| -0.5236, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 61, |
| "dof_address": 60, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_IP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 62, |
| "dof_address": 61, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_index_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 63, |
| "dof_address": 62, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_index_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 64, |
| "dof_address": 63, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_index_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 65, |
| "dof_address": 64, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_index_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 66, |
| "dof_address": 65, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 67, |
| "dof_address": 66, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 68, |
| "dof_address": 67, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 69, |
| "dof_address": 68, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 70, |
| "dof_address": 69, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 71, |
| "dof_address": 70, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 72, |
| "dof_address": 71, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 73, |
| "dof_address": 72, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 74, |
| "dof_address": 73, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_CMC", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 75, |
| "dof_address": 74, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_MCP_FE", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 76, |
| "dof_address": 75, |
| "limited": true, |
| "range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_MCP_AA", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 77, |
| "dof_address": 76, |
| "limited": true, |
| "range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_PIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 78, |
| "dof_address": 77, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_DIP", |
| "type": "mjJNT_HINGE", |
| "qpos_address": 79, |
| "dof_address": 78, |
| "limited": true, |
| "range": [ |
| 0.0, |
| 1.3963 |
| ] |
| } |
| ], |
| "joint_groups": { |
| "body": [ |
| "left_hip_pitch_joint", |
| "right_hip_pitch_joint", |
| "waist_yaw_joint", |
| "left_hip_roll_joint", |
| "right_hip_roll_joint", |
| "waist_roll_joint", |
| "left_hip_yaw_joint", |
| "right_hip_yaw_joint", |
| "waist_pitch_joint", |
| "left_knee_joint", |
| "right_knee_joint", |
| "left_shoulder_pitch_joint", |
| "right_shoulder_pitch_joint", |
| "left_ankle_pitch_joint", |
| "right_ankle_pitch_joint", |
| "left_shoulder_roll_joint", |
| "right_shoulder_roll_joint", |
| "left_ankle_roll_joint", |
| "right_ankle_roll_joint", |
| "left_shoulder_yaw_joint", |
| "right_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "right_elbow_joint", |
| "left_wrist_roll_joint", |
| "right_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "right_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "right_wrist_yaw_joint" |
| ], |
| "left_hand": [ |
| "left_thumb_CMC_FE", |
| "left_thumb_CMC_AA", |
| "left_thumb_MCP_FE", |
| "left_thumb_MCP_AA", |
| "left_thumb_IP", |
| "left_index_MCP_FE", |
| "left_index_MCP_AA", |
| "left_index_PIP", |
| "left_index_DIP", |
| "left_middle_MCP_FE", |
| "left_middle_MCP_AA", |
| "left_middle_PIP", |
| "left_middle_DIP", |
| "left_ring_MCP_FE", |
| "left_ring_MCP_AA", |
| "left_ring_PIP", |
| "left_ring_DIP", |
| "left_pinky_CMC", |
| "left_pinky_MCP_FE", |
| "left_pinky_MCP_AA", |
| "left_pinky_PIP", |
| "left_pinky_DIP" |
| ], |
| "right_hand": [ |
| "right_thumb_CMC_FE", |
| "right_thumb_CMC_AA", |
| "right_thumb_MCP_FE", |
| "right_thumb_MCP_AA", |
| "right_thumb_IP", |
| "right_index_MCP_FE", |
| "right_index_MCP_AA", |
| "right_index_PIP", |
| "right_index_DIP", |
| "right_middle_MCP_FE", |
| "right_middle_MCP_AA", |
| "right_middle_PIP", |
| "right_middle_DIP", |
| "right_ring_MCP_FE", |
| "right_ring_MCP_AA", |
| "right_ring_PIP", |
| "right_ring_DIP", |
| "right_pinky_CMC", |
| "right_pinky_MCP_FE", |
| "right_pinky_MCP_AA", |
| "right_pinky_PIP", |
| "right_pinky_DIP" |
| ] |
| }, |
| "bodies": [ |
| "world", |
| "pelvis", |
| "left_hip_pitch_link", |
| "left_hip_roll_link", |
| "left_hip_yaw_link", |
| "left_knee_link", |
| "left_ankle_pitch_link", |
| "left_ankle_roll_link", |
| "left_toe_link", |
| "right_hip_pitch_link", |
| "right_hip_roll_link", |
| "right_hip_yaw_link", |
| "right_knee_link", |
| "right_ankle_pitch_link", |
| "right_ankle_roll_link", |
| "right_toe_link", |
| "waist_yaw_link", |
| "waist_roll_link", |
| "torso_link", |
| "left_shoulder_pitch_link", |
| "left_shoulder_roll_link", |
| "left_shoulder_yaw_link", |
| "left_elbow_link", |
| "left_wrist_roll_link", |
| "left_wrist_pitch_link", |
| "left_wrist_yaw_link", |
| "lh/left_hand_C_MC", |
| "lh/left_thumb_CMC_VL", |
| "lh/left_thumb_MC", |
| "lh/left_thumb_MCP_VL", |
| "lh/left_thumb_PP", |
| "lh/left_thumb_DP", |
| "lh/left_index_MCP_VL", |
| "lh/left_index_PP", |
| "lh/left_index_MP", |
| "lh/left_index_DP", |
| "lh/left_middle_MCP_VL", |
| "lh/left_middle_PP", |
| "lh/left_middle_MP", |
| "lh/left_middle_DP", |
| "lh/left_ring_MCP_VL", |
| "lh/left_ring_PP", |
| "lh/left_ring_MP", |
| "lh/left_ring_DP", |
| "lh/left_pinky_MC", |
| "lh/left_pinky_MCP_VL", |
| "lh/left_pinky_PP", |
| "lh/left_pinky_MP", |
| "lh/left_pinky_DP", |
| "right_shoulder_pitch_link", |
| "right_shoulder_roll_link", |
| "right_shoulder_yaw_link", |
| "right_elbow_link", |
| "right_wrist_roll_link", |
| "right_wrist_pitch_link", |
| "right_wrist_yaw_link", |
| "rh/right_hand_C_MC", |
| "rh/right_thumb_CMC_VL", |
| "rh/right_thumb_MC", |
| "rh/right_thumb_MCP_VL", |
| "rh/right_thumb_PP", |
| "rh/right_thumb_DP", |
| "rh/right_index_MCP_VL", |
| "rh/right_index_PP", |
| "rh/right_index_MP", |
| "rh/right_index_DP", |
| "rh/right_middle_MCP_VL", |
| "rh/right_middle_PP", |
| "rh/right_middle_MP", |
| "rh/right_middle_DP", |
| "rh/right_ring_MCP_VL", |
| "rh/right_ring_PP", |
| "rh/right_ring_MP", |
| "rh/right_ring_DP", |
| "rh/right_pinky_MC", |
| "rh/right_pinky_MCP_VL", |
| "rh/right_pinky_PP", |
| "rh/right_pinky_MP", |
| "rh/right_pinky_DP" |
| ], |
| "sites": [ |
| "imu_in_pelvis", |
| "left_foot", |
| "right_foot", |
| "imu_in_torso", |
| "left_palm", |
| "lh/wrist_site", |
| "lh/left_thumb_fingertip", |
| "lh/left_index_fingertip", |
| "lh/left_middle_fingertip", |
| "lh/left_ring_fingertip", |
| "lh/left_pinky_fingertip", |
| "right_palm", |
| "rh/wrist_site", |
| "rh/right_thumb_fingertip", |
| "rh/right_index_fingertip", |
| "rh/right_middle_fingertip", |
| "rh/right_ring_fingertip", |
| "rh/right_pinky_fingertip" |
| ], |
| "actuators": [ |
| { |
| "name": "lh/left_thumb_CMC_FE", |
| "target_joint": "lh/left_thumb_CMC_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.1745, |
| 1.9199 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_CMC_AA", |
| "target_joint": "lh/left_thumb_CMC_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_MCP_FE", |
| "target_joint": "lh/left_thumb_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.5236, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_MCP_AA", |
| "target_joint": "lh/left_thumb_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_thumb_IP", |
| "target_joint": "lh/left_thumb_IP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_index_MCP_FE", |
| "target_joint": "lh/left_index_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_index_MCP_AA", |
| "target_joint": "lh/left_index_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_index_PIP", |
| "target_joint": "lh/left_index_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_index_DIP", |
| "target_joint": "lh/left_index_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_MCP_FE", |
| "target_joint": "lh/left_middle_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_MCP_AA", |
| "target_joint": "lh/left_middle_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_PIP", |
| "target_joint": "lh/left_middle_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_middle_DIP", |
| "target_joint": "lh/left_middle_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_MCP_FE", |
| "target_joint": "lh/left_ring_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_MCP_AA", |
| "target_joint": "lh/left_ring_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_PIP", |
| "target_joint": "lh/left_ring_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_ring_DIP", |
| "target_joint": "lh/left_ring_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_CMC", |
| "target_joint": "lh/left_pinky_CMC", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_MCP_FE", |
| "target_joint": "lh/left_pinky_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_MCP_AA", |
| "target_joint": "lh/left_pinky_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_PIP", |
| "target_joint": "lh/left_pinky_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "lh/left_pinky_DIP", |
| "target_joint": "lh/left_pinky_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_CMC_FE", |
| "target_joint": "rh/right_thumb_CMC_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.1745, |
| 1.9199 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_CMC_AA", |
| "target_joint": "rh/right_thumb_CMC_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_MCP_FE", |
| "target_joint": "rh/right_thumb_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.5236, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_MCP_AA", |
| "target_joint": "rh/right_thumb_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_thumb_IP", |
| "target_joint": "rh/right_thumb_IP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_index_MCP_FE", |
| "target_joint": "rh/right_index_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_index_MCP_AA", |
| "target_joint": "rh/right_index_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_index_PIP", |
| "target_joint": "rh/right_index_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_index_DIP", |
| "target_joint": "rh/right_index_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_MCP_FE", |
| "target_joint": "rh/right_middle_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_MCP_AA", |
| "target_joint": "rh/right_middle_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_PIP", |
| "target_joint": "rh/right_middle_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_middle_DIP", |
| "target_joint": "rh/right_middle_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_MCP_FE", |
| "target_joint": "rh/right_ring_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_MCP_AA", |
| "target_joint": "rh/right_ring_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_PIP", |
| "target_joint": "rh/right_ring_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_ring_DIP", |
| "target_joint": "rh/right_ring_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_CMC", |
| "target_joint": "rh/right_pinky_CMC", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 0.2618 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_MCP_FE", |
| "target_joint": "rh/right_pinky_MCP_FE", |
| "control_limited": true, |
| "control_range": [ |
| -0.174533, |
| 1.5708 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_MCP_AA", |
| "target_joint": "rh/right_pinky_MCP_AA", |
| "control_limited": true, |
| "control_range": [ |
| -0.3491, |
| 0.3491 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_PIP", |
| "target_joint": "rh/right_pinky_PIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.7453 |
| ] |
| }, |
| { |
| "name": "rh/right_pinky_DIP", |
| "target_joint": "rh/right_pinky_DIP", |
| "control_limited": true, |
| "control_range": [ |
| 0.0, |
| 1.3963 |
| ] |
| } |
| ] |
| } |
|
|
