Files

5603 lines
109 KiB
JSON

{
"schema_version": 4,
"model": "G20",
"side": "right",
"serial_number": "G20_RIGHT_001",
"angle_unit": "rad",
"command_range": [
0,
255
],
"baseline_command_u8": [
255,
255,
255,
255,
255,
255,
127,
127,
127,
127,
255,
255,
255,
255,
255,
255,
255,
255,
255,
255
],
"joints": {
"thumb_cmc_pitch": {
"motor_index": 0,
"angle_rad": [
0.83221751,
0.82995825,
0.82769898,
0.82584952,
0.82303587,
0.82070307,
0.81723158,
0.81519877,
0.81140654,
0.80817565,
0.80520715,
0.80320689,
0.79877817,
0.7972457,
0.79354218,
0.79128134,
0.78644184,
0.78413711,
0.78186844,
0.77886935,
0.77561246,
0.77225915,
0.7681618,
0.76523286,
0.76212053,
0.75746688,
0.75579661,
0.75293018,
0.74852669,
0.74496748,
0.74143508,
0.73823851,
0.73542876,
0.73098639,
0.72745618,
0.72691077,
0.72253527,
0.71854046,
0.71446879,
0.71074653,
0.70972703,
0.70577516,
0.70282188,
0.69884575,
0.69565209,
0.69381868,
0.69028917,
0.68640897,
0.68357188,
0.68045173,
0.67894096,
0.67587263,
0.67262769,
0.66985816,
0.66401114,
0.66074704,
0.65743808,
0.65404019,
0.64968063,
0.64829036,
0.64551544,
0.64161044,
0.63816971,
0.63488948,
0.63117873,
0.627066,
0.62353655,
0.62145693,
0.61789568,
0.6144356,
0.6115282,
0.60761144,
0.60497575,
0.60126324,
0.59774221,
0.59500522,
0.59267913,
0.58919757,
0.58677932,
0.58195263,
0.57840403,
0.57584989,
0.57115058,
0.56793523,
0.56671332,
0.56333081,
0.55914028,
0.55541966,
0.55248049,
0.54807486,
0.54434007,
0.54180904,
0.53723607,
0.53254032,
0.53096712,
0.52732634,
0.52348548,
0.51989788,
0.51379824,
0.510524,
0.50555957,
0.50454707,
0.50093834,
0.49683763,
0.49301358,
0.48940947,
0.48700622,
0.48303795,
0.48054969,
0.47578342,
0.47235787,
0.46933976,
0.46611994,
0.4631221,
0.4605112,
0.45491278,
0.45259105,
0.44974143,
0.44711736,
0.44306787,
0.43972234,
0.43691972,
0.43369863,
0.42979888,
0.42851866,
0.42341677,
0.41998011,
0.41600326,
0.41116699,
0.40758068,
0.40494674,
0.40122167,
0.39698997,
0.39366615,
0.39136659,
0.38841031,
0.38481935,
0.38186415,
0.37744753,
0.37428333,
0.37057862,
0.36754771,
0.36337748,
0.36084337,
0.35713441,
0.35260013,
0.35048947,
0.34571356,
0.34277899,
0.34047228,
0.33839858,
0.3348934,
0.33088097,
0.32644122,
0.32443524,
0.32086117,
0.31770646,
0.31360482,
0.30970335,
0.30489466,
0.30079881,
0.29896246,
0.29538503,
0.29143191,
0.28822815,
0.28511989,
0.28069086,
0.27633468,
0.27335963,
0.27053408,
0.26582297,
0.26340325,
0.26116616,
0.25682999,
0.25220414,
0.25144947,
0.24746964,
0.24410836,
0.23876736,
0.23735754,
0.23251333,
0.23042737,
0.22776541,
0.22512526,
0.2208784,
0.2187607,
0.21526775,
0.21248973,
0.20991719,
0.20694058,
0.20265263,
0.19889629,
0.19701245,
0.19359855,
0.18946496,
0.18543015,
0.18327481,
0.17774078,
0.17489812,
0.17418977,
0.16865246,
0.16486076,
0.1626275,
0.16029494,
0.15511182,
0.15408312,
0.14831806,
0.14652082,
0.14301145,
0.13868705,
0.13623757,
0.13286038,
0.12853264,
0.12521699,
0.12206153,
0.12027147,
0.11617801,
0.11263329,
0.10971992,
0.10641844,
0.1030533,
0.09916659,
0.09575437,
0.0941404,
0.09032028,
0.08718624,
0.08421843,
0.08007453,
0.07930238,
0.07690462,
0.07136258,
0.06988783,
0.06528589,
0.06149197,
0.059416,
0.05617464,
0.05237092,
0.04915696,
0.04587168,
0.04206103,
0.04026922,
0.03674265,
0.0327583,
0.02917307,
0.02488565,
0.02240743,
0.0194427,
0.01834133,
0.01393177,
0.01226004,
0.00975038,
0.00760633,
0.00508085,
0.00362898,
0.00181449,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.02410354
}
},
"index_mcp_pitch": {
"motor_index": 1,
"angle_rad": [
1.23971984,
1.23431842,
1.228917,
1.22331966,
1.21851766,
1.21579735,
1.21016519,
1.2036263,
1.19908308,
1.19617136,
1.19004548,
1.18711533,
1.18094106,
1.17521349,
1.16902979,
1.16488449,
1.16061787,
1.1557265,
1.15160888,
1.14595887,
1.1407772,
1.13624596,
1.13168572,
1.12525644,
1.12041223,
1.11468121,
1.11091335,
1.10660516,
1.10061121,
1.09504573,
1.09153024,
1.0875808,
1.08109041,
1.07551778,
1.0696255,
1.06628085,
1.06055853,
1.05643394,
1.05226944,
1.04766897,
1.04128847,
1.03835969,
1.03502787,
1.02847905,
1.02396372,
1.02210994,
1.01673135,
1.01076717,
1.00767395,
1.00272027,
0.99604039,
0.99086057,
0.98896173,
0.98320601,
0.97814627,
0.97174424,
0.96648793,
0.96395914,
0.96036396,
0.95523202,
0.94989532,
0.94573398,
0.94129996,
0.93615306,
0.93353529,
0.92939303,
0.92405888,
0.91767617,
0.91498835,
0.91003488,
0.90454632,
0.89996765,
0.89429393,
0.89015617,
0.88542747,
0.88077964,
0.87598902,
0.87020126,
0.86612318,
0.86243981,
0.85799835,
0.85494465,
0.85192551,
0.84703806,
0.84022418,
0.8381251,
0.83336996,
0.82748431,
0.81992521,
0.81560553,
0.81132931,
0.80658094,
0.80142588,
0.79655909,
0.79284226,
0.78946881,
0.78348112,
0.77894362,
0.77501061,
0.77064055,
0.76514665,
0.76107065,
0.75653614,
0.75031324,
0.74477278,
0.74126642,
0.73692443,
0.73144931,
0.72630826,
0.72285078,
0.71890873,
0.71462486,
0.71003364,
0.70468096,
0.70179947,
0.69595911,
0.69227974,
0.68726363,
0.68077615,
0.67683362,
0.67075852,
0.66831715,
0.66099533,
0.65690088,
0.65295861,
0.64973669,
0.64269223,
0.63783829,
0.63431582,
0.62983458,
0.62493178,
0.62057123,
0.61625183,
0.61056569,
0.60623207,
0.60248979,
0.59687844,
0.59115867,
0.58734953,
0.58327905,
0.5773933,
0.57460818,
0.57071948,
0.56512482,
0.55957324,
0.55429507,
0.55063825,
0.54444501,
0.54017935,
0.5358742,
0.53062491,
0.52687059,
0.52282925,
0.51652643,
0.51099757,
0.50800682,
0.50441789,
0.49829823,
0.49342113,
0.49076534,
0.48544449,
0.48040796,
0.47571682,
0.47004786,
0.46375626,
0.45901858,
0.45457464,
0.4477336,
0.4445751,
0.44020224,
0.43493243,
0.42954866,
0.42532954,
0.42278508,
0.41653231,
0.41307549,
0.40961867,
0.40337085,
0.39676417,
0.39349618,
0.38865554,
0.38307075,
0.37781833,
0.3708859,
0.3666887,
0.36322539,
0.35852395,
0.35323953,
0.34756144,
0.34462983,
0.33829337,
0.33419593,
0.32763605,
0.32085619,
0.31800934,
0.31350792,
0.30755561,
0.3013469,
0.29641807,
0.29307672,
0.28710037,
0.28372685,
0.27744,
0.27160474,
0.26845488,
0.26228872,
0.25811082,
0.25317255,
0.24784539,
0.24302317,
0.23551843,
0.23251702,
0.22553418,
0.21929686,
0.21698173,
0.21064083,
0.20459543,
0.20005759,
0.19441632,
0.19103213,
0.18480707,
0.18101826,
0.17464968,
0.16823467,
0.16423773,
0.15950923,
0.15461443,
0.14894946,
0.14295351,
0.13750915,
0.13414612,
0.12670064,
0.12105465,
0.11728643,
0.11192837,
0.10469592,
0.09768891,
0.09589673,
0.09026655,
0.0840402,
0.07771728,
0.07302235,
0.06685919,
0.06020782,
0.05506187,
0.05068301,
0.04585671,
0.03911316,
0.03327774,
0.02771046,
0.02453942,
0.01729243,
0.01307319,
0.00871546,
0.00435773,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_pitch"
},
"middle_mcp_pitch": {
"motor_index": 2,
"angle_rad": [
1.23971984,
1.23431842,
1.228917,
1.22331966,
1.21851766,
1.21579735,
1.21016519,
1.2036263,
1.19908308,
1.19617136,
1.19004548,
1.18711533,
1.18094106,
1.17521349,
1.16902979,
1.16488449,
1.16061787,
1.1557265,
1.15160888,
1.14595887,
1.1407772,
1.13624596,
1.13168572,
1.12525644,
1.12041223,
1.11468121,
1.11091335,
1.10660516,
1.10061121,
1.09504573,
1.09153024,
1.0875808,
1.08109041,
1.07551778,
1.0696255,
1.06628085,
1.06055853,
1.05643394,
1.05226944,
1.04766897,
1.04128847,
1.03835969,
1.03502787,
1.02847905,
1.02396372,
1.02210994,
1.01673135,
1.01076717,
1.00767395,
1.00272027,
0.99604039,
0.99086057,
0.98896173,
0.98320601,
0.97814627,
0.97174424,
0.96648793,
0.96395914,
0.96036396,
0.95523202,
0.94989532,
0.94573398,
0.94129996,
0.93615306,
0.93353529,
0.92939303,
0.92405888,
0.91767617,
0.91498835,
0.91003488,
0.90454632,
0.89996765,
0.89429393,
0.89015617,
0.88542747,
0.88077964,
0.87598902,
0.87020126,
0.86612318,
0.86243981,
0.85799835,
0.85494465,
0.85192551,
0.84703806,
0.84022418,
0.8381251,
0.83336996,
0.82748431,
0.81992521,
0.81560553,
0.81132931,
0.80658094,
0.80142588,
0.79655909,
0.79284226,
0.78946881,
0.78348112,
0.77894362,
0.77501061,
0.77064055,
0.76514665,
0.76107065,
0.75653614,
0.75031324,
0.74477278,
0.74126642,
0.73692443,
0.73144931,
0.72630826,
0.72285078,
0.71890873,
0.71462486,
0.71003364,
0.70468096,
0.70179947,
0.69595911,
0.69227974,
0.68726363,
0.68077615,
0.67683362,
0.67075852,
0.66831715,
0.66099533,
0.65690088,
0.65295861,
0.64973669,
0.64269223,
0.63783829,
0.63431582,
0.62983458,
0.62493178,
0.62057123,
0.61625183,
0.61056569,
0.60623207,
0.60248979,
0.59687844,
0.59115867,
0.58734953,
0.58327905,
0.5773933,
0.57460818,
0.57071948,
0.56512482,
0.55957324,
0.55429507,
0.55063825,
0.54444501,
0.54017935,
0.5358742,
0.53062491,
0.52687059,
0.52282925,
0.51652643,
0.51099757,
0.50800682,
0.50441789,
0.49829823,
0.49342113,
0.49076534,
0.48544449,
0.48040796,
0.47571682,
0.47004786,
0.46375626,
0.45901858,
0.45457464,
0.4477336,
0.4445751,
0.44020224,
0.43493243,
0.42954866,
0.42532954,
0.42278508,
0.41653231,
0.41307549,
0.40961867,
0.40337085,
0.39676417,
0.39349618,
0.38865554,
0.38307075,
0.37781833,
0.3708859,
0.3666887,
0.36322539,
0.35852395,
0.35323953,
0.34756144,
0.34462983,
0.33829337,
0.33419593,
0.32763605,
0.32085619,
0.31800934,
0.31350792,
0.30755561,
0.3013469,
0.29641807,
0.29307672,
0.28710037,
0.28372685,
0.27744,
0.27160474,
0.26845488,
0.26228872,
0.25811082,
0.25317255,
0.24784539,
0.24302317,
0.23551843,
0.23251702,
0.22553418,
0.21929686,
0.21698173,
0.21064083,
0.20459543,
0.20005759,
0.19441632,
0.19103213,
0.18480707,
0.18101826,
0.17464968,
0.16823467,
0.16423773,
0.15950923,
0.15461443,
0.14894946,
0.14295351,
0.13750915,
0.13414612,
0.12670064,
0.12105465,
0.11728643,
0.11192837,
0.10469592,
0.09768891,
0.09589673,
0.09026655,
0.0840402,
0.07771728,
0.07302235,
0.06685919,
0.06020782,
0.05506187,
0.05068301,
0.04585671,
0.03911316,
0.03327774,
0.02771046,
0.02453942,
0.01729243,
0.01307319,
0.00871546,
0.00435773,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_pitch"
},
"ring_mcp_pitch": {
"motor_index": 3,
"angle_rad": [
1.23971984,
1.23431842,
1.228917,
1.22331966,
1.21851766,
1.21579735,
1.21016519,
1.2036263,
1.19908308,
1.19617136,
1.19004548,
1.18711533,
1.18094106,
1.17521349,
1.16902979,
1.16488449,
1.16061787,
1.1557265,
1.15160888,
1.14595887,
1.1407772,
1.13624596,
1.13168572,
1.12525644,
1.12041223,
1.11468121,
1.11091335,
1.10660516,
1.10061121,
1.09504573,
1.09153024,
1.0875808,
1.08109041,
1.07551778,
1.0696255,
1.06628085,
1.06055853,
1.05643394,
1.05226944,
1.04766897,
1.04128847,
1.03835969,
1.03502787,
1.02847905,
1.02396372,
1.02210994,
1.01673135,
1.01076717,
1.00767395,
1.00272027,
0.99604039,
0.99086057,
0.98896173,
0.98320601,
0.97814627,
0.97174424,
0.96648793,
0.96395914,
0.96036396,
0.95523202,
0.94989532,
0.94573398,
0.94129996,
0.93615306,
0.93353529,
0.92939303,
0.92405888,
0.91767617,
0.91498835,
0.91003488,
0.90454632,
0.89996765,
0.89429393,
0.89015617,
0.88542747,
0.88077964,
0.87598902,
0.87020126,
0.86612318,
0.86243981,
0.85799835,
0.85494465,
0.85192551,
0.84703806,
0.84022418,
0.8381251,
0.83336996,
0.82748431,
0.81992521,
0.81560553,
0.81132931,
0.80658094,
0.80142588,
0.79655909,
0.79284226,
0.78946881,
0.78348112,
0.77894362,
0.77501061,
0.77064055,
0.76514665,
0.76107065,
0.75653614,
0.75031324,
0.74477278,
0.74126642,
0.73692443,
0.73144931,
0.72630826,
0.72285078,
0.71890873,
0.71462486,
0.71003364,
0.70468096,
0.70179947,
0.69595911,
0.69227974,
0.68726363,
0.68077615,
0.67683362,
0.67075852,
0.66831715,
0.66099533,
0.65690088,
0.65295861,
0.64973669,
0.64269223,
0.63783829,
0.63431582,
0.62983458,
0.62493178,
0.62057123,
0.61625183,
0.61056569,
0.60623207,
0.60248979,
0.59687844,
0.59115867,
0.58734953,
0.58327905,
0.5773933,
0.57460818,
0.57071948,
0.56512482,
0.55957324,
0.55429507,
0.55063825,
0.54444501,
0.54017935,
0.5358742,
0.53062491,
0.52687059,
0.52282925,
0.51652643,
0.51099757,
0.50800682,
0.50441789,
0.49829823,
0.49342113,
0.49076534,
0.48544449,
0.48040796,
0.47571682,
0.47004786,
0.46375626,
0.45901858,
0.45457464,
0.4477336,
0.4445751,
0.44020224,
0.43493243,
0.42954866,
0.42532954,
0.42278508,
0.41653231,
0.41307549,
0.40961867,
0.40337085,
0.39676417,
0.39349618,
0.38865554,
0.38307075,
0.37781833,
0.3708859,
0.3666887,
0.36322539,
0.35852395,
0.35323953,
0.34756144,
0.34462983,
0.33829337,
0.33419593,
0.32763605,
0.32085619,
0.31800934,
0.31350792,
0.30755561,
0.3013469,
0.29641807,
0.29307672,
0.28710037,
0.28372685,
0.27744,
0.27160474,
0.26845488,
0.26228872,
0.25811082,
0.25317255,
0.24784539,
0.24302317,
0.23551843,
0.23251702,
0.22553418,
0.21929686,
0.21698173,
0.21064083,
0.20459543,
0.20005759,
0.19441632,
0.19103213,
0.18480707,
0.18101826,
0.17464968,
0.16823467,
0.16423773,
0.15950923,
0.15461443,
0.14894946,
0.14295351,
0.13750915,
0.13414612,
0.12670064,
0.12105465,
0.11728643,
0.11192837,
0.10469592,
0.09768891,
0.09589673,
0.09026655,
0.0840402,
0.07771728,
0.07302235,
0.06685919,
0.06020782,
0.05506187,
0.05068301,
0.04585671,
0.03911316,
0.03327774,
0.02771046,
0.02453942,
0.01729243,
0.01307319,
0.00871546,
0.00435773,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_pitch"
},
"pinky_mcp_pitch": {
"motor_index": 4,
"angle_rad": [
1.23971984,
1.23431842,
1.228917,
1.22331966,
1.21851766,
1.21579735,
1.21016519,
1.2036263,
1.19908308,
1.19617136,
1.19004548,
1.18711533,
1.18094106,
1.17521349,
1.16902979,
1.16488449,
1.16061787,
1.1557265,
1.15160888,
1.14595887,
1.1407772,
1.13624596,
1.13168572,
1.12525644,
1.12041223,
1.11468121,
1.11091335,
1.10660516,
1.10061121,
1.09504573,
1.09153024,
1.0875808,
1.08109041,
1.07551778,
1.0696255,
1.06628085,
1.06055853,
1.05643394,
1.05226944,
1.04766897,
1.04128847,
1.03835969,
1.03502787,
1.02847905,
1.02396372,
1.02210994,
1.01673135,
1.01076717,
1.00767395,
1.00272027,
0.99604039,
0.99086057,
0.98896173,
0.98320601,
0.97814627,
0.97174424,
0.96648793,
0.96395914,
0.96036396,
0.95523202,
0.94989532,
0.94573398,
0.94129996,
0.93615306,
0.93353529,
0.92939303,
0.92405888,
0.91767617,
0.91498835,
0.91003488,
0.90454632,
0.89996765,
0.89429393,
0.89015617,
0.88542747,
0.88077964,
0.87598902,
0.87020126,
0.86612318,
0.86243981,
0.85799835,
0.85494465,
0.85192551,
0.84703806,
0.84022418,
0.8381251,
0.83336996,
0.82748431,
0.81992521,
0.81560553,
0.81132931,
0.80658094,
0.80142588,
0.79655909,
0.79284226,
0.78946881,
0.78348112,
0.77894362,
0.77501061,
0.77064055,
0.76514665,
0.76107065,
0.75653614,
0.75031324,
0.74477278,
0.74126642,
0.73692443,
0.73144931,
0.72630826,
0.72285078,
0.71890873,
0.71462486,
0.71003364,
0.70468096,
0.70179947,
0.69595911,
0.69227974,
0.68726363,
0.68077615,
0.67683362,
0.67075852,
0.66831715,
0.66099533,
0.65690088,
0.65295861,
0.64973669,
0.64269223,
0.63783829,
0.63431582,
0.62983458,
0.62493178,
0.62057123,
0.61625183,
0.61056569,
0.60623207,
0.60248979,
0.59687844,
0.59115867,
0.58734953,
0.58327905,
0.5773933,
0.57460818,
0.57071948,
0.56512482,
0.55957324,
0.55429507,
0.55063825,
0.54444501,
0.54017935,
0.5358742,
0.53062491,
0.52687059,
0.52282925,
0.51652643,
0.51099757,
0.50800682,
0.50441789,
0.49829823,
0.49342113,
0.49076534,
0.48544449,
0.48040796,
0.47571682,
0.47004786,
0.46375626,
0.45901858,
0.45457464,
0.4477336,
0.4445751,
0.44020224,
0.43493243,
0.42954866,
0.42532954,
0.42278508,
0.41653231,
0.41307549,
0.40961867,
0.40337085,
0.39676417,
0.39349618,
0.38865554,
0.38307075,
0.37781833,
0.3708859,
0.3666887,
0.36322539,
0.35852395,
0.35323953,
0.34756144,
0.34462983,
0.33829337,
0.33419593,
0.32763605,
0.32085619,
0.31800934,
0.31350792,
0.30755561,
0.3013469,
0.29641807,
0.29307672,
0.28710037,
0.28372685,
0.27744,
0.27160474,
0.26845488,
0.26228872,
0.25811082,
0.25317255,
0.24784539,
0.24302317,
0.23551843,
0.23251702,
0.22553418,
0.21929686,
0.21698173,
0.21064083,
0.20459543,
0.20005759,
0.19441632,
0.19103213,
0.18480707,
0.18101826,
0.17464968,
0.16823467,
0.16423773,
0.15950923,
0.15461443,
0.14894946,
0.14295351,
0.13750915,
0.13414612,
0.12670064,
0.12105465,
0.11728643,
0.11192837,
0.10469592,
0.09768891,
0.09589673,
0.09026655,
0.0840402,
0.07771728,
0.07302235,
0.06685919,
0.06020782,
0.05506187,
0.05068301,
0.04585671,
0.03911316,
0.03327774,
0.02771046,
0.02453942,
0.01729243,
0.01307319,
0.00871546,
0.00435773,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
}
},
"thumb_cmc_roll": {
"motor_index": 5,
"angle_rad": [
1.32668095,
1.32218033,
1.31767972,
1.31516053,
1.30961576,
1.30674405,
1.30066683,
1.29516843,
1.28935775,
1.28451979,
1.27983684,
1.27540603,
1.26922069,
1.26434179,
1.2591043,
1.25223155,
1.24931162,
1.24409492,
1.23825276,
1.2340892,
1.22709163,
1.22284235,
1.2170568,
1.21144861,
1.20546409,
1.20062758,
1.19372583,
1.1884011,
1.18444375,
1.17914795,
1.1723889,
1.16955643,
1.16358838,
1.15917972,
1.15170047,
1.14809037,
1.14233256,
1.1366123,
1.13144462,
1.12601327,
1.12030155,
1.11431835,
1.10994524,
1.10463972,
1.10082238,
1.09386564,
1.08846468,
1.08300035,
1.07774343,
1.07512901,
1.06718689,
1.06253837,
1.05743099,
1.05247975,
1.0485378,
1.04348976,
1.03821915,
1.03320654,
1.02691669,
1.02431731,
1.01659314,
1.01298771,
1.00620402,
1.00017739,
0.9951405,
0.99029859,
0.98486136,
0.97943531,
0.97445191,
0.96934685,
0.96313069,
0.95880661,
0.95495116,
0.94917769,
0.94261535,
0.93832969,
0.93253566,
0.92746838,
0.92349471,
0.91900154,
0.91417525,
0.90917275,
0.903858,
0.8976166,
0.89188507,
0.88598315,
0.88213098,
0.87544358,
0.87090955,
0.86660179,
0.86146493,
0.85605332,
0.8501942,
0.84466364,
0.83853486,
0.83328344,
0.82785499,
0.82238931,
0.81795408,
0.81317627,
0.8060429,
0.80287644,
0.79855172,
0.79388777,
0.78690911,
0.78309749,
0.77644293,
0.77189761,
0.76740776,
0.76315111,
0.75640935,
0.75195861,
0.74647645,
0.74162822,
0.73657252,
0.72951324,
0.72353102,
0.71792876,
0.71233729,
0.70638166,
0.70240096,
0.69745807,
0.6919414,
0.68728338,
0.68256491,
0.67659106,
0.67339989,
0.66769509,
0.66217381,
0.65512378,
0.64876912,
0.64535308,
0.63836209,
0.63186567,
0.62903974,
0.62413097,
0.6188288,
0.61295555,
0.60865804,
0.60371898,
0.59904881,
0.59219658,
0.58722823,
0.58190419,
0.57598125,
0.57000312,
0.56469784,
0.5599504,
0.55465513,
0.54794443,
0.54270989,
0.53838309,
0.53326264,
0.52796056,
0.52234753,
0.51677846,
0.51289816,
0.50627807,
0.50106114,
0.49553388,
0.49060561,
0.48479748,
0.47858784,
0.47099536,
0.46788025,
0.46175303,
0.45702665,
0.45268505,
0.44758192,
0.44166272,
0.43562144,
0.42999614,
0.42541103,
0.41980433,
0.41498466,
0.41098565,
0.40616694,
0.40140197,
0.39482523,
0.38925857,
0.38384955,
0.37854245,
0.37225769,
0.36761241,
0.36359147,
0.35822595,
0.35217645,
0.3486772,
0.34029329,
0.33402815,
0.32815012,
0.32241955,
0.31792809,
0.3149501,
0.30915805,
0.30383324,
0.29839094,
0.29254172,
0.28709204,
0.28070008,
0.2748569,
0.27033526,
0.26612032,
0.26196751,
0.25489618,
0.24877934,
0.24420257,
0.24008651,
0.23493724,
0.22853097,
0.22228147,
0.21657603,
0.20954536,
0.20422951,
0.19799772,
0.1940252,
0.18835992,
0.18279949,
0.17940003,
0.1737496,
0.16650418,
0.1615189,
0.15671318,
0.15272144,
0.14663022,
0.14165216,
0.13755587,
0.13236133,
0.12595117,
0.11795527,
0.11330967,
0.10775261,
0.10309181,
0.09656582,
0.09089456,
0.08492236,
0.08124387,
0.07760882,
0.07218762,
0.06588324,
0.05984001,
0.05402197,
0.04950371,
0.04504023,
0.03826852,
0.03204137,
0.0272217,
0.0202901,
0.01561063,
0.0100578,
0.00503498,
0.0019547,
8.47e-05,
8.115e-05,
4.057e-05,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.07263406
}
},
"index_mcp_roll": {
"motor_index": 6,
"angle_rad": [
0.24805969,
0.2465808,
0.24510192,
0.24227355,
0.2421776,
0.24030743,
0.2386923,
0.23707716,
0.23527325,
0.23186118,
0.22926559,
0.22821793,
0.22695269,
0.22568744,
0.22358565,
0.22248554,
0.21969133,
0.21852041,
0.2160675,
0.21488087,
0.21369425,
0.21250763,
0.20938357,
0.20822465,
0.20706572,
0.20499473,
0.20137859,
0.1990487,
0.19758365,
0.1961186,
0.19489153,
0.19299711,
0.19221087,
0.18970674,
0.18657361,
0.18361248,
0.18203549,
0.18054626,
0.17905703,
0.17634746,
0.17471086,
0.1723412,
0.17154835,
0.16942025,
0.16729215,
0.16535669,
0.16321436,
0.16265879,
0.16046059,
0.158605,
0.15589555,
0.15526129,
0.15409552,
0.15185837,
0.14946952,
0.14726234,
0.14589197,
0.14336632,
0.14129629,
0.13819017,
0.13719527,
0.13439477,
0.13235451,
0.13189301,
0.12889091,
0.12732283,
0.1259177,
0.1215695,
0.11853825,
0.11853825,
0.11647923,
0.1148246,
0.11183148,
0.10971394,
0.10823792,
0.10676191,
0.10370782,
0.10155029,
0.09905743,
0.09656455,
0.09435644,
0.09273191,
0.09005238,
0.08957349,
0.08814441,
0.08614773,
0.08373915,
0.08135536,
0.07897155,
0.07829185,
0.07761215,
0.07593462,
0.07313638,
0.07071785,
0.06758069,
0.06627936,
0.06274731,
0.0611372,
0.06025154,
0.05686014,
0.05528885,
0.05249669,
0.04970454,
0.04956684,
0.04667085,
0.0441081,
0.04341849,
0.04064607,
0.0394498,
0.03767068,
0.03400288,
0.0325718,
0.02902717,
0.02830392,
0.02758067,
0.02557375,
0.02326801,
0.02157249,
0.01880188,
0.01684142,
0.01476874,
0.01269605,
0.01068836,
0.00821918,
0.00479764,
0.00254229,
0.0008058,
0.0,
-0.00320087,
-0.0062712,
-0.0062712,
-0.00872062,
-0.01102162,
-0.01289869,
-0.01477576,
-0.01655994,
-0.01873047,
-0.02079705,
-0.02335932,
-0.02463616,
-0.02747547,
-0.02875749,
-0.03084809,
-0.0332389,
-0.03556318,
-0.03697108,
-0.03809229,
-0.03970718,
-0.0426418,
-0.04394918,
-0.04579637,
-0.0482717,
-0.05057038,
-0.05350243,
-0.05541685,
-0.05765124,
-0.06009577,
-0.06178962,
-0.06392268,
-0.0654759,
-0.06726563,
-0.07077012,
-0.07199889,
-0.07361312,
-0.07522734,
-0.07695316,
-0.07805543,
-0.08176861,
-0.08296786,
-0.08546744,
-0.08655922,
-0.0886155,
-0.0929838,
-0.0929838,
-0.09395724,
-0.09774162,
-0.0999194,
-0.1014592,
-0.10488789,
-0.10612421,
-0.10767561,
-0.11074402,
-0.11179073,
-0.11383709,
-0.11560677,
-0.11831965,
-0.11998119,
-0.12134997,
-0.12361202,
-0.12565571,
-0.12753622,
-0.13196908,
-0.13211137,
-0.13225367,
-0.13709396,
-0.13779498,
-0.138496,
-0.14269328,
-0.14411824,
-0.14567924,
-0.14683036,
-0.14925199,
-0.15167361,
-0.15325379,
-0.15542247,
-0.15759115,
-0.15964547,
-0.16123467,
-0.16282388,
-0.16479892,
-0.16734213,
-0.16754316,
-0.17132314,
-0.17312845,
-0.17418068,
-0.17632836,
-0.17853822,
-0.18022458,
-0.18212821,
-0.18363156,
-0.18699031,
-0.18808428,
-0.19012968,
-0.19217508,
-0.19312436,
-0.19554009,
-0.19736713,
-0.19783534,
-0.19952435,
-0.20206713,
-0.20379708,
-0.2058893,
-0.2079815,
-0.20902303,
-0.21094604,
-0.21286904,
-0.21366652,
-0.21658171,
-0.21900654,
-0.22024572,
-0.22310389,
-0.22453059,
-0.22712822,
-0.22965435,
-0.23088024,
-0.23425627,
-0.23531842,
-0.23597504,
-0.23804922,
-0.2401234,
-0.24338746,
-0.24424935,
-0.24511939,
-0.24607031,
-0.24694359,
-0.24781686
],
"zero_command_u8": 127,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_roll"
},
"middle_mcp_roll": {
"motor_index": 7,
"angle_rad": [
0.24805969,
0.2465808,
0.24510192,
0.24227355,
0.2421776,
0.24030743,
0.2386923,
0.23707716,
0.23527325,
0.23186118,
0.22926559,
0.22821793,
0.22695269,
0.22568744,
0.22358565,
0.22248554,
0.21969133,
0.21852041,
0.2160675,
0.21488087,
0.21369425,
0.21250763,
0.20938357,
0.20822465,
0.20706572,
0.20499473,
0.20137859,
0.1990487,
0.19758365,
0.1961186,
0.19489153,
0.19299711,
0.19221087,
0.18970674,
0.18657361,
0.18361248,
0.18203549,
0.18054626,
0.17905703,
0.17634746,
0.17471086,
0.1723412,
0.17154835,
0.16942025,
0.16729215,
0.16535669,
0.16321436,
0.16265879,
0.16046059,
0.158605,
0.15589555,
0.15526129,
0.15409552,
0.15185837,
0.14946952,
0.14726234,
0.14589197,
0.14336632,
0.14129629,
0.13819017,
0.13719527,
0.13439477,
0.13235451,
0.13189301,
0.12889091,
0.12732283,
0.1259177,
0.1215695,
0.11853825,
0.11853825,
0.11647923,
0.1148246,
0.11183148,
0.10971394,
0.10823792,
0.10676191,
0.10370782,
0.10155029,
0.09905743,
0.09656455,
0.09435644,
0.09273191,
0.09005238,
0.08957349,
0.08814441,
0.08614773,
0.08373915,
0.08135536,
0.07897155,
0.07829185,
0.07761215,
0.07593462,
0.07313638,
0.07071785,
0.06758069,
0.06627936,
0.06274731,
0.0611372,
0.06025154,
0.05686014,
0.05528885,
0.05249669,
0.04970454,
0.04956684,
0.04667085,
0.0441081,
0.04341849,
0.04064607,
0.0394498,
0.03767068,
0.03400288,
0.0325718,
0.02902717,
0.02830392,
0.02758067,
0.02557375,
0.02326801,
0.02157249,
0.01880188,
0.01684142,
0.01476874,
0.01269605,
0.01068836,
0.00821918,
0.00479764,
0.00254229,
0.0008058,
0.0,
-0.00320087,
-0.0062712,
-0.0062712,
-0.00872062,
-0.01102162,
-0.01289869,
-0.01477576,
-0.01655994,
-0.01873047,
-0.02079705,
-0.02335932,
-0.02463616,
-0.02747547,
-0.02875749,
-0.03084809,
-0.0332389,
-0.03556318,
-0.03697108,
-0.03809229,
-0.03970718,
-0.0426418,
-0.04394918,
-0.04579637,
-0.0482717,
-0.05057038,
-0.05350243,
-0.05541685,
-0.05765124,
-0.06009577,
-0.06178962,
-0.06392268,
-0.0654759,
-0.06726563,
-0.07077012,
-0.07199889,
-0.07361312,
-0.07522734,
-0.07695316,
-0.07805543,
-0.08176861,
-0.08296786,
-0.08546744,
-0.08655922,
-0.0886155,
-0.0929838,
-0.0929838,
-0.09395724,
-0.09774162,
-0.0999194,
-0.1014592,
-0.10488789,
-0.10612421,
-0.10767561,
-0.11074402,
-0.11179073,
-0.11383709,
-0.11560677,
-0.11831965,
-0.11998119,
-0.12134997,
-0.12361202,
-0.12565571,
-0.12753622,
-0.13196908,
-0.13211137,
-0.13225367,
-0.13709396,
-0.13779498,
-0.138496,
-0.14269328,
-0.14411824,
-0.14567924,
-0.14683036,
-0.14925199,
-0.15167361,
-0.15325379,
-0.15542247,
-0.15759115,
-0.15964547,
-0.16123467,
-0.16282388,
-0.16479892,
-0.16734213,
-0.16754316,
-0.17132314,
-0.17312845,
-0.17418068,
-0.17632836,
-0.17853822,
-0.18022458,
-0.18212821,
-0.18363156,
-0.18699031,
-0.18808428,
-0.19012968,
-0.19217508,
-0.19312436,
-0.19554009,
-0.19736713,
-0.19783534,
-0.19952435,
-0.20206713,
-0.20379708,
-0.2058893,
-0.2079815,
-0.20902303,
-0.21094604,
-0.21286904,
-0.21366652,
-0.21658171,
-0.21900654,
-0.22024572,
-0.22310389,
-0.22453059,
-0.22712822,
-0.22965435,
-0.23088024,
-0.23425627,
-0.23531842,
-0.23597504,
-0.23804922,
-0.2401234,
-0.24338746,
-0.24424935,
-0.24511939,
-0.24607031,
-0.24694359,
-0.24781686
],
"zero_command_u8": 127,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_roll"
},
"ring_mcp_roll": {
"motor_index": 8,
"angle_rad": [
0.24805969,
0.2465808,
0.24510192,
0.24227355,
0.2421776,
0.24030743,
0.2386923,
0.23707716,
0.23527325,
0.23186118,
0.22926559,
0.22821793,
0.22695269,
0.22568744,
0.22358565,
0.22248554,
0.21969133,
0.21852041,
0.2160675,
0.21488087,
0.21369425,
0.21250763,
0.20938357,
0.20822465,
0.20706572,
0.20499473,
0.20137859,
0.1990487,
0.19758365,
0.1961186,
0.19489153,
0.19299711,
0.19221087,
0.18970674,
0.18657361,
0.18361248,
0.18203549,
0.18054626,
0.17905703,
0.17634746,
0.17471086,
0.1723412,
0.17154835,
0.16942025,
0.16729215,
0.16535669,
0.16321436,
0.16265879,
0.16046059,
0.158605,
0.15589555,
0.15526129,
0.15409552,
0.15185837,
0.14946952,
0.14726234,
0.14589197,
0.14336632,
0.14129629,
0.13819017,
0.13719527,
0.13439477,
0.13235451,
0.13189301,
0.12889091,
0.12732283,
0.1259177,
0.1215695,
0.11853825,
0.11853825,
0.11647923,
0.1148246,
0.11183148,
0.10971394,
0.10823792,
0.10676191,
0.10370782,
0.10155029,
0.09905743,
0.09656455,
0.09435644,
0.09273191,
0.09005238,
0.08957349,
0.08814441,
0.08614773,
0.08373915,
0.08135536,
0.07897155,
0.07829185,
0.07761215,
0.07593462,
0.07313638,
0.07071785,
0.06758069,
0.06627936,
0.06274731,
0.0611372,
0.06025154,
0.05686014,
0.05528885,
0.05249669,
0.04970454,
0.04956684,
0.04667085,
0.0441081,
0.04341849,
0.04064607,
0.0394498,
0.03767068,
0.03400288,
0.0325718,
0.02902717,
0.02830392,
0.02758067,
0.02557375,
0.02326801,
0.02157249,
0.01880188,
0.01684142,
0.01476874,
0.01269605,
0.01068836,
0.00821918,
0.00479764,
0.00254229,
0.0008058,
0.0,
-0.00320087,
-0.0062712,
-0.0062712,
-0.00872062,
-0.01102162,
-0.01289869,
-0.01477576,
-0.01655994,
-0.01873047,
-0.02079705,
-0.02335932,
-0.02463616,
-0.02747547,
-0.02875749,
-0.03084809,
-0.0332389,
-0.03556318,
-0.03697108,
-0.03809229,
-0.03970718,
-0.0426418,
-0.04394918,
-0.04579637,
-0.0482717,
-0.05057038,
-0.05350243,
-0.05541685,
-0.05765124,
-0.06009577,
-0.06178962,
-0.06392268,
-0.0654759,
-0.06726563,
-0.07077012,
-0.07199889,
-0.07361312,
-0.07522734,
-0.07695316,
-0.07805543,
-0.08176861,
-0.08296786,
-0.08546744,
-0.08655922,
-0.0886155,
-0.0929838,
-0.0929838,
-0.09395724,
-0.09774162,
-0.0999194,
-0.1014592,
-0.10488789,
-0.10612421,
-0.10767561,
-0.11074402,
-0.11179073,
-0.11383709,
-0.11560677,
-0.11831965,
-0.11998119,
-0.12134997,
-0.12361202,
-0.12565571,
-0.12753622,
-0.13196908,
-0.13211137,
-0.13225367,
-0.13709396,
-0.13779498,
-0.138496,
-0.14269328,
-0.14411824,
-0.14567924,
-0.14683036,
-0.14925199,
-0.15167361,
-0.15325379,
-0.15542247,
-0.15759115,
-0.15964547,
-0.16123467,
-0.16282388,
-0.16479892,
-0.16734213,
-0.16754316,
-0.17132314,
-0.17312845,
-0.17418068,
-0.17632836,
-0.17853822,
-0.18022458,
-0.18212821,
-0.18363156,
-0.18699031,
-0.18808428,
-0.19012968,
-0.19217508,
-0.19312436,
-0.19554009,
-0.19736713,
-0.19783534,
-0.19952435,
-0.20206713,
-0.20379708,
-0.2058893,
-0.2079815,
-0.20902303,
-0.21094604,
-0.21286904,
-0.21366652,
-0.21658171,
-0.21900654,
-0.22024572,
-0.22310389,
-0.22453059,
-0.22712822,
-0.22965435,
-0.23088024,
-0.23425627,
-0.23531842,
-0.23597504,
-0.23804922,
-0.2401234,
-0.24338746,
-0.24424935,
-0.24511939,
-0.24607031,
-0.24694359,
-0.24781686
],
"zero_command_u8": 127,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_mcp_roll"
},
"pinky_mcp_roll": {
"motor_index": 9,
"angle_rad": [
0.24805969,
0.2465808,
0.24510192,
0.24227355,
0.2421776,
0.24030743,
0.2386923,
0.23707716,
0.23527325,
0.23186118,
0.22926559,
0.22821793,
0.22695269,
0.22568744,
0.22358565,
0.22248554,
0.21969133,
0.21852041,
0.2160675,
0.21488087,
0.21369425,
0.21250763,
0.20938357,
0.20822465,
0.20706572,
0.20499473,
0.20137859,
0.1990487,
0.19758365,
0.1961186,
0.19489153,
0.19299711,
0.19221087,
0.18970674,
0.18657361,
0.18361248,
0.18203549,
0.18054626,
0.17905703,
0.17634746,
0.17471086,
0.1723412,
0.17154835,
0.16942025,
0.16729215,
0.16535669,
0.16321436,
0.16265879,
0.16046059,
0.158605,
0.15589555,
0.15526129,
0.15409552,
0.15185837,
0.14946952,
0.14726234,
0.14589197,
0.14336632,
0.14129629,
0.13819017,
0.13719527,
0.13439477,
0.13235451,
0.13189301,
0.12889091,
0.12732283,
0.1259177,
0.1215695,
0.11853825,
0.11853825,
0.11647923,
0.1148246,
0.11183148,
0.10971394,
0.10823792,
0.10676191,
0.10370782,
0.10155029,
0.09905743,
0.09656455,
0.09435644,
0.09273191,
0.09005238,
0.08957349,
0.08814441,
0.08614773,
0.08373915,
0.08135536,
0.07897155,
0.07829185,
0.07761215,
0.07593462,
0.07313638,
0.07071785,
0.06758069,
0.06627936,
0.06274731,
0.0611372,
0.06025154,
0.05686014,
0.05528885,
0.05249669,
0.04970454,
0.04956684,
0.04667085,
0.0441081,
0.04341849,
0.04064607,
0.0394498,
0.03767068,
0.03400288,
0.0325718,
0.02902717,
0.02830392,
0.02758067,
0.02557375,
0.02326801,
0.02157249,
0.01880188,
0.01684142,
0.01476874,
0.01269605,
0.01068836,
0.00821918,
0.00479764,
0.00254229,
0.0008058,
0.0,
-0.00320087,
-0.0062712,
-0.0062712,
-0.00872062,
-0.01102162,
-0.01289869,
-0.01477576,
-0.01655994,
-0.01873047,
-0.02079705,
-0.02335932,
-0.02463616,
-0.02747547,
-0.02875749,
-0.03084809,
-0.0332389,
-0.03556318,
-0.03697108,
-0.03809229,
-0.03970718,
-0.0426418,
-0.04394918,
-0.04579637,
-0.0482717,
-0.05057038,
-0.05350243,
-0.05541685,
-0.05765124,
-0.06009577,
-0.06178962,
-0.06392268,
-0.0654759,
-0.06726563,
-0.07077012,
-0.07199889,
-0.07361312,
-0.07522734,
-0.07695316,
-0.07805543,
-0.08176861,
-0.08296786,
-0.08546744,
-0.08655922,
-0.0886155,
-0.0929838,
-0.0929838,
-0.09395724,
-0.09774162,
-0.0999194,
-0.1014592,
-0.10488789,
-0.10612421,
-0.10767561,
-0.11074402,
-0.11179073,
-0.11383709,
-0.11560677,
-0.11831965,
-0.11998119,
-0.12134997,
-0.12361202,
-0.12565571,
-0.12753622,
-0.13196908,
-0.13211137,
-0.13225367,
-0.13709396,
-0.13779498,
-0.138496,
-0.14269328,
-0.14411824,
-0.14567924,
-0.14683036,
-0.14925199,
-0.15167361,
-0.15325379,
-0.15542247,
-0.15759115,
-0.15964547,
-0.16123467,
-0.16282388,
-0.16479892,
-0.16734213,
-0.16754316,
-0.17132314,
-0.17312845,
-0.17418068,
-0.17632836,
-0.17853822,
-0.18022458,
-0.18212821,
-0.18363156,
-0.18699031,
-0.18808428,
-0.19012968,
-0.19217508,
-0.19312436,
-0.19554009,
-0.19736713,
-0.19783534,
-0.19952435,
-0.20206713,
-0.20379708,
-0.2058893,
-0.2079815,
-0.20902303,
-0.21094604,
-0.21286904,
-0.21366652,
-0.21658171,
-0.21900654,
-0.22024572,
-0.22310389,
-0.22453059,
-0.22712822,
-0.22965435,
-0.23088024,
-0.23425627,
-0.23531842,
-0.23597504,
-0.23804922,
-0.2401234,
-0.24338746,
-0.24424935,
-0.24511939,
-0.24607031,
-0.24694359,
-0.24781686
],
"zero_command_u8": 127,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
}
},
"thumb_cmc_yaw": {
"motor_index": 10,
"angle_rad": [
1.57219617,
1.57195995,
1.57172372,
1.57148749,
1.57125126,
1.56877415,
1.56496339,
1.55749141,
1.54976116,
1.54358384,
1.53738894,
1.53137929,
1.52561885,
1.51879792,
1.51198737,
1.50509565,
1.49852717,
1.49182364,
1.48519512,
1.47731926,
1.47221706,
1.46422259,
1.45626892,
1.45132777,
1.44469649,
1.43930298,
1.43206332,
1.42540889,
1.41906066,
1.41197562,
1.40609325,
1.40031396,
1.39333219,
1.38836633,
1.38283746,
1.37395386,
1.36518874,
1.36029206,
1.35124412,
1.34719046,
1.33919809,
1.33315244,
1.32633949,
1.3207163,
1.3152164,
1.30856028,
1.30360343,
1.29864113,
1.29345995,
1.28536643,
1.27764799,
1.2692494,
1.26175524,
1.25446383,
1.24915783,
1.24422994,
1.23652419,
1.22944016,
1.22512871,
1.22019617,
1.21243901,
1.20611287,
1.19981178,
1.19378811,
1.18849687,
1.18249664,
1.176078,
1.16773624,
1.15892613,
1.15263892,
1.14760288,
1.14102545,
1.13424285,
1.12830257,
1.12103171,
1.11191999,
1.10840249,
1.10288721,
1.09580155,
1.08873685,
1.08044176,
1.07398112,
1.06936401,
1.06138632,
1.05529725,
1.05016866,
1.04288444,
1.03743345,
1.03048385,
1.02500372,
1.01901608,
1.00948565,
1.00312435,
0.99670992,
0.98999571,
0.98321021,
0.97747522,
0.97219195,
0.96596053,
0.95910209,
0.95241529,
0.9455707,
0.93706175,
0.93069334,
0.92516111,
0.92041445,
0.91574996,
0.90874983,
0.90232146,
0.89585881,
0.88882993,
0.88326959,
0.87641774,
0.86978935,
0.8622467,
0.85547131,
0.84932361,
0.84334268,
0.83727671,
0.8289398,
0.82036166,
0.81326215,
0.80769139,
0.80444832,
0.79579207,
0.79128808,
0.78408759,
0.77827068,
0.77258146,
0.76571149,
0.75765946,
0.75080701,
0.74396503,
0.73826318,
0.73251237,
0.72624915,
0.71946691,
0.71136376,
0.70656136,
0.69735134,
0.69230718,
0.68580611,
0.67863203,
0.67295094,
0.66670775,
0.66080731,
0.65519074,
0.65156145,
0.64404115,
0.6372807,
0.63269278,
0.62380628,
0.61568616,
0.61107741,
0.60537153,
0.5973686,
0.58966743,
0.58495189,
0.57847934,
0.57120653,
0.56435949,
0.56013826,
0.55220487,
0.54686207,
0.54228474,
0.53430539,
0.52586636,
0.51959787,
0.51333175,
0.50719945,
0.50205077,
0.49627703,
0.4918699,
0.48517457,
0.47774449,
0.47283716,
0.46476737,
0.45902039,
0.45312914,
0.44482831,
0.43942928,
0.43301955,
0.42739167,
0.41982968,
0.41334974,
0.4066018,
0.40308116,
0.39671014,
0.38885026,
0.38256333,
0.37467745,
0.37106713,
0.36314731,
0.35611739,
0.35090225,
0.3464554,
0.34031011,
0.33444491,
0.3282683,
0.32244717,
0.31303887,
0.30830375,
0.30274645,
0.2957056,
0.29034083,
0.28259554,
0.27725285,
0.27030585,
0.26496665,
0.25867795,
0.25228965,
0.24661222,
0.24033312,
0.23490775,
0.23008609,
0.22294374,
0.21706244,
0.2084595,
0.20317481,
0.19508702,
0.18921094,
0.18200576,
0.17736731,
0.16982163,
0.16490024,
0.16048593,
0.1520878,
0.14901975,
0.13976399,
0.13426181,
0.1280047,
0.12216391,
0.11297383,
0.10643918,
0.10130933,
0.09468625,
0.08675012,
0.08180827,
0.07563728,
0.06910664,
0.06091362,
0.05326238,
0.04848955,
0.0422643,
0.03674021,
0.03268318,
0.0245107,
0.0166476,
0.01186347,
0.00700745,
0.00533726,
0.0042698,
0.00320236,
0.0021349,
0.00106745,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.02036574
}
},
"thumb_mcp": {
"motor_index": 15,
"angle_rad": [
1.23568875,
1.23268348,
1.22967821,
1.22544535,
1.21966346,
1.21434947,
1.21064514,
1.20401495,
1.19944027,
1.19520617,
1.1899609,
1.18212122,
1.17781826,
1.17382684,
1.16845912,
1.16333723,
1.15695779,
1.15152737,
1.14496759,
1.13989429,
1.13228954,
1.12844421,
1.12248457,
1.11698553,
1.11388235,
1.10970925,
1.10251902,
1.09829623,
1.09381559,
1.08894327,
1.08388441,
1.0788722,
1.0713697,
1.06382612,
1.06136254,
1.05439654,
1.04990421,
1.04517223,
1.04106827,
1.03488583,
1.0272872,
1.02461216,
1.01902644,
1.01228962,
1.00882596,
1.00311978,
0.99595471,
0.99475753,
0.9903102,
0.98427139,
0.98025631,
0.97419798,
0.96760021,
0.96498062,
0.95777676,
0.95419872,
0.9459256,
0.9459256,
0.9385081,
0.93339348,
0.92878297,
0.92426008,
0.91773795,
0.91271288,
0.91089174,
0.90767706,
0.90278724,
0.89529616,
0.88990775,
0.88582205,
0.88021629,
0.87349747,
0.87222073,
0.86739144,
0.86129159,
0.86038876,
0.85225726,
0.84708942,
0.84149282,
0.83843163,
0.83402712,
0.82751287,
0.82407387,
0.81946109,
0.8149401,
0.81071803,
0.80364886,
0.79984545,
0.79328941,
0.79163144,
0.78458401,
0.78028709,
0.77614583,
0.77251186,
0.76636839,
0.75892644,
0.75573428,
0.75177653,
0.74684818,
0.74224069,
0.73679815,
0.73076844,
0.7292787,
0.72372653,
0.7166061,
0.71318457,
0.70923706,
0.70398879,
0.69906512,
0.69370971,
0.68917191,
0.6852728,
0.67925356,
0.67374577,
0.67116608,
0.66636757,
0.66398421,
0.65766639,
0.65530794,
0.65025183,
0.64765459,
0.64160864,
0.63546507,
0.63250346,
0.62737566,
0.62382993,
0.61778017,
0.61387775,
0.60522389,
0.60371376,
0.59898069,
0.59607698,
0.59090592,
0.58569396,
0.58132235,
0.57587208,
0.56983162,
0.56543383,
0.55914128,
0.55538268,
0.55091499,
0.54662042,
0.54357674,
0.53717292,
0.53420682,
0.52987792,
0.52248532,
0.51827713,
0.51305413,
0.51053419,
0.50564937,
0.49962711,
0.49767995,
0.49494584,
0.49011211,
0.48377058,
0.47665945,
0.47556801,
0.47189088,
0.46481234,
0.46002366,
0.45488811,
0.45339182,
0.44738392,
0.44198302,
0.43742666,
0.43241262,
0.42603494,
0.42347971,
0.41887232,
0.41311986,
0.40602798,
0.40165793,
0.39792053,
0.39521557,
0.39037152,
0.38341285,
0.37948005,
0.37717954,
0.37151243,
0.36701316,
0.36192367,
0.35548125,
0.35473379,
0.34734792,
0.34266367,
0.33658798,
0.33132169,
0.32906004,
0.32437334,
0.31981903,
0.31285304,
0.30999756,
0.30452663,
0.30087131,
0.29513794,
0.29036112,
0.28504223,
0.281901,
0.27532689,
0.27096117,
0.26707341,
0.26012555,
0.25608111,
0.25125831,
0.24506517,
0.23969734,
0.2355052,
0.23134967,
0.22723938,
0.22189694,
0.2178648,
0.21244978,
0.20995548,
0.20324,
0.19821416,
0.1922595,
0.18942607,
0.18546846,
0.17935726,
0.17618775,
0.17309143,
0.16599603,
0.15973599,
0.15300195,
0.14846483,
0.14488703,
0.14093258,
0.13413828,
0.12782604,
0.12285848,
0.11774147,
0.11210961,
0.10874853,
0.10369373,
0.09855323,
0.08760805,
0.08310542,
0.07854751,
0.07567238,
0.06901066,
0.06087289,
0.05812925,
0.05288988,
0.04850562,
0.04144858,
0.03817223,
0.03260573,
0.02709768,
0.02183339,
0.01587086,
0.01125299,
0.00776567,
0.00511195,
0.00255597,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
}
},
"index_pip": {
"motor_index": 16,
"angle_rad": [
1.78825963,
1.78296083,
1.77766205,
1.77236326,
1.76706446,
1.76176567,
1.75581641,
1.74868391,
1.73962409,
1.73252878,
1.72552823,
1.71515101,
1.70691251,
1.69906466,
1.69008943,
1.68542034,
1.68057209,
1.67307706,
1.6636845,
1.65489381,
1.64754759,
1.64155652,
1.63558041,
1.6318248,
1.62442332,
1.61660709,
1.6093015,
1.60178974,
1.5965808,
1.59076226,
1.58435865,
1.57932022,
1.57230473,
1.56505291,
1.55719615,
1.55093773,
1.54452685,
1.53920059,
1.53110707,
1.52627737,
1.51967186,
1.51289038,
1.50636339,
1.49888908,
1.49785894,
1.48830087,
1.48029604,
1.47311947,
1.46932507,
1.46073002,
1.45430834,
1.44898295,
1.44306993,
1.43876362,
1.43294275,
1.42630334,
1.41884447,
1.41286336,
1.40645086,
1.40095623,
1.39470207,
1.38876181,
1.38321011,
1.37593269,
1.36814189,
1.36101522,
1.3571482,
1.35510143,
1.34765563,
1.33996249,
1.33427804,
1.32805182,
1.32219497,
1.31613047,
1.30823516,
1.30488617,
1.2976345,
1.29016848,
1.28254644,
1.27798919,
1.27257954,
1.26758983,
1.26222258,
1.25638796,
1.24999834,
1.24290019,
1.23608407,
1.23025854,
1.2213883,
1.21323865,
1.21127005,
1.20632992,
1.19831446,
1.19000073,
1.18400114,
1.17750574,
1.1723398,
1.16731203,
1.16130384,
1.1548243,
1.1477145,
1.14111306,
1.13404368,
1.12808553,
1.11986178,
1.11612058,
1.1119289,
1.10496706,
1.0967481,
1.09020613,
1.08149185,
1.07638729,
1.07252839,
1.06627145,
1.05852081,
1.05185682,
1.04494207,
1.03780724,
1.02901043,
1.02367381,
1.01820979,
1.01256235,
1.00443352,
0.99843378,
0.98984916,
0.98408931,
0.97674168,
0.97022239,
0.96449421,
0.95840795,
0.95196822,
0.94518997,
0.93804971,
0.93244794,
0.92502087,
0.91801524,
0.91101907,
0.90276933,
0.89346539,
0.88781501,
0.88085579,
0.87459316,
0.8686734,
0.86084476,
0.85411829,
0.84610096,
0.83902902,
0.831067,
0.82422616,
0.81897932,
0.81038889,
0.80462495,
0.79605539,
0.78940508,
0.78097512,
0.77416942,
0.76517864,
0.75855583,
0.75238665,
0.74525562,
0.73844197,
0.732303,
0.7249337,
0.7166838,
0.70732884,
0.69898861,
0.69566748,
0.68577267,
0.67725623,
0.66940092,
0.66231263,
0.65353565,
0.64526173,
0.63770508,
0.63170903,
0.62426697,
0.6153942,
0.60697254,
0.5992951,
0.59184927,
0.58663917,
0.57690234,
0.56706788,
0.55893437,
0.55198695,
0.5446016,
0.53567085,
0.52662105,
0.52202757,
0.51418822,
0.50477656,
0.49664568,
0.48799458,
0.47902712,
0.46997112,
0.4624984,
0.45388087,
0.44451652,
0.43585504,
0.43167048,
0.42383062,
0.41510065,
0.40542299,
0.39559987,
0.38790088,
0.38130133,
0.37114447,
0.36197049,
0.35416084,
0.3451581,
0.33688195,
0.32864056,
0.31992157,
0.31251082,
0.30415138,
0.29302301,
0.28281426,
0.27598154,
0.26685032,
0.25744947,
0.25178549,
0.2431672,
0.23472382,
0.22610052,
0.21629943,
0.20438282,
0.19481281,
0.18950074,
0.1828623,
0.17394643,
0.16577209,
0.1554727,
0.14446269,
0.13468603,
0.12760882,
0.11835064,
0.10909854,
0.10338074,
0.09130713,
0.08088496,
0.07075284,
0.06364298,
0.05510967,
0.04876089,
0.04094891,
0.03110231,
0.02207772,
0.01379388,
0.00848596,
0.00431153,
0.00220287,
0.00051172,
0.00029384,
0.0001669,
8.345e-05,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_pip"
},
"middle_pip": {
"motor_index": 17,
"angle_rad": [
1.78825963,
1.78296083,
1.77766205,
1.77236326,
1.76706446,
1.76176567,
1.75581641,
1.74868391,
1.73962409,
1.73252878,
1.72552823,
1.71515101,
1.70691251,
1.69906466,
1.69008943,
1.68542034,
1.68057209,
1.67307706,
1.6636845,
1.65489381,
1.64754759,
1.64155652,
1.63558041,
1.6318248,
1.62442332,
1.61660709,
1.6093015,
1.60178974,
1.5965808,
1.59076226,
1.58435865,
1.57932022,
1.57230473,
1.56505291,
1.55719615,
1.55093773,
1.54452685,
1.53920059,
1.53110707,
1.52627737,
1.51967186,
1.51289038,
1.50636339,
1.49888908,
1.49785894,
1.48830087,
1.48029604,
1.47311947,
1.46932507,
1.46073002,
1.45430834,
1.44898295,
1.44306993,
1.43876362,
1.43294275,
1.42630334,
1.41884447,
1.41286336,
1.40645086,
1.40095623,
1.39470207,
1.38876181,
1.38321011,
1.37593269,
1.36814189,
1.36101522,
1.3571482,
1.35510143,
1.34765563,
1.33996249,
1.33427804,
1.32805182,
1.32219497,
1.31613047,
1.30823516,
1.30488617,
1.2976345,
1.29016848,
1.28254644,
1.27798919,
1.27257954,
1.26758983,
1.26222258,
1.25638796,
1.24999834,
1.24290019,
1.23608407,
1.23025854,
1.2213883,
1.21323865,
1.21127005,
1.20632992,
1.19831446,
1.19000073,
1.18400114,
1.17750574,
1.1723398,
1.16731203,
1.16130384,
1.1548243,
1.1477145,
1.14111306,
1.13404368,
1.12808553,
1.11986178,
1.11612058,
1.1119289,
1.10496706,
1.0967481,
1.09020613,
1.08149185,
1.07638729,
1.07252839,
1.06627145,
1.05852081,
1.05185682,
1.04494207,
1.03780724,
1.02901043,
1.02367381,
1.01820979,
1.01256235,
1.00443352,
0.99843378,
0.98984916,
0.98408931,
0.97674168,
0.97022239,
0.96449421,
0.95840795,
0.95196822,
0.94518997,
0.93804971,
0.93244794,
0.92502087,
0.91801524,
0.91101907,
0.90276933,
0.89346539,
0.88781501,
0.88085579,
0.87459316,
0.8686734,
0.86084476,
0.85411829,
0.84610096,
0.83902902,
0.831067,
0.82422616,
0.81897932,
0.81038889,
0.80462495,
0.79605539,
0.78940508,
0.78097512,
0.77416942,
0.76517864,
0.75855583,
0.75238665,
0.74525562,
0.73844197,
0.732303,
0.7249337,
0.7166838,
0.70732884,
0.69898861,
0.69566748,
0.68577267,
0.67725623,
0.66940092,
0.66231263,
0.65353565,
0.64526173,
0.63770508,
0.63170903,
0.62426697,
0.6153942,
0.60697254,
0.5992951,
0.59184927,
0.58663917,
0.57690234,
0.56706788,
0.55893437,
0.55198695,
0.5446016,
0.53567085,
0.52662105,
0.52202757,
0.51418822,
0.50477656,
0.49664568,
0.48799458,
0.47902712,
0.46997112,
0.4624984,
0.45388087,
0.44451652,
0.43585504,
0.43167048,
0.42383062,
0.41510065,
0.40542299,
0.39559987,
0.38790088,
0.38130133,
0.37114447,
0.36197049,
0.35416084,
0.3451581,
0.33688195,
0.32864056,
0.31992157,
0.31251082,
0.30415138,
0.29302301,
0.28281426,
0.27598154,
0.26685032,
0.25744947,
0.25178549,
0.2431672,
0.23472382,
0.22610052,
0.21629943,
0.20438282,
0.19481281,
0.18950074,
0.1828623,
0.17394643,
0.16577209,
0.1554727,
0.14446269,
0.13468603,
0.12760882,
0.11835064,
0.10909854,
0.10338074,
0.09130713,
0.08088496,
0.07075284,
0.06364298,
0.05510967,
0.04876089,
0.04094891,
0.03110231,
0.02207772,
0.01379388,
0.00848596,
0.00431153,
0.00220287,
0.00051172,
0.00029384,
0.0001669,
8.345e-05,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_pip"
},
"ring_pip": {
"motor_index": 18,
"angle_rad": [
1.78825963,
1.78296083,
1.77766205,
1.77236326,
1.76706446,
1.76176567,
1.75581641,
1.74868391,
1.73962409,
1.73252878,
1.72552823,
1.71515101,
1.70691251,
1.69906466,
1.69008943,
1.68542034,
1.68057209,
1.67307706,
1.6636845,
1.65489381,
1.64754759,
1.64155652,
1.63558041,
1.6318248,
1.62442332,
1.61660709,
1.6093015,
1.60178974,
1.5965808,
1.59076226,
1.58435865,
1.57932022,
1.57230473,
1.56505291,
1.55719615,
1.55093773,
1.54452685,
1.53920059,
1.53110707,
1.52627737,
1.51967186,
1.51289038,
1.50636339,
1.49888908,
1.49785894,
1.48830087,
1.48029604,
1.47311947,
1.46932507,
1.46073002,
1.45430834,
1.44898295,
1.44306993,
1.43876362,
1.43294275,
1.42630334,
1.41884447,
1.41286336,
1.40645086,
1.40095623,
1.39470207,
1.38876181,
1.38321011,
1.37593269,
1.36814189,
1.36101522,
1.3571482,
1.35510143,
1.34765563,
1.33996249,
1.33427804,
1.32805182,
1.32219497,
1.31613047,
1.30823516,
1.30488617,
1.2976345,
1.29016848,
1.28254644,
1.27798919,
1.27257954,
1.26758983,
1.26222258,
1.25638796,
1.24999834,
1.24290019,
1.23608407,
1.23025854,
1.2213883,
1.21323865,
1.21127005,
1.20632992,
1.19831446,
1.19000073,
1.18400114,
1.17750574,
1.1723398,
1.16731203,
1.16130384,
1.1548243,
1.1477145,
1.14111306,
1.13404368,
1.12808553,
1.11986178,
1.11612058,
1.1119289,
1.10496706,
1.0967481,
1.09020613,
1.08149185,
1.07638729,
1.07252839,
1.06627145,
1.05852081,
1.05185682,
1.04494207,
1.03780724,
1.02901043,
1.02367381,
1.01820979,
1.01256235,
1.00443352,
0.99843378,
0.98984916,
0.98408931,
0.97674168,
0.97022239,
0.96449421,
0.95840795,
0.95196822,
0.94518997,
0.93804971,
0.93244794,
0.92502087,
0.91801524,
0.91101907,
0.90276933,
0.89346539,
0.88781501,
0.88085579,
0.87459316,
0.8686734,
0.86084476,
0.85411829,
0.84610096,
0.83902902,
0.831067,
0.82422616,
0.81897932,
0.81038889,
0.80462495,
0.79605539,
0.78940508,
0.78097512,
0.77416942,
0.76517864,
0.75855583,
0.75238665,
0.74525562,
0.73844197,
0.732303,
0.7249337,
0.7166838,
0.70732884,
0.69898861,
0.69566748,
0.68577267,
0.67725623,
0.66940092,
0.66231263,
0.65353565,
0.64526173,
0.63770508,
0.63170903,
0.62426697,
0.6153942,
0.60697254,
0.5992951,
0.59184927,
0.58663917,
0.57690234,
0.56706788,
0.55893437,
0.55198695,
0.5446016,
0.53567085,
0.52662105,
0.52202757,
0.51418822,
0.50477656,
0.49664568,
0.48799458,
0.47902712,
0.46997112,
0.4624984,
0.45388087,
0.44451652,
0.43585504,
0.43167048,
0.42383062,
0.41510065,
0.40542299,
0.39559987,
0.38790088,
0.38130133,
0.37114447,
0.36197049,
0.35416084,
0.3451581,
0.33688195,
0.32864056,
0.31992157,
0.31251082,
0.30415138,
0.29302301,
0.28281426,
0.27598154,
0.26685032,
0.25744947,
0.25178549,
0.2431672,
0.23472382,
0.22610052,
0.21629943,
0.20438282,
0.19481281,
0.18950074,
0.1828623,
0.17394643,
0.16577209,
0.1554727,
0.14446269,
0.13468603,
0.12760882,
0.11835064,
0.10909854,
0.10338074,
0.09130713,
0.08088496,
0.07075284,
0.06364298,
0.05510967,
0.04876089,
0.04094891,
0.03110231,
0.02207772,
0.01379388,
0.00848596,
0.00431153,
0.00220287,
0.00051172,
0.00029384,
0.0001669,
8.345e-05,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
},
"source_joint": "pinky_pip"
},
"pinky_pip": {
"motor_index": 19,
"angle_rad": [
1.78825963,
1.78296083,
1.77766205,
1.77236326,
1.76706446,
1.76176567,
1.75581641,
1.74868391,
1.73962409,
1.73252878,
1.72552823,
1.71515101,
1.70691251,
1.69906466,
1.69008943,
1.68542034,
1.68057209,
1.67307706,
1.6636845,
1.65489381,
1.64754759,
1.64155652,
1.63558041,
1.6318248,
1.62442332,
1.61660709,
1.6093015,
1.60178974,
1.5965808,
1.59076226,
1.58435865,
1.57932022,
1.57230473,
1.56505291,
1.55719615,
1.55093773,
1.54452685,
1.53920059,
1.53110707,
1.52627737,
1.51967186,
1.51289038,
1.50636339,
1.49888908,
1.49785894,
1.48830087,
1.48029604,
1.47311947,
1.46932507,
1.46073002,
1.45430834,
1.44898295,
1.44306993,
1.43876362,
1.43294275,
1.42630334,
1.41884447,
1.41286336,
1.40645086,
1.40095623,
1.39470207,
1.38876181,
1.38321011,
1.37593269,
1.36814189,
1.36101522,
1.3571482,
1.35510143,
1.34765563,
1.33996249,
1.33427804,
1.32805182,
1.32219497,
1.31613047,
1.30823516,
1.30488617,
1.2976345,
1.29016848,
1.28254644,
1.27798919,
1.27257954,
1.26758983,
1.26222258,
1.25638796,
1.24999834,
1.24290019,
1.23608407,
1.23025854,
1.2213883,
1.21323865,
1.21127005,
1.20632992,
1.19831446,
1.19000073,
1.18400114,
1.17750574,
1.1723398,
1.16731203,
1.16130384,
1.1548243,
1.1477145,
1.14111306,
1.13404368,
1.12808553,
1.11986178,
1.11612058,
1.1119289,
1.10496706,
1.0967481,
1.09020613,
1.08149185,
1.07638729,
1.07252839,
1.06627145,
1.05852081,
1.05185682,
1.04494207,
1.03780724,
1.02901043,
1.02367381,
1.01820979,
1.01256235,
1.00443352,
0.99843378,
0.98984916,
0.98408931,
0.97674168,
0.97022239,
0.96449421,
0.95840795,
0.95196822,
0.94518997,
0.93804971,
0.93244794,
0.92502087,
0.91801524,
0.91101907,
0.90276933,
0.89346539,
0.88781501,
0.88085579,
0.87459316,
0.8686734,
0.86084476,
0.85411829,
0.84610096,
0.83902902,
0.831067,
0.82422616,
0.81897932,
0.81038889,
0.80462495,
0.79605539,
0.78940508,
0.78097512,
0.77416942,
0.76517864,
0.75855583,
0.75238665,
0.74525562,
0.73844197,
0.732303,
0.7249337,
0.7166838,
0.70732884,
0.69898861,
0.69566748,
0.68577267,
0.67725623,
0.66940092,
0.66231263,
0.65353565,
0.64526173,
0.63770508,
0.63170903,
0.62426697,
0.6153942,
0.60697254,
0.5992951,
0.59184927,
0.58663917,
0.57690234,
0.56706788,
0.55893437,
0.55198695,
0.5446016,
0.53567085,
0.52662105,
0.52202757,
0.51418822,
0.50477656,
0.49664568,
0.48799458,
0.47902712,
0.46997112,
0.4624984,
0.45388087,
0.44451652,
0.43585504,
0.43167048,
0.42383062,
0.41510065,
0.40542299,
0.39559987,
0.38790088,
0.38130133,
0.37114447,
0.36197049,
0.35416084,
0.3451581,
0.33688195,
0.32864056,
0.31992157,
0.31251082,
0.30415138,
0.29302301,
0.28281426,
0.27598154,
0.26685032,
0.25744947,
0.25178549,
0.2431672,
0.23472382,
0.22610052,
0.21629943,
0.20438282,
0.19481281,
0.18950074,
0.1828623,
0.17394643,
0.16577209,
0.1554727,
0.14446269,
0.13468603,
0.12760882,
0.11835064,
0.10909854,
0.10338074,
0.09130713,
0.08088496,
0.07075284,
0.06364298,
0.05510967,
0.04876089,
0.04094891,
0.03110231,
0.02207772,
0.01379388,
0.00848596,
0.00431153,
0.00220287,
0.00051172,
0.00029384,
0.0001669,
8.345e-05,
0.0
],
"zero_command_u8": 255,
"zero_angles": {
"urdf_zero_offset_rad": 0.0
}
},
"thumb_ip": {
"motor_index": 15,
"angle_rad": [
1.51372841,
1.5089884,
1.5042484,
1.49706419,
1.48789057,
1.4800173,
1.47379268,
1.46379279,
1.45739204,
1.45036175,
1.4432574,
1.43168254,
1.42515707,
1.41963805,
1.41186934,
1.40427192,
1.39629929,
1.38901882,
1.38050963,
1.37299203,
1.36282446,
1.35766328,
1.35045138,
1.34347014,
1.33879187,
1.33382329,
1.3244678,
1.31905955,
1.31313943,
1.30635289,
1.30057247,
1.29467905,
1.28630066,
1.27433886,
1.27152403,
1.2636835,
1.2582758,
1.25224038,
1.24800821,
1.24005286,
1.22966628,
1.22759688,
1.2209197,
1.21176478,
1.20766358,
1.20172467,
1.19166774,
1.19126566,
1.18591411,
1.17818495,
1.17329379,
1.16551344,
1.15784245,
1.1555227,
1.14604346,
1.14222336,
1.13151924,
1.13148283,
1.12275368,
1.11565293,
1.11040074,
1.10562397,
1.09713788,
1.09042199,
1.08917319,
1.08670499,
1.07941968,
1.06912517,
1.06231843,
1.05801098,
1.05086966,
1.04311328,
1.04206074,
1.03501587,
1.0289373,
1.02755789,
1.01579459,
1.01113285,
1.00407065,
0.99950751,
0.99333907,
0.98556364,
0.98231279,
0.97609535,
0.97081514,
0.96469381,
0.95805892,
0.95216997,
0.94410258,
0.9423601,
0.93494857,
0.92886089,
0.92385929,
0.92069104,
0.91169584,
0.90328914,
0.90056255,
0.89519079,
0.88982841,
0.88485427,
0.87762972,
0.87115158,
0.86951322,
0.8628911,
0.85390224,
0.84957851,
0.84565578,
0.83907358,
0.83301289,
0.82648036,
0.82201753,
0.81807629,
0.80844074,
0.80290785,
0.80032945,
0.79492049,
0.79141218,
0.78433774,
0.78111815,
0.77585179,
0.77150217,
0.76269668,
0.75523571,
0.75217772,
0.7450135,
0.74161688,
0.73407201,
0.72902721,
0.71864856,
0.71723534,
0.71003951,
0.70614855,
0.70041,
0.6944855,
0.68854562,
0.68244123,
0.67456791,
0.67024763,
0.6615776,
0.65667572,
0.65180691,
0.64559992,
0.64285611,
0.63501004,
0.63093301,
0.62530398,
0.61715601,
0.61170946,
0.60737889,
0.60391371,
0.59690159,
0.58972031,
0.58834658,
0.58580196,
0.5786486,
0.57174269,
0.56427834,
0.56128251,
0.55763153,
0.54912477,
0.54179503,
0.54094014,
0.53882264,
0.52905414,
0.52152108,
0.51405388,
0.51055924,
0.50232723,
0.49926105,
0.4929913,
0.4833062,
0.47525745,
0.47194183,
0.46500421,
0.45674565,
0.45166061,
0.43926455,
0.43281471,
0.43069535,
0.42357807,
0.41622065,
0.40810539,
0.39413248,
0.39333043,
0.38452694,
0.37974882,
0.37083712,
0.363167,
0.36004198,
0.35420228,
0.34765431,
0.34010378,
0.33690108,
0.32993415,
0.32556981,
0.31872208,
0.31354006,
0.30776597,
0.30356967,
0.29565276,
0.28980845,
0.28462924,
0.27926216,
0.27145493,
0.26639753,
0.26101653,
0.25511418,
0.24941673,
0.24471163,
0.23980895,
0.23483694,
0.22960899,
0.2232799,
0.22030859,
0.21222619,
0.20669109,
0.19956483,
0.19623109,
0.18994871,
0.18346304,
0.18025043,
0.17667204,
0.16799891,
0.15974569,
0.15290524,
0.14694119,
0.14267587,
0.14030853,
0.13015325,
0.12320406,
0.11855549,
0.11268819,
0.11090091,
0.10608975,
0.09732515,
0.09258056,
0.08042382,
0.07715842,
0.07715842,
0.07220297,
0.06512347,
0.05862818,
0.05710622,
0.05107609,
0.0467941,
0.04055095,
0.03725667,
0.032043,
0.02569127,
0.01965417,
0.01492956,
0.01043123,
0.00677991,
0.00480319,
0.00240159,
0.0
],
"passive": true
},
"index_dip": {
"motor_index": 16,
"angle_rad": [
1.4318366,
1.427562,
1.4232874,
1.4190128,
1.4147382,
1.4104636,
1.40667184,
1.40149299,
1.3957981,
1.38803023,
1.38272427,
1.37380576,
1.36860032,
1.36091431,
1.35392215,
1.34838751,
1.34355227,
1.3349465,
1.32847157,
1.32236228,
1.31355903,
1.30580375,
1.29972554,
1.29604502,
1.28990443,
1.2829519,
1.27750354,
1.27057562,
1.26612201,
1.2587901,
1.25301197,
1.24901323,
1.24206227,
1.2350419,
1.22555114,
1.22098531,
1.21518487,
1.21014936,
1.20199322,
1.19683728,
1.19121974,
1.18481698,
1.17831903,
1.16994961,
1.16876125,
1.16084221,
1.1534102,
1.14590971,
1.14213764,
1.13463045,
1.12886152,
1.12334217,
1.11836976,
1.11406005,
1.10864918,
1.10234177,
1.09504182,
1.08948032,
1.08373986,
1.07822233,
1.07093145,
1.06557895,
1.06128314,
1.0541769,
1.04663648,
1.04088294,
1.03612854,
1.03363813,
1.02807173,
1.02185829,
1.01580183,
1.00995774,
1.00406178,
0.99812152,
0.99137739,
0.98815652,
0.98148567,
0.97412322,
0.96717279,
0.96301452,
0.95792293,
0.95320622,
0.94923964,
0.94308959,
0.93704916,
0.93139428,
0.92508093,
0.9199069,
0.91162912,
0.90321525,
0.90190821,
0.89725721,
0.89065098,
0.88285216,
0.87795982,
0.87202336,
0.86688732,
0.86244407,
0.85739554,
0.85097532,
0.84660094,
0.83962354,
0.83355334,
0.82827571,
0.82043201,
0.81760272,
0.81442068,
0.80832536,
0.79981059,
0.79430256,
0.78782279,
0.78314372,
0.77906372,
0.77399075,
0.76775068,
0.76158256,
0.75577895,
0.74990252,
0.74195084,
0.73763158,
0.73385594,
0.72840736,
0.72108825,
0.71569089,
0.70745291,
0.70329222,
0.69785946,
0.68972655,
0.6868866,
0.68229596,
0.67848817,
0.67077151,
0.66659658,
0.6618122,
0.65467413,
0.64952731,
0.64315703,
0.63597901,
0.62883377,
0.62352093,
0.61770539,
0.61248187,
0.60780051,
0.60154037,
0.59542416,
0.58988131,
0.58489492,
0.578029,
0.57139298,
0.56864851,
0.56227742,
0.55616338,
0.54965142,
0.54466794,
0.53739797,
0.53289622,
0.52599358,
0.52053567,
0.51569144,
0.50995811,
0.5044624,
0.50000183,
0.49353764,
0.4870696,
0.48042092,
0.47390086,
0.47120251,
0.46361899,
0.45693122,
0.45064698,
0.44478461,
0.43888712,
0.43276626,
0.42762948,
0.42224171,
0.41605117,
0.40917872,
0.40313838,
0.39730256,
0.39142493,
0.38794282,
0.3816962,
0.3739238,
0.36896853,
0.36367058,
0.35798419,
0.35143121,
0.34463643,
0.34191017,
0.33547662,
0.32791265,
0.32278328,
0.31662117,
0.30995497,
0.30411406,
0.29799798,
0.29192721,
0.28509592,
0.27890315,
0.27693625,
0.27092158,
0.26442963,
0.25801703,
0.2511509,
0.24538735,
0.24086672,
0.2341878,
0.22749367,
0.22156672,
0.21671051,
0.21061569,
0.20468116,
0.19932243,
0.19413095,
0.18729039,
0.18083802,
0.17361171,
0.16851722,
0.16220755,
0.15658817,
0.1525704,
0.14643669,
0.14196583,
0.13441447,
0.12939197,
0.12231929,
0.11619062,
0.11247368,
0.10833651,
0.10266177,
0.09736734,
0.09013691,
0.08251311,
0.07611795,
0.07332276,
0.06598483,
0.05902394,
0.05549558,
0.04844284,
0.04574173,
0.03660353,
0.03161385,
0.02578484,
0.02213316,
0.01724319,
0.0121289,
0.00559584,
0.00180197,
0.00051404,
8.828e-05,
8.828e-05,
0.0,
0.0,
0.0,
0.0,
0.0
],
"passive": true,
"source_joint": "pinky_dip"
},
"middle_dip": {
"motor_index": 17,
"angle_rad": [
1.4318366,
1.427562,
1.4232874,
1.4190128,
1.4147382,
1.4104636,
1.40667184,
1.40149299,
1.3957981,
1.38803023,
1.38272427,
1.37380576,
1.36860032,
1.36091431,
1.35392215,
1.34838751,
1.34355227,
1.3349465,
1.32847157,
1.32236228,
1.31355903,
1.30580375,
1.29972554,
1.29604502,
1.28990443,
1.2829519,
1.27750354,
1.27057562,
1.26612201,
1.2587901,
1.25301197,
1.24901323,
1.24206227,
1.2350419,
1.22555114,
1.22098531,
1.21518487,
1.21014936,
1.20199322,
1.19683728,
1.19121974,
1.18481698,
1.17831903,
1.16994961,
1.16876125,
1.16084221,
1.1534102,
1.14590971,
1.14213764,
1.13463045,
1.12886152,
1.12334217,
1.11836976,
1.11406005,
1.10864918,
1.10234177,
1.09504182,
1.08948032,
1.08373986,
1.07822233,
1.07093145,
1.06557895,
1.06128314,
1.0541769,
1.04663648,
1.04088294,
1.03612854,
1.03363813,
1.02807173,
1.02185829,
1.01580183,
1.00995774,
1.00406178,
0.99812152,
0.99137739,
0.98815652,
0.98148567,
0.97412322,
0.96717279,
0.96301452,
0.95792293,
0.95320622,
0.94923964,
0.94308959,
0.93704916,
0.93139428,
0.92508093,
0.9199069,
0.91162912,
0.90321525,
0.90190821,
0.89725721,
0.89065098,
0.88285216,
0.87795982,
0.87202336,
0.86688732,
0.86244407,
0.85739554,
0.85097532,
0.84660094,
0.83962354,
0.83355334,
0.82827571,
0.82043201,
0.81760272,
0.81442068,
0.80832536,
0.79981059,
0.79430256,
0.78782279,
0.78314372,
0.77906372,
0.77399075,
0.76775068,
0.76158256,
0.75577895,
0.74990252,
0.74195084,
0.73763158,
0.73385594,
0.72840736,
0.72108825,
0.71569089,
0.70745291,
0.70329222,
0.69785946,
0.68972655,
0.6868866,
0.68229596,
0.67848817,
0.67077151,
0.66659658,
0.6618122,
0.65467413,
0.64952731,
0.64315703,
0.63597901,
0.62883377,
0.62352093,
0.61770539,
0.61248187,
0.60780051,
0.60154037,
0.59542416,
0.58988131,
0.58489492,
0.578029,
0.57139298,
0.56864851,
0.56227742,
0.55616338,
0.54965142,
0.54466794,
0.53739797,
0.53289622,
0.52599358,
0.52053567,
0.51569144,
0.50995811,
0.5044624,
0.50000183,
0.49353764,
0.4870696,
0.48042092,
0.47390086,
0.47120251,
0.46361899,
0.45693122,
0.45064698,
0.44478461,
0.43888712,
0.43276626,
0.42762948,
0.42224171,
0.41605117,
0.40917872,
0.40313838,
0.39730256,
0.39142493,
0.38794282,
0.3816962,
0.3739238,
0.36896853,
0.36367058,
0.35798419,
0.35143121,
0.34463643,
0.34191017,
0.33547662,
0.32791265,
0.32278328,
0.31662117,
0.30995497,
0.30411406,
0.29799798,
0.29192721,
0.28509592,
0.27890315,
0.27693625,
0.27092158,
0.26442963,
0.25801703,
0.2511509,
0.24538735,
0.24086672,
0.2341878,
0.22749367,
0.22156672,
0.21671051,
0.21061569,
0.20468116,
0.19932243,
0.19413095,
0.18729039,
0.18083802,
0.17361171,
0.16851722,
0.16220755,
0.15658817,
0.1525704,
0.14643669,
0.14196583,
0.13441447,
0.12939197,
0.12231929,
0.11619062,
0.11247368,
0.10833651,
0.10266177,
0.09736734,
0.09013691,
0.08251311,
0.07611795,
0.07332276,
0.06598483,
0.05902394,
0.05549558,
0.04844284,
0.04574173,
0.03660353,
0.03161385,
0.02578484,
0.02213316,
0.01724319,
0.0121289,
0.00559584,
0.00180197,
0.00051404,
8.828e-05,
8.828e-05,
0.0,
0.0,
0.0,
0.0,
0.0
],
"passive": true,
"source_joint": "pinky_dip"
},
"ring_dip": {
"motor_index": 18,
"angle_rad": [
1.4318366,
1.427562,
1.4232874,
1.4190128,
1.4147382,
1.4104636,
1.40667184,
1.40149299,
1.3957981,
1.38803023,
1.38272427,
1.37380576,
1.36860032,
1.36091431,
1.35392215,
1.34838751,
1.34355227,
1.3349465,
1.32847157,
1.32236228,
1.31355903,
1.30580375,
1.29972554,
1.29604502,
1.28990443,
1.2829519,
1.27750354,
1.27057562,
1.26612201,
1.2587901,
1.25301197,
1.24901323,
1.24206227,
1.2350419,
1.22555114,
1.22098531,
1.21518487,
1.21014936,
1.20199322,
1.19683728,
1.19121974,
1.18481698,
1.17831903,
1.16994961,
1.16876125,
1.16084221,
1.1534102,
1.14590971,
1.14213764,
1.13463045,
1.12886152,
1.12334217,
1.11836976,
1.11406005,
1.10864918,
1.10234177,
1.09504182,
1.08948032,
1.08373986,
1.07822233,
1.07093145,
1.06557895,
1.06128314,
1.0541769,
1.04663648,
1.04088294,
1.03612854,
1.03363813,
1.02807173,
1.02185829,
1.01580183,
1.00995774,
1.00406178,
0.99812152,
0.99137739,
0.98815652,
0.98148567,
0.97412322,
0.96717279,
0.96301452,
0.95792293,
0.95320622,
0.94923964,
0.94308959,
0.93704916,
0.93139428,
0.92508093,
0.9199069,
0.91162912,
0.90321525,
0.90190821,
0.89725721,
0.89065098,
0.88285216,
0.87795982,
0.87202336,
0.86688732,
0.86244407,
0.85739554,
0.85097532,
0.84660094,
0.83962354,
0.83355334,
0.82827571,
0.82043201,
0.81760272,
0.81442068,
0.80832536,
0.79981059,
0.79430256,
0.78782279,
0.78314372,
0.77906372,
0.77399075,
0.76775068,
0.76158256,
0.75577895,
0.74990252,
0.74195084,
0.73763158,
0.73385594,
0.72840736,
0.72108825,
0.71569089,
0.70745291,
0.70329222,
0.69785946,
0.68972655,
0.6868866,
0.68229596,
0.67848817,
0.67077151,
0.66659658,
0.6618122,
0.65467413,
0.64952731,
0.64315703,
0.63597901,
0.62883377,
0.62352093,
0.61770539,
0.61248187,
0.60780051,
0.60154037,
0.59542416,
0.58988131,
0.58489492,
0.578029,
0.57139298,
0.56864851,
0.56227742,
0.55616338,
0.54965142,
0.54466794,
0.53739797,
0.53289622,
0.52599358,
0.52053567,
0.51569144,
0.50995811,
0.5044624,
0.50000183,
0.49353764,
0.4870696,
0.48042092,
0.47390086,
0.47120251,
0.46361899,
0.45693122,
0.45064698,
0.44478461,
0.43888712,
0.43276626,
0.42762948,
0.42224171,
0.41605117,
0.40917872,
0.40313838,
0.39730256,
0.39142493,
0.38794282,
0.3816962,
0.3739238,
0.36896853,
0.36367058,
0.35798419,
0.35143121,
0.34463643,
0.34191017,
0.33547662,
0.32791265,
0.32278328,
0.31662117,
0.30995497,
0.30411406,
0.29799798,
0.29192721,
0.28509592,
0.27890315,
0.27693625,
0.27092158,
0.26442963,
0.25801703,
0.2511509,
0.24538735,
0.24086672,
0.2341878,
0.22749367,
0.22156672,
0.21671051,
0.21061569,
0.20468116,
0.19932243,
0.19413095,
0.18729039,
0.18083802,
0.17361171,
0.16851722,
0.16220755,
0.15658817,
0.1525704,
0.14643669,
0.14196583,
0.13441447,
0.12939197,
0.12231929,
0.11619062,
0.11247368,
0.10833651,
0.10266177,
0.09736734,
0.09013691,
0.08251311,
0.07611795,
0.07332276,
0.06598483,
0.05902394,
0.05549558,
0.04844284,
0.04574173,
0.03660353,
0.03161385,
0.02578484,
0.02213316,
0.01724319,
0.0121289,
0.00559584,
0.00180197,
0.00051404,
8.828e-05,
8.828e-05,
0.0,
0.0,
0.0,
0.0,
0.0
],
"passive": true,
"source_joint": "pinky_dip"
},
"pinky_dip": {
"motor_index": 19,
"angle_rad": [
1.4318366,
1.427562,
1.4232874,
1.4190128,
1.4147382,
1.4104636,
1.40667184,
1.40149299,
1.3957981,
1.38803023,
1.38272427,
1.37380576,
1.36860032,
1.36091431,
1.35392215,
1.34838751,
1.34355227,
1.3349465,
1.32847157,
1.32236228,
1.31355903,
1.30580375,
1.29972554,
1.29604502,
1.28990443,
1.2829519,
1.27750354,
1.27057562,
1.26612201,
1.2587901,
1.25301197,
1.24901323,
1.24206227,
1.2350419,
1.22555114,
1.22098531,
1.21518487,
1.21014936,
1.20199322,
1.19683728,
1.19121974,
1.18481698,
1.17831903,
1.16994961,
1.16876125,
1.16084221,
1.1534102,
1.14590971,
1.14213764,
1.13463045,
1.12886152,
1.12334217,
1.11836976,
1.11406005,
1.10864918,
1.10234177,
1.09504182,
1.08948032,
1.08373986,
1.07822233,
1.07093145,
1.06557895,
1.06128314,
1.0541769,
1.04663648,
1.04088294,
1.03612854,
1.03363813,
1.02807173,
1.02185829,
1.01580183,
1.00995774,
1.00406178,
0.99812152,
0.99137739,
0.98815652,
0.98148567,
0.97412322,
0.96717279,
0.96301452,
0.95792293,
0.95320622,
0.94923964,
0.94308959,
0.93704916,
0.93139428,
0.92508093,
0.9199069,
0.91162912,
0.90321525,
0.90190821,
0.89725721,
0.89065098,
0.88285216,
0.87795982,
0.87202336,
0.86688732,
0.86244407,
0.85739554,
0.85097532,
0.84660094,
0.83962354,
0.83355334,
0.82827571,
0.82043201,
0.81760272,
0.81442068,
0.80832536,
0.79981059,
0.79430256,
0.78782279,
0.78314372,
0.77906372,
0.77399075,
0.76775068,
0.76158256,
0.75577895,
0.74990252,
0.74195084,
0.73763158,
0.73385594,
0.72840736,
0.72108825,
0.71569089,
0.70745291,
0.70329222,
0.69785946,
0.68972655,
0.6868866,
0.68229596,
0.67848817,
0.67077151,
0.66659658,
0.6618122,
0.65467413,
0.64952731,
0.64315703,
0.63597901,
0.62883377,
0.62352093,
0.61770539,
0.61248187,
0.60780051,
0.60154037,
0.59542416,
0.58988131,
0.58489492,
0.578029,
0.57139298,
0.56864851,
0.56227742,
0.55616338,
0.54965142,
0.54466794,
0.53739797,
0.53289622,
0.52599358,
0.52053567,
0.51569144,
0.50995811,
0.5044624,
0.50000183,
0.49353764,
0.4870696,
0.48042092,
0.47390086,
0.47120251,
0.46361899,
0.45693122,
0.45064698,
0.44478461,
0.43888712,
0.43276626,
0.42762948,
0.42224171,
0.41605117,
0.40917872,
0.40313838,
0.39730256,
0.39142493,
0.38794282,
0.3816962,
0.3739238,
0.36896853,
0.36367058,
0.35798419,
0.35143121,
0.34463643,
0.34191017,
0.33547662,
0.32791265,
0.32278328,
0.31662117,
0.30995497,
0.30411406,
0.29799798,
0.29192721,
0.28509592,
0.27890315,
0.27693625,
0.27092158,
0.26442963,
0.25801703,
0.2511509,
0.24538735,
0.24086672,
0.2341878,
0.22749367,
0.22156672,
0.21671051,
0.21061569,
0.20468116,
0.19932243,
0.19413095,
0.18729039,
0.18083802,
0.17361171,
0.16851722,
0.16220755,
0.15658817,
0.1525704,
0.14643669,
0.14196583,
0.13441447,
0.12939197,
0.12231929,
0.11619062,
0.11247368,
0.10833651,
0.10266177,
0.09736734,
0.09013691,
0.08251311,
0.07611795,
0.07332276,
0.06598483,
0.05902394,
0.05549558,
0.04844284,
0.04574173,
0.03660353,
0.03161385,
0.02578484,
0.02213316,
0.01724319,
0.0121289,
0.00559584,
0.00180197,
0.00051404,
8.828e-05,
8.828e-05,
0.0,
0.0,
0.0,
0.0,
0.0
],
"passive": true
}
},
"quality": {
"passed": true,
"validation_mae_rad": 0.00292613,
"validation_p95_rad": 0.00771534
}
}