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Organize hand models and launchers; use linear active joint mapping

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sunxianghui
2026-09-28 11:05:30 +08:00
parent 325dff6870
commit 01c9aa5c7a
712 changed files with 205077 additions and 6209 deletions
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assets/exports/O30_V10_left_right/commands.json
+281
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{
"asset_version": "V10",
"command_topic": "/cb_left_hand_control_cmd",
"command_units": "SDK 0..255; send sdk_command, not left_ros_radians",
"sdk_joint_order": [
"thumb_cmc_roll",
"thumb_cmc_yaw",
"index_mcp_roll",
"middle_mcp_roll",
"ring_mcp_roll",
"pinky_mcp_roll",
"thumb_mcp",
"index_mcp_pitch",
"middle_mcp_pitch",
"ring_mcp_pitch",
"pinky_mcp_pitch",
"index_pip",
"middle_pip",
"ring_pip",
"pinky_pip",
"thumb_ip",
"index_dip",
"middle_dip",
"ring_dip",
"pinky_dip"
],
"left_ros_order": [
"thumb_cmc_roll",
"thumb_cmc_yaw",
"thumb_mcp",
"thumb_ip",
"index_mcp_roll",
"index_mcp_pitch",
"index_pip",
"index_dip",
"middle_mcp_roll",
"middle_mcp_pitch",
"middle_pip",
"middle_dip",
"ring_mcp_roll",
"ring_mcp_pitch",
"ring_pip",
"ring_dip",
"pinky_mcp_roll",
"pinky_mcp_pitch",
"pinky_pip",
"pinky_dip"
],
"pinches": {
"index": {
"sdk_command": [
55,
181,
225,
176,
212,
162,
135,
164,
0,
0,
0,
139,
0,
0,
0,
0,
0,
0,
0,
0
],
"left_ros_radians": [
0.18813577840372547,
1.4396582597857257,
1.0277351056058823,
0.0,
-0.09370641027822224,
1.11587286439394,
0.8020369133142686,
0.0,
-0.056923250644910384,
0.0,
0.0,
0.0,
0.20105220210793762,
0.0,
0.0,
0.0,
0.17710860883550222,
0.0,
0.0,
0.0
]
},
"middle": {
"sdk_command": [
137,
166,
225,
176,
212,
162,
174,
0,
78,
0,
0,
139,
216,
0,
0,
0,
0,
79,
0,
0
],
"left_ros_radians": [
0.468629120751098,
1.3203495642233727,
1.3246363583364706,
0.0,
-0.09370641027822224,
0.0,
0.8020369133142686,
0.0,
-0.056923250644910384,
0.4851377064829213,
1.3475198126296868,
0.49499464386611763,
0.20105220210793762,
0.0,
0.0,
0.0,
0.17710860883550222,
0.0,
0.0,
0.0
]
},
"ring": {
"sdk_command": [
255,
172,
169,
169,
162,
170,
143,
0,
0,
140,
0,
0,
0,
172,
0,
0,
0,
0,
61,
0
],
"left_ros_radians": [
0.87226588169,
1.3680730424483138,
1.0886379266788235,
0.0,
-0.16919281483119805,
0.0,
0.0,
0.0,
-0.07162232590335149,
0.0,
0.0,
0.0,
0.09967196576172593,
0.8531488605184314,
1.07031189749349,
0.3765771849929412,
0.18856088581503322,
0.0,
0.0,
0.0
]
},
"pinky": {
"sdk_command": [
101,
255,
169,
169,
162,
170,
98,
0,
0,
0,
166,
0,
0,
0,
150,
52,
0,
0,
0,
107
],
"left_ros_radians": [
0.3454857021595686,
2.02824782456,
0.7460595581435294,
0.32699495581089144,
-0.16919281483119805,
0.0,
0.0,
0.0,
-0.07162232590335149,
0.0,
0.0,
0.0,
0.09967196576172593,
0.0,
0.0,
0.0,
0.18856088581503322,
1.136714936245495,
0.9274665849352941,
0.6655254905272548
]
}
},
"zero": {
"sdk_command": [
0,
0,
255,
197,
110,
28,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0,
0
],
"left_ros_radians": [
0.0,
0.0,
0.0,
0.0,
-0.053267264981985196,
0.0,
0.0,
0.0,
-0.012826024869587227,
0.0,
0.0,
0.0,
-0.00576348003833424,
0.0,
0.0,
0.0,
-0.014717030571641594,
0.0,
0.0,
0.0
]
}
}