Organize hand models and launchers; use linear active joint mapping

2026-09-28 11:05:30 +08:00
parent 325dff6870
commit 01c9aa5c7a
712 changed files with 205077 additions and 6209 deletions
@@ -0,0 +1,33 @@
+{
+  "commands": 37,
+  "max_mirror_position_error_m": 0.0,
+  "max_mirror_rotation_error": 0.0,
+  "max_runtime_pose_error": 1.833602714107485e-14,
+  "contacts": [
+    {
+      "finger": "index",
+      "right_gap_mm": -0.000126303898665965,
+      "left_gap_mm": -0.00012630389866754953,
+      "runtime_left_gap_mm": -0.00012630389910024724
+    },
+    {
+      "finger": "middle",
+      "right_gap_mm": 0.020000402670061167,
+      "left_gap_mm": 0.020000402670061167,
+      "runtime_left_gap_mm": 0.020000402670048555
+    },
+    {
+      "finger": "ring",
+      "right_gap_mm": 0.0,
+      "left_gap_mm": 0.0,
+      "runtime_left_gap_mm": 0.0
+    },
+    {
+      "finger": "pinky",
+      "right_gap_mm": 0.020000643267029144,
+      "left_gap_mm": 0.020000643267029144,
+      "runtime_left_gap_mm": 0.020000643267029144
+    }
+  ],
+  "mirrored_inertia": true
+}