From 325dff6870e446889d8d3ed9e457b9ccf77b9dea Mon Sep 17 00:00:00 2001
From: sunxianghui <283292396@qq.com>
Date: Fri, 7 Aug 2026 09:49:55 +0800
Subject: [PATCH] Add G20 calibration assets, L20 compare, and refresh README.
Sync calibrated G20 URDF/MJCF/JSON lookup, L20 V10.1 dual-compare scripts,
joint GUI, and document O6/G20/L20 startup on the Gitea repo.
Co-authored-by: Cursor
---
.gitignore | 13 +
README.md | 346 +-
README_启动.md | 287 +-
run_dual_mujoco_compare.sh | 62 +
run_g20_joint_gui.sh | 25 +
.../g20_joint_monitor_gui.py | 238 +
.../g20_plan_bridge.py | 91 +-
.../g20_left_G20_LEFT_001_calibration(1).json | 5575 +++++++++++++++++
.../g20_left_G20_LEFT_001_calibration(3).json | 5575 +++++++++++++++++
.../g20_left_G20_LEFT_001_calibration.json | 5575 +++++++++++++++++
.../linker_hand_g20_left.xml | 110 +-
.../linkerhand_g20_left.urdf | 113 +-
...20_left_calibrated_20260805_165056_v2.urdf | 1303 ++++
...20_left_calibrated_20260805_165056_v3.urdf | 1305 ++++
...roll_table_calibrated_20260731_171909.urdf | 1328 ++++
...roll_table_calibrated_20260731_184152.urdf | 1328 ++++
...trajectory_table_zero_20260730_162856.urdf | 1330 ++++
..._left_zero_calibrated_20260805_114742.urdf | 688 ++
..._left_zero_calibrated_20260805_154156.urdf | 689 ++
...ft_zero_calibrated_20260805_165056(1).urdf | 688 ++
...ft_zero_calibrated_20260805_165056(3).urdf | 706 +++
...ft_zero_calibrated_20260805_165056(4).urdf | 712 +++
..._left_zero_calibrated_20260805_165056.urdf | 688 ++
...calibrated_from_calibration4_20260806.urdf | 658 ++
...ted_from_calibration4_strict_20260806.urdf | 1298 ++++
..._calibration4_yaw_pitch_tune_20260806.urdf | 662 ++
...ted_from_calibration4_yawfix_20260806.urdf | 660 ++
.../linker_hand_l20v101_left.xml | 228 +
.../linkerhand_L20v10.1_left.urdf | 1429 +++++
.../meshes/hand_base_link.STL | Bin 0 -> 3504384 bytes
.../meshes/index_distal.STL | Bin 0 -> 993184 bytes
.../meshes/index_metacarpals.STL | Bin 0 -> 153484 bytes
.../meshes/index_middle.STL | Bin 0 -> 732584 bytes
.../meshes/index_proximal.STL | Bin 0 -> 881084 bytes
.../meshes/middle_distal.STL | Bin 0 -> 993184 bytes
.../meshes/middle_metacarpals.STL | Bin 0 -> 153484 bytes
.../meshes/middle_middle.STL | Bin 0 -> 732584 bytes
.../meshes/middle_proximal.STL | Bin 0 -> 881084 bytes
.../meshes/pinky_distal.STL | Bin 0 -> 993184 bytes
.../meshes/pinky_metacarpals.STL | Bin 0 -> 153484 bytes
.../meshes/pinky_middle.STL | Bin 0 -> 732584 bytes
.../meshes/pinky_proximal.STL | Bin 0 -> 881084 bytes
.../meshes/ring_distal.STL | Bin 0 -> 993184 bytes
.../meshes/ring_metacarpals.STL | Bin 0 -> 153484 bytes
.../meshes/ring_middle.STL | Bin 0 -> 732584 bytes
.../meshes/ring_proximal.STL | Bin 0 -> 881084 bytes
.../meshes/thumb_distal.STL | Bin 0 -> 1115884 bytes
.../meshes/thumb_metacarpals.STL | Bin 0 -> 1074384 bytes
.../meshes/thumb_metacarpals_base1.STL | Bin 0 -> 778384 bytes
.../meshes/thumb_metacarpals_base2.STL | Bin 0 -> 227384 bytes
.../meshes/thumb_proximal.STL | Bin 0 -> 689584 bytes
.../utils/g20_joints.py | 319 +-
.../linker_hand_mujoco_ros2/setup.py | 1 +
53 files changed, 33379 insertions(+), 651 deletions(-)
create mode 100755 run_dual_mujoco_compare.sh
create mode 100755 run_g20_joint_gui.sh
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(3).json
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v2.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v3.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_171909.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_184152.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_trajectory_table_zero_20260730_162856.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_114742.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_154156.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(1).urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(3).urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(4).urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_20260806.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_strict_20260806.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yaw_pitch_tune_20260806.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yawfix_20260806.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/hand_base_link.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/index_distal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/index_metacarpals.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/index_middle.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/index_proximal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/middle_distal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/middle_metacarpals.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/middle_middle.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/middle_proximal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/pinky_distal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/pinky_metacarpals.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/pinky_middle.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/pinky_proximal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/ring_distal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/ring_metacarpals.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/ring_middle.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/ring_proximal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/thumb_distal.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/thumb_metacarpals.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/thumb_metacarpals_base1.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/thumb_metacarpals_base2.STL
create mode 100644 src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/thumb_proximal.STL
diff --git a/.gitignore b/.gitignore
index 59c0593..4e57108 100644
--- a/.gitignore
+++ b/.gitignore
@@ -25,3 +25,16 @@ dist/
# Experiment outputs (regenerable)
reports/
tools/reports/
+
+# Runtime / local junk
+MUJOCO_LOG.TXT
+**/MUJOCO_LOG.TXT
+
+# Local backup / intermediate calibration dumps (keep named releases, drop *.bak*)
+*.bak
+*.bak_*
+**/*.bak
+**/*.bak_*
+**/*.urdf.bak*
+**/*.xml.bak*
+**/*.json.bak*
diff --git a/README.md b/README.md
index 791266f..b57651b 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,22 @@
-# LinkerHand O6 MuJoCo(ROS2)启动说明
+# Mujoco LinkerBot(ROS 2)
-本机跑 MuJoCo 左手仿真,可用本机或另一台电脑通过 ROS2 话题控制。
+Linker Hand 的 MuJoCo + ROS 2 仿真工作区。支持:
+
+- **O6**:经典 6 通道 0~255 控制(launch)
+- **G20 左手**:PLAN 桥接、标定查表、MJCF/URDF 零位同步
+- **L20 V10.1 左手**:与 G20 双窗对比
+- 关节弧度监视 GUI、曲线录制与实验脚本
+
+远程仓库:
---
## 环境要求
- Ubuntu + ROS 2 **Jazzy**
-- 工作区路径:`~/linker_hand_mujoco_ros2`
-- Python 依赖在 `venv` 中(含 `mujoco`、`PyQt5`)
-- **注意**:`ros2 launch` 使用系统 `/usr/bin/python3`,仅 `source venv` **不够**,需用下文的启动脚本或设置 `PYTHONPATH`
+- 工作区路径示例:`~/linker_hand_mujoco_ros2`
+- Python 依赖在本地 `venv`(含 `mujoco` 等;**不要**把 `venv` 提交进仓库)
+- `ros2 launch` 使用系统 Python,仅 `source venv` 不够,请用仓库里的启动脚本(会把 `venv/site-packages` 加入 `PYTHONPATH`)
---
@@ -22,53 +29,19 @@ colcon build --symlink-install --packages-select linker_hand_mujoco_ros2
source install/setup.bash
```
-`venv` 目录已放 `COLCON_IGNORE`,不会被 colcon 误扫。
+`venv/` 已放 `COLCON_IGNORE`,不会被 colcon 误扫。
---
-## 二、本机启动仿真(推荐)
+## 二、O6 仿真(原有流程)
```bash
-cd ~/linker_hand_mujoco_ros2
./run_sim.sh
```
-脚本会自动:
-
-- `source` ROS2 与本工作区
-- `ROS_DOMAIN_ID=30`,`ROS_LOCALHOST_ONLY=0`(便于多机)
-- 把 `venv` 的 `site-packages` 加入 `PYTHONPATH`(解决找不到 `mujoco`)
-
-成功后应出现:
-
-1. MuJoCo 3D 窗口(左手 O6)
-2. Joint 进度条窗口(实时关节角)
-
-### 手动启动(等效)
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-source /opt/ros/jazzy/setup.bash
-source install/setup.bash
-export PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH"
-ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py
-```
-
-当前 launch 默认:
-
-| 参数 | 值 |
-|------|-----|
-| `hand_type` | `left` |
-| `hand_joint` | `O6` |
-| 控制话题 | `/cb_left_hand_control_cmd` |
-
----
-
-## 三、控制话题说明
-
-- 话题:`/cb_left_hand_control_cmd`
+- 控制话题:`/cb_left_hand_control_cmd`
- 类型:`sensor_msgs/msg/JointState`
-- `position`:**6 个数**,范围约 **0–255**
+- `position`:6 个数,约 **0~255**(**255≈张开,0≈握紧**)
| 索引 | 含义 |
|------|------|
@@ -79,9 +52,119 @@ ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py
| 4 | 无名指弯曲 |
| 5 | 小指弯曲 |
-约定(当前映射):约 **255 = 张开,0 = 握紧**。远指节由 mimic 跟随近指节。
+更多 O6 / 多机 DDS / 曲线录制说明见下文「附录:O6 与多机」。
-### 本机发一帧(握拳示例)
+---
+
+## 三、G20 左手仿真(推荐)
+
+### 3.1 一键启动
+
+```bash
+./run_g20_mujoco_plan.sh
+```
+
+默认行为:
+
+| 项 | 值 |
+|----|-----|
+| 模型 | `urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml` |
+| 控制话题 | `/g20/cb_left_hand_control_cmd` |
+| 状态话题 | `/sim/mujoco/g20/left/joint_state` |
+| 指令 | 20 维 0~255(与真机 SDK 通道对齐) |
+| 映射 | 标定 JSON 查表 + URDF 被动 mimic |
+| 速度 | 约 1.35× 墙钟,可用 `--speed` / `--slew-rad-s` 调整 |
+
+常用参数示例:
+
+```bash
+./run_g20_mujoco_plan.sh --speed 1.0
+./run_g20_mujoco_plan.sh --cmd-topic /g20/cb_left_hand_control_cmd
+./run_g20_mujoco_plan.sh --mapping g20_calibrated
+```
+
+### 3.2 关节弧度 GUI
+
+```bash
+./run_g20_joint_gui.sh
+```
+
+默认订阅 `/sim/mujoco/g20/left/joint_state`,按手指分组显示 hinge 弧度(默认 6 位小数)。
+
+### 3.3 G20 + L20 双窗对比
+
+```bash
+./run_dual_mujoco_compare.sh
+```
+
+- 左窗:当前标定 **G20**(`g20_calibrated`)
+- 右窗:**L20 V10.1** 原版 URDF 映射(`l20_urdf`,默认关 collision project,避免自碰卡住)
+- 共用同一条 0~255 控制话题(默认 `/g20/cb_left_hand_control_cmd`)
+
+---
+
+## 四、标定与模型文件(G20)
+
+目录:
+
+`src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/`
+
+| 文件 | 说明 |
+|------|------|
+| `linkerhand_g20_left.urdf` | 当前使用的 URDF(含投影零位修正) |
+| `linker_hand_g20_left.xml` | 当前使用的 MJCF(与 URDF 原点/限位同步) |
+| `g20_left_G20_LEFT_001_calibration.json` | 运行时 0~255→弧度查表(schema 3) |
+| `meshes/` | 网格 |
+
+映射实现:`utils/g20_joints.py`
+
+要点:
+
+1. **主动关节**:用标定 JSON 的 `angle_rad[0..255]` 查表。
+2. **零位**:用 `zero_angles.table_projected_zero_rad` 相对夹具参考修正 URDF/MJCF `origin`(相机投影零位,非完整外参优化)。
+3. **被动关节**:`thumb_ip`、四指 DIP 走 URDF mimic;JSON 里 `thumb_ip` 是累计投影角,**不能**直接当相对关节角。
+4. **四指侧摆**:运行时符号与真机约定见 `G20_FLIP_JOINT_SIGN`。
+
+当前已知:张开大姿态已基本对齐;拇指 CMC 零位仍可能有小量前探/拧向残差。更稳妥的做法是解耦重测三个 CMC 投影零位,或导出 TAG 全位姿后做原点优化,而不是肉眼加减角度。
+
+---
+
+## 五、主要源码入口
+
+| 路径 | 说明 |
+|------|------|
+| `linker_hand_mujoco_ros2/g20_plan_bridge.py` | G20/L20 MuJoCo PLAN 桥 |
+| `linker_hand_mujoco_ros2/g20_joint_monitor_gui.py` | 关节弧度监视 GUI |
+| `linker_hand_mujoco_ros2/utils/g20_joints.py` | G20 标定查表与映射 |
+| `launch/linker_hand_mujoco_ros2.launch.py` | O6 launch |
+| `urdf/O6/` | O6 MJCF |
+| `urdf/G20/` | G20 URDF/MJCF + 标定 |
+| `urdf/L20_V10.1/` | L20 V10.1 URDF/MJCF |
+| `tools/` | 曲线录制、实验脚本 |
+
+Console 入口(`setup.py`):`g20_plan_bridge`、`g20_joint_monitor_gui` 等。
+
+---
+
+## 六、克隆与推送
+
+```bash
+git clone https://gitea.robotquan.com/sunxianghui/mujoco_linkerbot.git
+cd mujoco_linkerbot
+# 自建 venv 并安装 mujoco 等依赖后,再 colcon build
+```
+
+本仓库 `origin` 指向上述 Gitea 地址。提交后:
+
+```bash
+git push -u origin main
+```
+
+---
+
+## 附录:O6 与多机
+
+### 本机发一帧(O6 握拳示例)
```bash
source /opt/ros/jazzy/setup.bash
@@ -97,187 +180,36 @@ ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
}"
```
-张开:
+### 两台电脑共用 ROS 2
-```bash
-ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
- header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
- name: [],
- position: [255.0, 255.0, 255.0, 255.0, 255.0, 255.0],
- velocity: [],
- effort: []
-}"
-```
-
----
-
-## 四、两台电脑共用 ROS2
-
-ROS2 **没有** ROS1 的 `roscore`。两边约定同一个 Domain 即可。
-
-### 两边都设置
+两边约定同一 Domain:
```bash
export ROS_DOMAIN_ID=30
export ROS_LOCALHOST_ONLY=0
```
-### 电脑 A:仿真机
+仿真机跑 `./run_sim.sh` 或 `./run_g20_mujoco_plan.sh`;控制机 `ros2 topic list` / `hz` / `echo` 检查。
-```bash
-cd ~/linker_hand_mujoco_ros2
-./run_sim.sh
-```
-
-### 电脑 B:控制机(发指令 / handretarget / SDK)
+### 通用曲线录制
```bash
source /opt/ros/jazzy/setup.bash
export ROS_DOMAIN_ID=30
export ROS_LOCALHOST_ONLY=0
-
-# 确认话题与收发端
-ros2 topic list
-ros2 topic info /cb_left_hand_control_cmd -v
-```
-
-`topic info -v` 中应能看到:
-
-- **Publisher**:例如 `handretarget_node`
-- **Subscription**:至少包含 `linker_hand_mujoco_ros2_node`
-
-### 查是否真的在发数据
-
-有 Publisher ≠ 正在发数据。请用:
-
-```bash
-ros2 topic hz /cb_left_hand_control_cmd
-ros2 topic echo /cb_left_hand_control_cmd
-```
-
-- `hz` 无输出 → 对端没在 publish
-- `echo --once` 会一直等到有一帧;无数据时像卡住,优先用上面两条
-
-### 跨机能看见话题但收不到数据时
-
-1. 确认两边 `ROS_DOMAIN_ID`、`ROS_LOCALHOST_ONLY=0` 一致,并重启节点
-2. 互相 `ping` 通;尽量同一网段 / 有线;关闭路由器 **AP 隔离**
-3. 本机 `ufw` 可先确认:`sudo ufw status`(不活动则不是防火墙)
-4. 需要时可配置 CycloneDDS 静态 Peer(两边 IP 写入 `~/cyclonedds.xml`),然后:
-
-```bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI=file://$HOME/cyclonedds.xml
-```
-
----
-
-## 五、常用自检命令
-
-```bash
-# 节点是否在
-ros2 node list
-
-# 话题列表(仿真未启动时可能还没有 /cb_left_hand_control_cmd)
-ros2 topic list
-
-# 订阅/发布数量与节点名
-ros2 topic info /cb_left_hand_control_cmd -v
-
-# 频率 / 内容
-ros2 topic hz /cb_left_hand_control_cmd
-ros2 topic echo /cb_left_hand_control_cmd
-```
-
----
-
-## 六、常见问题
-
-### `ModuleNotFoundError: No module named 'mujoco'`
-
-`ros2 launch` 没用到 venv。请用:
-
-```bash
-./run_sim.sh
-```
-
-或设置 `PYTHONPATH`(见上文「手动启动」)。
-
-### `topic list` 只有 `/rosout`,没有左手话题
-
-仿真节点未运行。先 `./run_sim.sh`,再 `ros2 topic list`。
-
-### 改左右手
-
-编辑:
-
-`src/linkerhand-sim/linker_hand_mujoco_ros2/launch/linker_hand_mujoco_ros2.launch.py`
-
-- 左手:`hand_type: 'left'` → 话题 `/cb_left_hand_control_cmd`
-- 右手:`hand_type: 'right'` → 话题 `/cb_right_hand_control_cmd`
-
-改完后若未用 symlink,再执行一次 `colcon build --symlink-install`。
-
----
-
-## 七、通用曲线录制(仿真 / 真机同一套话题)
-
-**只传一个文件给对端即可:**
-
-`tools/hand_curve_recorder_standalone.py`
-
-两边都要:已 `source` ROS2、`numpy`、`matplotlib`。
-
-```bash
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-# 仿真端
python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim
-
-# 真机端(把该 py 拷过去后)
-python3 hand_curve_recorder_standalone.py --hand left --channel 3 --label real
```
-对端发 `/cb_left_hand_control_cmd`;本机 **Ctrl+C** → `reports/hand_curves/` 下生成 csv + 三曲线图。
+### 常见问题
-默认还订 `/cb_left_hand_state`(`position`=0~255,`effort` 可放电流)。话题名不同时:
+**`ModuleNotFoundError: No module named 'mujoco'`**
+用 `./run_sim.sh` / `./run_g20_mujoco_plan.sh`,或手动把 `venv/lib/python3.12/site-packages` 加入 `PYTHONPATH`。
-```bash
-python3 hand_curve_recorder_standalone.py --state-topic /你的状态话题 --channel 3 --label real
-```
-
-通道:`0拇指弯 1拇指横摆 2食指 3中指 4无名指 5小指`。
+**L20 双窗对比时手不动**
+自碰投影会把目标打回;`run_dual_mujoco_compare.sh` 已对 L20 默认 `--no-collision-project`。
---
-要「ROS 发指令 + 仿真里出 q/v/τ 图」:
+## 许可与归属
-```bash
-cd ~/linker_hand_mujoco_ros2
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-# 自测:订话题 + 本地 MuJoCo + 自动发中指慢扫 + 可选 viewer
-./venv/bin/python tools/ros_mujoco_record_qvt.py \
- --hand left --finger middle --viewer --self-sweep
-
-# 对端发指令时:去掉 --self-sweep
-./venv/bin/python tools/ros_mujoco_record_qvt.py \
- --hand left --finger middle --viewer
-# Ctrl+C → reports/O6_middle_ros/*_qvt.png
-```
-
----
-
-## 八、文件与模型位置
-
-| 路径 | 说明 |
-|------|------|
-| `./run_sim.sh` | 本机一键启动 |
-| `src/.../launch/linker_hand_mujoco_ros2.launch.py` | 左右手 / 型号 |
-| `src/.../urdf/O6/` | O6 左右手 MJCF(来自 mujoco_testwork 验证模型) |
-| `src/.../utils/joint_monitor.py` | Joint 进度条 UI |
-| `venv/` | Python 依赖(勿放进 colcon 扫描,已 IGNORE) |
+包内模型与标定数据来自 Linker Hand / 本机标定流程;请按公司内部仓库规范使用与分发。
diff --git a/README_启动.md b/README_启动.md
index 791266f..63c43fc 100644
--- a/README_启动.md
+++ b/README_启动.md
@@ -1,283 +1,12 @@
-# LinkerHand O6 MuJoCo(ROS2)启动说明
+# 启动说明
-本机跑 MuJoCo 左手仿真,可用本机或另一台电脑通过 ROS2 话题控制。
+主文档已合并到仓库根目录 [README.md](./README.md),请以该文件为准。
----
+快捷入口:
-## 环境要求
-
-- Ubuntu + ROS 2 **Jazzy**
-- 工作区路径:`~/linker_hand_mujoco_ros2`
-- Python 依赖在 `venv` 中(含 `mujoco`、`PyQt5`)
-- **注意**:`ros2 launch` 使用系统 `/usr/bin/python3`,仅 `source venv` **不够**,需用下文的启动脚本或设置 `PYTHONPATH`
-
----
-
-## 一、编译(首次或改代码后)
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-source /opt/ros/jazzy/setup.bash
-colcon build --symlink-install --packages-select linker_hand_mujoco_ros2
-source install/setup.bash
-```
-
-`venv` 目录已放 `COLCON_IGNORE`,不会被 colcon 误扫。
-
----
-
-## 二、本机启动仿真(推荐)
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-./run_sim.sh
-```
-
-脚本会自动:
-
-- `source` ROS2 与本工作区
-- `ROS_DOMAIN_ID=30`,`ROS_LOCALHOST_ONLY=0`(便于多机)
-- 把 `venv` 的 `site-packages` 加入 `PYTHONPATH`(解决找不到 `mujoco`)
-
-成功后应出现:
-
-1. MuJoCo 3D 窗口(左手 O6)
-2. Joint 进度条窗口(实时关节角)
-
-### 手动启动(等效)
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-source /opt/ros/jazzy/setup.bash
-source install/setup.bash
-export PYTHONPATH="$PWD/venv/lib/python3.12/site-packages:$PYTHONPATH"
-ros2 launch linker_hand_mujoco_ros2 linker_hand_mujoco_ros2.launch.py
-```
-
-当前 launch 默认:
-
-| 参数 | 值 |
-|------|-----|
-| `hand_type` | `left` |
-| `hand_joint` | `O6` |
-| 控制话题 | `/cb_left_hand_control_cmd` |
-
----
-
-## 三、控制话题说明
-
-- 话题:`/cb_left_hand_control_cmd`
-- 类型:`sensor_msgs/msg/JointState`
-- `position`:**6 个数**,范围约 **0–255**
-
-| 索引 | 含义 |
+| 场景 | 命令 |
|------|------|
-| 0 | 拇指弯曲 |
-| 1 | 拇指横摆 |
-| 2 | 食指弯曲 |
-| 3 | 中指弯曲 |
-| 4 | 无名指弯曲 |
-| 5 | 小指弯曲 |
-
-约定(当前映射):约 **255 = 张开,0 = 握紧**。远指节由 mimic 跟随近指节。
-
-### 本机发一帧(握拳示例)
-
-```bash
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
- header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
- name: [],
- position: [0.0, 100.0, 0.0, 0.0, 0.0, 0.0],
- velocity: [],
- effort: []
-}"
-```
-
-张开:
-
-```bash
-ros2 topic pub --once /cb_left_hand_control_cmd sensor_msgs/msg/JointState "{
- header: {stamp: {sec: 0, nanosec: 0}, frame_id: ''},
- name: [],
- position: [255.0, 255.0, 255.0, 255.0, 255.0, 255.0],
- velocity: [],
- effort: []
-}"
-```
-
----
-
-## 四、两台电脑共用 ROS2
-
-ROS2 **没有** ROS1 的 `roscore`。两边约定同一个 Domain 即可。
-
-### 两边都设置
-
-```bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-```
-
-### 电脑 A:仿真机
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-./run_sim.sh
-```
-
-### 电脑 B:控制机(发指令 / handretarget / SDK)
-
-```bash
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-# 确认话题与收发端
-ros2 topic list
-ros2 topic info /cb_left_hand_control_cmd -v
-```
-
-`topic info -v` 中应能看到:
-
-- **Publisher**:例如 `handretarget_node`
-- **Subscription**:至少包含 `linker_hand_mujoco_ros2_node`
-
-### 查是否真的在发数据
-
-有 Publisher ≠ 正在发数据。请用:
-
-```bash
-ros2 topic hz /cb_left_hand_control_cmd
-ros2 topic echo /cb_left_hand_control_cmd
-```
-
-- `hz` 无输出 → 对端没在 publish
-- `echo --once` 会一直等到有一帧;无数据时像卡住,优先用上面两条
-
-### 跨机能看见话题但收不到数据时
-
-1. 确认两边 `ROS_DOMAIN_ID`、`ROS_LOCALHOST_ONLY=0` 一致,并重启节点
-2. 互相 `ping` 通;尽量同一网段 / 有线;关闭路由器 **AP 隔离**
-3. 本机 `ufw` 可先确认:`sudo ufw status`(不活动则不是防火墙)
-4. 需要时可配置 CycloneDDS 静态 Peer(两边 IP 写入 `~/cyclonedds.xml`),然后:
-
-```bash
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-export CYCLONEDDS_URI=file://$HOME/cyclonedds.xml
-```
-
----
-
-## 五、常用自检命令
-
-```bash
-# 节点是否在
-ros2 node list
-
-# 话题列表(仿真未启动时可能还没有 /cb_left_hand_control_cmd)
-ros2 topic list
-
-# 订阅/发布数量与节点名
-ros2 topic info /cb_left_hand_control_cmd -v
-
-# 频率 / 内容
-ros2 topic hz /cb_left_hand_control_cmd
-ros2 topic echo /cb_left_hand_control_cmd
-```
-
----
-
-## 六、常见问题
-
-### `ModuleNotFoundError: No module named 'mujoco'`
-
-`ros2 launch` 没用到 venv。请用:
-
-```bash
-./run_sim.sh
-```
-
-或设置 `PYTHONPATH`(见上文「手动启动」)。
-
-### `topic list` 只有 `/rosout`,没有左手话题
-
-仿真节点未运行。先 `./run_sim.sh`,再 `ros2 topic list`。
-
-### 改左右手
-
-编辑:
-
-`src/linkerhand-sim/linker_hand_mujoco_ros2/launch/linker_hand_mujoco_ros2.launch.py`
-
-- 左手:`hand_type: 'left'` → 话题 `/cb_left_hand_control_cmd`
-- 右手:`hand_type: 'right'` → 话题 `/cb_right_hand_control_cmd`
-
-改完后若未用 symlink,再执行一次 `colcon build --symlink-install`。
-
----
-
-## 七、通用曲线录制(仿真 / 真机同一套话题)
-
-**只传一个文件给对端即可:**
-
-`tools/hand_curve_recorder_standalone.py`
-
-两边都要:已 `source` ROS2、`numpy`、`matplotlib`。
-
-```bash
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-# 仿真端
-python3 tools/hand_curve_recorder_standalone.py --hand left --channel 3 --label sim
-
-# 真机端(把该 py 拷过去后)
-python3 hand_curve_recorder_standalone.py --hand left --channel 3 --label real
-```
-
-对端发 `/cb_left_hand_control_cmd`;本机 **Ctrl+C** → `reports/hand_curves/` 下生成 csv + 三曲线图。
-
-默认还订 `/cb_left_hand_state`(`position`=0~255,`effort` 可放电流)。话题名不同时:
-
-```bash
-python3 hand_curve_recorder_standalone.py --state-topic /你的状态话题 --channel 3 --label real
-```
-
-通道:`0拇指弯 1拇指横摆 2食指 3中指 4无名指 5小指`。
-
----
-
-要「ROS 发指令 + 仿真里出 q/v/τ 图」:
-
-```bash
-cd ~/linker_hand_mujoco_ros2
-source /opt/ros/jazzy/setup.bash
-export ROS_DOMAIN_ID=30
-export ROS_LOCALHOST_ONLY=0
-
-# 自测:订话题 + 本地 MuJoCo + 自动发中指慢扫 + 可选 viewer
-./venv/bin/python tools/ros_mujoco_record_qvt.py \
- --hand left --finger middle --viewer --self-sweep
-
-# 对端发指令时:去掉 --self-sweep
-./venv/bin/python tools/ros_mujoco_record_qvt.py \
- --hand left --finger middle --viewer
-# Ctrl+C → reports/O6_middle_ros/*_qvt.png
-```
-
----
-
-## 八、文件与模型位置
-
-| 路径 | 说明 |
-|------|------|
-| `./run_sim.sh` | 本机一键启动 |
-| `src/.../launch/linker_hand_mujoco_ros2.launch.py` | 左右手 / 型号 |
-| `src/.../urdf/O6/` | O6 左右手 MJCF(来自 mujoco_testwork 验证模型) |
-| `src/.../utils/joint_monitor.py` | Joint 进度条 UI |
-| `venv/` | Python 依赖(勿放进 colcon 扫描,已 IGNORE) |
+| O6 | `./run_sim.sh` |
+| G20 | `./run_g20_mujoco_plan.sh` |
+| G20 关节 GUI | `./run_g20_joint_gui.sh` |
+| G20 + L20 对比 | `./run_dual_mujoco_compare.sh` |
diff --git a/run_dual_mujoco_compare.sh b/run_dual_mujoco_compare.sh
new file mode 100755
index 0000000..38159fa
--- /dev/null
+++ b/run_dual_mujoco_compare.sh
@@ -0,0 +1,62 @@
+#!/usr/bin/env bash
+# 同时开两个 MuJoCo:当前标定 G20 + L20 V10.1 原版 URDF
+# 共用同一条 0~255 控制话题(默认 /g20/cb_left_hand_control_cmd)
+#
+# 用法:
+# ./run_dual_mujoco_compare.sh
+# ./run_dual_mujoco_compare.sh --cmd-topic /cb_left_hand_control_cmd
+# ./run_dual_mujoco_compare.sh --speed 1.0
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$ROOT"
+
+PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2"
+G20_XML="$PKG_SRC/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml"
+L20_XML="$PKG_SRC/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml"
+
+if [[ ! -f "$G20_XML" ]]; then
+ echo "[error] missing G20 MJCF: $G20_XML" >&2
+ exit 1
+fi
+if [[ ! -f "$L20_XML" ]]; then
+ echo "[error] missing L20 MJCF: $L20_XML" >&2
+ exit 1
+fi
+
+EXTRA=("$@")
+
+cleanup() {
+ [[ -n "${PID_G20:-}" ]] && kill "$PID_G20" 2>/dev/null || true
+ [[ -n "${PID_L20:-}" ]] && kill "$PID_L20" 2>/dev/null || true
+}
+trap cleanup EXIT INT TERM
+
+echo "[dual] G20 calibrated xml=$G20_XML"
+"$ROOT/run_g20_mujoco_plan.sh" \
+ --xml "$G20_XML" \
+ --node-name g20_calibrated \
+ --window-title "G20 calibrated (current)" \
+ --sim-state-topic /sim/mujoco/g20/left/joint_state \
+ --mapping g20_calibrated \
+ "${EXTRA[@]}" &
+PID_G20=$!
+
+# 错开一点,避免两个 GLFW 同时抢显示
+sleep 1
+
+echo "[dual] L20 V10.1 stock xml=$L20_XML (URDF-native mapping, no G20 corrections)"
+# L20 mesh 弯曲时自碰多,默认 collision_project 会把运动全部打回;对比时关闭。
+"$ROOT/run_g20_mujoco_plan.sh" \
+ --xml "$L20_XML" \
+ --node-name l20v101_stock \
+ --window-title "L20 V10.1 stock (URDF only)" \
+ --sim-state-topic /sim/mujoco/l20v101/left/joint_state \
+ --mapping l20_urdf \
+ --no-collision-project \
+ "${EXTRA[@]}" &
+PID_L20=$!
+
+echo "[dual] both started. same cmd topic (default /g20/cb_left_hand_control_cmd)."
+echo "[dual] L20: collision_project=off (mesh self-overlap would freeze motion)."
+echo "[dual] Ctrl+C stops both."
+wait "$PID_G20" "$PID_L20"
diff --git a/run_g20_joint_gui.sh b/run_g20_joint_gui.sh
new file mode 100755
index 0000000..f5c3f7b
--- /dev/null
+++ b/run_g20_joint_gui.sh
@@ -0,0 +1,25 @@
+#!/usr/bin/env bash
+# G20 关节弧度监视 GUI(默认 6 位小数)
+# 订阅 /sim/mujoco/g20/left/joint_state
+set -eo pipefail
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$ROOT"
+
+set +u
+# shellcheck disable=SC1091
+source /opt/ros/jazzy/setup.bash
+if [[ -f "$ROOT/install/setup.bash" ]]; then
+ # shellcheck disable=SC1091
+ source "$ROOT/install/setup.bash"
+fi
+set -u
+
+VENV_SITE="$ROOT/venv/lib/python3.12/site-packages"
+if [[ -d "$VENV_SITE" ]]; then
+ export PYTHONPATH="$VENV_SITE${PYTHONPATH:+:$PYTHONPATH}"
+fi
+
+PKG_SRC="$ROOT/src/linkerhand-sim/linker_hand_mujoco_ros2"
+export PYTHONPATH="$PKG_SRC${PYTHONPATH:+:$PYTHONPATH}"
+
+exec python3 -m linker_hand_mujoco_ros2.g20_joint_monitor_gui "$@"
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py
new file mode 100644
index 0000000..316bc15
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_joint_monitor_gui.py
@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: Apache-2.0
+"""G20 关节弧度监视 GUI(比 MuJoCo 面板更高精度)。
+
+默认订阅 /sim/mujoco/g20/left/joint_state,显示每个 hinge 的弧度(默认 6 位小数)。
+"""
+
+from __future__ import annotations
+
+import argparse
+import threading
+import tkinter as tk
+from tkinter import ttk
+
+from linker_hand_mujoco_ros2.utils.g20_joints import G20_MIMIC_OF
+
+DEFAULT_TOPIC = "/sim/mujoco/g20/left/joint_state"
+DEFAULT_DIGITS = 6
+UI_HZ = 20.0
+
+# 按手指分组,方便对照标定
+JOINT_GROUPS: tuple[tuple[str, tuple[str, ...]], ...] = (
+ (
+ "Thumb",
+ (
+ "thumb_cmc_roll",
+ "thumb_cmc_yaw",
+ "thumb_cmc_pitch",
+ "thumb_mcp",
+ "thumb_ip",
+ ),
+ ),
+ (
+ "Index",
+ (
+ "index_mcp_roll",
+ "index_mcp_pitch",
+ "index_pip",
+ "index_dip",
+ ),
+ ),
+ (
+ "Middle",
+ (
+ "middle_mcp_roll",
+ "middle_mcp_pitch",
+ "middle_pip",
+ "middle_dip",
+ ),
+ ),
+ (
+ "Ring",
+ (
+ "ring_mcp_roll",
+ "ring_mcp_pitch",
+ "ring_pip",
+ "ring_dip",
+ ),
+ ),
+ (
+ "Pinky",
+ (
+ "pinky_mcp_roll",
+ "pinky_mcp_pitch",
+ "pinky_pip",
+ "pinky_dip",
+ ),
+ ),
+)
+
+
+def parse_args() -> argparse.Namespace:
+ p = argparse.ArgumentParser(description="G20 joint radian monitor GUI")
+ p.add_argument("--topic", default=DEFAULT_TOPIC, help="JointState 话题")
+ p.add_argument(
+ "--digits",
+ type=int,
+ default=DEFAULT_DIGITS,
+ help=f"小数位数(默认 {DEFAULT_DIGITS})",
+ )
+ return p.parse_args()
+
+
+class JointMonitorGui:
+ def __init__(self, topic: str, digits: int) -> None:
+ self.topic = topic
+ self.digits = max(2, int(digits))
+ self._lock = threading.Lock()
+ self._latest: dict[str, float] = {}
+ self._stamp_text = "waiting..."
+ self._msg_count = 0
+
+ self.root = tk.Tk()
+ self.root.title(f"G20 Joint Radians · {topic}")
+ self.root.geometry("520x720")
+ self.root.minsize(420, 480)
+
+ style = ttk.Style(self.root)
+ if "clam" in style.theme_names():
+ style.theme_use("clam")
+
+ top = ttk.Frame(self.root, padding=8)
+ top.pack(fill=tk.X)
+ self.status = ttk.Label(top, text=f"topic: {topic} | {self._stamp_text}")
+ self.status.pack(anchor=tk.W)
+ hint = ttk.Label(
+ top,
+ text=f"精度: {self.digits} 位小数 · 灰色=mimic 从动关节",
+ foreground="#555",
+ )
+ hint.pack(anchor=tk.W, pady=(2, 0))
+
+ canvas = tk.Canvas(self.root, highlightthickness=0)
+ scroll = ttk.Scrollbar(self.root, orient=tk.VERTICAL, command=canvas.yview)
+ self.body = ttk.Frame(canvas, padding=8)
+ self.body.bind(
+ "",
+ lambda e: canvas.configure(scrollregion=canvas.bbox("all")),
+ )
+ canvas.create_window((0, 0), window=self.body, anchor=tk.NW)
+ canvas.configure(yscrollcommand=scroll.set)
+ canvas.pack(side=tk.LEFT, fill=tk.BOTH, expand=True)
+ scroll.pack(side=tk.RIGHT, fill=tk.Y)
+
+ self.labels: dict[str, ttk.Label] = {}
+ mono = ("Menlo", 12) if self.root.tk.call("tk", "windowingsystem") == "aqua" else (
+ "DejaVu Sans Mono",
+ 11,
+ )
+ for group_name, joints in JOINT_GROUPS:
+ box = ttk.LabelFrame(self.body, text=group_name, padding=6)
+ box.pack(fill=tk.X, pady=4)
+ box.columnconfigure(1, weight=1)
+ for row, name in enumerate(joints):
+ is_mimic = name in G20_MIMIC_OF
+ tag = f"{name} (mimic)" if is_mimic else name
+ name_lbl = ttk.Label(box, text=tag, foreground="#666" if is_mimic else "#111")
+ name_lbl.grid(row=row, column=0, sticky=tk.W, padx=(0, 12), pady=2)
+ val_lbl = ttk.Label(box, text="—", font=mono, width=16, anchor=tk.E)
+ if is_mimic:
+ val_lbl.configure(foreground="#666")
+ val_lbl.grid(row=row, column=1, sticky=tk.E, pady=2)
+ self.labels[name] = val_lbl
+
+ other = ttk.LabelFrame(self.body, text="Other / unlisted", padding=6)
+ other.pack(fill=tk.X, pady=4)
+ other.columnconfigure(1, weight=1)
+ self.other_frame = other
+ self._other_row = 0
+
+ self.root.protocol("WM_DELETE_WINDOW", self._on_close)
+ self.root.after(int(1000 / UI_HZ), self._tick_ui)
+
+ def update_state(self, names: list[str], positions: list[float], stamp: str) -> None:
+ with self._lock:
+ self._latest = {
+ str(n): float(p) for n, p in zip(names, positions, strict=False)
+ }
+ self._stamp_text = stamp
+ self._msg_count += 1
+
+ def _tick_ui(self) -> None:
+ with self._lock:
+ latest = dict(self._latest)
+ stamp = self._stamp_text
+ count = self._msg_count
+ self.status.configure(
+ text=f"topic: {self.topic} | msgs={count} | {stamp}"
+ )
+ fmt = f"{{:.{self.digits}f}}"
+ known = set(self.labels)
+ for name, lbl in self.labels.items():
+ if name in latest:
+ lbl.configure(text=fmt.format(latest[name]))
+ else:
+ lbl.configure(text="—")
+ extras = sorted(set(latest) - known)
+ # 动态补未分组关节
+ for name in extras:
+ if name in self.labels:
+ continue
+ name_lbl = ttk.Label(self.other_frame, text=name)
+ name_lbl.grid(row=self._other_row, column=0, sticky=tk.W, padx=(0, 12), pady=2)
+ val_lbl = ttk.Label(
+ self.other_frame, text=fmt.format(latest[name]), font=("DejaVu Sans Mono", 11), width=16, anchor=tk.E
+ )
+ val_lbl.grid(row=self._other_row, column=1, sticky=tk.E, pady=2)
+ self.labels[name] = val_lbl
+ self._other_row += 1
+ if not self.root.winfo_exists():
+ return
+ self.root.after(int(1000 / UI_HZ), self._tick_ui)
+
+ def _on_close(self) -> None:
+ self.root.destroy()
+
+ def run(self) -> None:
+ self.root.mainloop()
+
+
+def main() -> int:
+ args = parse_args()
+
+ import rclpy
+ from rclpy.node import Node
+ from sensor_msgs.msg import JointState
+
+ gui = JointMonitorGui(topic=args.topic, digits=args.digits)
+ stop = threading.Event()
+
+ rclpy.init()
+ node = Node("g20_joint_monitor_gui")
+
+ def on_msg(msg: JointState) -> None:
+ stamp = f"{msg.header.stamp.sec}.{msg.header.stamp.nanosec:09d}"
+ gui.update_state(list(msg.name), list(msg.position), stamp)
+
+ node.create_subscription(JointState, args.topic, on_msg, 50)
+ node.get_logger().info(f"joint monitor GUI sub {args.topic}")
+
+ def spin_ros() -> None:
+ while not stop.is_set() and rclpy.ok():
+ rclpy.spin_once(node, timeout_sec=0.05)
+
+ t = threading.Thread(target=spin_ros, daemon=True)
+ t.start()
+ try:
+ gui.run()
+ finally:
+ stop.set()
+ if rclpy.ok():
+ node.destroy_node()
+ rclpy.shutdown()
+ return 0
+
+
+if __name__ == "__main__":
+ raise SystemExit(main())
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py
index 79a8582..41e7115 100644
--- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/g20_plan_bridge.py
@@ -23,12 +23,9 @@ from pathlib import Path
import numpy as np
from linker_hand_mujoco_ros2.utils.g20_joints import (
- complete_g20_mimic_positions,
g20_actuated_joint_names,
g20_required_joint_names,
- half_fist_positions,
- open_hand_positions,
- sdk_range_to_full_urdf_positions,
+ get_mapping_fns,
)
PKG_DIR = Path(__file__).resolve().parent
@@ -49,12 +46,12 @@ DEFAULT_SLEW_RAD_S = 5.0
PENETRATION_TOL_M = 5e-4
COLLISION_PROJECT_ITERS = 12
-# 与 Isaac G20 共用的对比视角:正对掌心(法向约 -X)、手指朝上(+Z)
-# lookat = 手几何中心(本地);相机从 +X 看向 -X
+# 正交正对掌心:从 +X 看向 -X,仰角 0(无俯仰)
COMPARE_LOOKAT = (0.04, -0.04, 0.12)
-COMPARE_DISTANCE = 0.50
+COMPARE_DISTANCE = 0.55
COMPARE_AZIMUTH = 180.0 # MuJoCo:180 = 从 +X 看向掌心
-COMPARE_ELEVATION = -12.0
+COMPARE_ELEVATION = 0.0
+COMPARE_ORTHOGRAPHIC = True
def parse_args() -> argparse.Namespace:
@@ -114,6 +111,22 @@ def parse_args() -> argparse.Namespace:
p.add_argument("--nominal-topic", default=TOPIC_NOMINAL)
p.add_argument("--cmd-topic", default=TOPIC_LEGACY_CMD, help="legacy SDK 控制话题")
p.add_argument("--sim-state-topic", default=TOPIC_SIM_STATE)
+ p.add_argument(
+ "--node-name",
+ default="g20_mujoco_plan_bridge",
+ help="ROS2 节点名(双开时必须不同)",
+ )
+ p.add_argument(
+ "--window-title",
+ default="",
+ help="MuJoCo 窗口标题(空则用节点名)",
+ )
+ p.add_argument(
+ "--mapping",
+ default="g20_calibrated",
+ choices=("g20_calibrated", "l20_urdf"),
+ help="命令映射:g20_calibrated=当前标定/分段;l20_urdf=仅 L20 URDF 限位+线性 mimic",
+ )
return p.parse_args()
@@ -180,6 +193,7 @@ class G20PlanBridge:
collision_project: bool = True,
slew_rad_s: float = DEFAULT_SLEW_RAD_S,
sim_dt: float = 0.002,
+ mapping: str = "g20_calibrated",
):
from sensor_msgs.msg import JointState
@@ -193,6 +207,13 @@ class G20PlanBridge:
self.slew_rad_s = max(0.0, float(slew_rad_s))
self.sim_dt = float(sim_dt)
self.lock = threading.Lock()
+ (
+ self.sdk_to_full,
+ self.complete_mimic,
+ self.open_hand_fn,
+ self.half_fist_fn,
+ ) = get_mapping_fns(mapping)
+ self.mapping = str(mapping)
(
self.joint_qpos,
@@ -210,7 +231,7 @@ class G20PlanBridge:
self.actuated = g20_actuated_joint_names()
self.ordered_names = sorted(self.joint_qpos.keys())
- open_full = open_hand_positions()
+ open_full = self.open_hand_fn()
self.goal: dict[str, float] = dict(open_full)
self.applied: dict[str, float] = dict(open_full)
self.track_nominal: dict[str, float] | None = None
@@ -229,12 +250,16 @@ class G20PlanBridge:
self.sub = node.create_subscription(
JointState, cmd_topic, self._on_legacy_cmd, 10
)
- node.get_logger().info(f"G20: sub {cmd_topic} (SDK 0~255)")
+ node.get_logger().info(
+ f"G20: sub {cmd_topic} (SDK 0~255), mapping={self.mapping}"
+ )
else:
self.sub = node.create_subscription(
JointState, nominal_topic, self._on_nominal, 10
)
- node.get_logger().info(f"G20 PLAN: sub {nominal_topic} (rad by name)")
+ node.get_logger().info(
+ f"G20 PLAN: sub {nominal_topic} (rad by name), mapping={self.mapping}"
+ )
self.pub = node.create_publisher(JointState, sim_state_topic, 10)
self._state_timer = node.create_timer(1.0 / STATE_HZ, self._publish_state)
@@ -243,7 +268,8 @@ class G20PlanBridge:
node.get_logger().info(
f"G20: pub {sim_state_topic}, joints={len(self.ordered_names)}, "
f"actuated={len(self.actuated)}, drive={mode}, "
- f"collision_project={proj}, slew={self.slew_rad_s:.3f} rad/s"
+ f"collision_project={proj}, slew={self.slew_rad_s:.3f} rad/s, "
+ f"mapping={self.mapping}"
)
def _clamp_name(self, name: str, val: float) -> float:
@@ -253,7 +279,7 @@ class G20PlanBridge:
def _set_goal_only(self, positions: dict[str, float]) -> None:
"""仅更新 goal(线程安全)。禁止在 ROS 回调里碰 MjData。"""
- full = complete_g20_mimic_positions(positions)
+ full = self.complete_mimic(positions)
with self.lock:
self.goal = full
self.track_nominal = {
@@ -314,7 +340,7 @@ class G20PlanBridge:
self, prev: dict[str, float]
) -> None:
"""按主动关节分别投影:某关节撞到时不拖死其它手指(仍硬写)。"""
- cand = complete_g20_mimic_positions(dict(self.applied))
+ cand = self.complete_mimic(dict(self.applied))
self._hard_write_pose_unlocked(cand)
if not self._is_penetrating_unlocked():
self.applied = cand
@@ -323,9 +349,9 @@ class G20PlanBridge:
self._hard_write_pose_unlocked(prev)
if self._is_penetrating_unlocked():
- base = complete_g20_mimic_positions(dict(self._last_safe_pose))
+ base = self.complete_mimic(dict(self._last_safe_pose))
else:
- base = complete_g20_mimic_positions(dict(prev))
+ base = self.complete_mimic(dict(prev))
# 变化大的关节优先尝试完整步进,减少“拇指撞掌心把四指一起卡住”
order = sorted(
@@ -339,7 +365,7 @@ class G20PlanBridge:
cur = float(base.get(name, target))
if abs(target - cur) < 1e-12:
continue
- trial = complete_g20_mimic_positions({**base, name: target})
+ trial = self.complete_mimic({**base, name: target})
self._hard_write_pose_unlocked(trial)
if not self._is_penetrating_unlocked():
base = trial
@@ -348,7 +374,7 @@ class G20PlanBridge:
best = dict(base)
for _ in range(COLLISION_PROJECT_ITERS):
mid = 0.5 * (lo + hi)
- trial = complete_g20_mimic_positions({**base, name: mid})
+ trial = self.complete_mimic({**base, name: mid})
self._hard_write_pose_unlocked(trial)
if self._is_penetrating_unlocked():
hi = mid
@@ -357,7 +383,7 @@ class G20PlanBridge:
best = trial
base = best
- self.applied = complete_g20_mimic_positions(base)
+ self.applied = self.complete_mimic(base)
self._hard_write_pose_unlocked(self.applied)
if self._is_penetrating_unlocked():
self.applied = dict(self._last_safe_pose)
@@ -421,7 +447,7 @@ class G20PlanBridge:
vals = [float(x) for x in msg.position[:20]]
while len(vals) < 20:
vals.append(255.0)
- full = sdk_range_to_full_urdf_positions(vals)
+ full = self.sdk_to_full(vals)
self.set_nominal_targets(full)
def _warn_missing(self, detail: str) -> None:
@@ -520,7 +546,7 @@ def main(argv: list[str] | None = None) -> int:
slew_rad_s = 0.0 if args.track_test else float(args.slew_rad_s)
rclpy.init()
- node = Node("g20_mujoco_plan_bridge")
+ node = Node(str(args.node_name))
bridge = G20PlanBridge(
node,
model,
@@ -530,10 +556,13 @@ def main(argv: list[str] | None = None) -> int:
cmd_topic=args.cmd_topic,
sim_state_topic=args.sim_state_topic,
use_pd_drive=bool(args.pd_drive) and not bool(args.track_test),
+ # L20 原版 mesh 在张开侧摆/握拳时易自碰;collision_project 会把 qpos 卡死。
collision_project=(not bool(args.no_collision_project))
- and (not bool(args.track_test)),
+ and (not bool(args.track_test))
+ and (str(args.mapping) != "l20_urdf"),
slew_rad_s=slew_rad_s,
sim_dt=dt,
+ mapping=str(args.mapping),
)
node.get_logger().info(
f"timing: realtime={use_realtime} speed={speed:.3f} dt={dt:.4f}s"
@@ -558,7 +587,7 @@ def main(argv: list[str] | None = None) -> int:
track_phase = 0
track_switch_step = 200
if args.track_test:
- bridge.set_nominal_targets(open_hand_positions())
+ bridge.set_nominal_targets(bridge.open_hand_fn())
node.get_logger().info("track-test: phase0 open")
step = 0
@@ -592,7 +621,7 @@ def main(argv: list[str] | None = None) -> int:
if not args.track_test:
return False
if step == track_switch_step:
- bridge.set_nominal_targets(half_fist_positions())
+ bridge.set_nominal_targets(bridge.half_fist_fn())
track_phase = 1
node.get_logger().info("track-test: phase1 half-fist")
if track_phase == 1 and step >= track_switch_step + 400:
@@ -628,11 +657,23 @@ def main(argv: list[str] | None = None) -> int:
break
else:
viewer = mujoco.viewer.launch_passive(model, data)
- # 初始对比视角:正对掌心(与 Isaac 同 lookat/距离)
+ # 正交视角,正对掌心
viewer.cam.lookat[:] = COMPARE_LOOKAT
viewer.cam.distance = COMPARE_DISTANCE
viewer.cam.azimuth = COMPARE_AZIMUTH
viewer.cam.elevation = COMPARE_ELEVATION
+ viewer.cam.orthographic = 1 if COMPARE_ORTHOGRAPHIC else 0
+ title = str(args.window_title or args.node_name)
+ try:
+ # mujoco>=3: glfw window handle
+ if hasattr(viewer, "_gui") and hasattr(viewer._gui, "title"):
+ viewer._gui.title = title
+ elif hasattr(viewer, "wnd") and viewer.wnd is not None:
+ import glfw
+ glfw.set_window_title(viewer.wnd, title)
+ except Exception:
+ pass
+ node.get_logger().info(f"viewer title={title}")
while running and viewer.is_running():
with bridge.lock:
bridge.step_simulation_unlocked()
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json
new file mode 100644
index 0000000..333606a
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(1).json
@@ -0,0 +1,5575 @@
+{
+ "schema_version": 3,
+ "model": "G20",
+ "side": "left",
+ "serial_number": "G20_LEFT_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": [
+ 0.82633424,
+ 0.82240343,
+ 0.81847262,
+ 0.8145418,
+ 0.81396519,
+ 0.81194594,
+ 0.80602416,
+ 0.80208985,
+ 0.80063619,
+ 0.79944908,
+ 0.79663766,
+ 0.79382624,
+ 0.79263913,
+ 0.7888457,
+ 0.78609113,
+ 0.78292487,
+ 0.77971689,
+ 0.77642136,
+ 0.77300629,
+ 0.77085492,
+ 0.76678722,
+ 0.76301377,
+ 0.76052802,
+ 0.75596025,
+ 0.75342551,
+ 0.75085789,
+ 0.74537936,
+ 0.74130359,
+ 0.73893597,
+ 0.73832224,
+ 0.73668978,
+ 0.73294192,
+ 0.72949697,
+ 0.72625371,
+ 0.7225281,
+ 0.72100889,
+ 0.71690305,
+ 0.71213778,
+ 0.70846897,
+ 0.70480016,
+ 0.69975905,
+ 0.69942157,
+ 0.69789241,
+ 0.69636324,
+ 0.68993605,
+ 0.68469757,
+ 0.68454061,
+ 0.67868873,
+ 0.67590441,
+ 0.6731201,
+ 0.67222899,
+ 0.67034739,
+ 0.66868215,
+ 0.66465643,
+ 0.65826389,
+ 0.65185129,
+ 0.64949515,
+ 0.64730071,
+ 0.64449344,
+ 0.6391392,
+ 0.63770332,
+ 0.63388946,
+ 0.63369714,
+ 0.63058498,
+ 0.62747281,
+ 0.62194931,
+ 0.62086765,
+ 0.61817196,
+ 0.61410435,
+ 0.6099124,
+ 0.60667863,
+ 0.60432983,
+ 0.60201985,
+ 0.5943341,
+ 0.59282745,
+ 0.58533839,
+ 0.58444645,
+ 0.58155554,
+ 0.57493912,
+ 0.57320814,
+ 0.57254956,
+ 0.56932446,
+ 0.56488784,
+ 0.56083264,
+ 0.55927256,
+ 0.55805247,
+ 0.55203774,
+ 0.54768332,
+ 0.54269974,
+ 0.54005144,
+ 0.53740315,
+ 0.53318106,
+ 0.52948349,
+ 0.52635539,
+ 0.52185419,
+ 0.52012105,
+ 0.51765041,
+ 0.51282937,
+ 0.51102726,
+ 0.50887799,
+ 0.50672871,
+ 0.50251008,
+ 0.49967311,
+ 0.49593844,
+ 0.49129193,
+ 0.48856858,
+ 0.4868703,
+ 0.47971225,
+ 0.47747204,
+ 0.47218362,
+ 0.46967493,
+ 0.4661363,
+ 0.46343337,
+ 0.45993814,
+ 0.45697414,
+ 0.45333575,
+ 0.45060287,
+ 0.44661934,
+ 0.4430409,
+ 0.43948465,
+ 0.4373904,
+ 0.43231439,
+ 0.42811062,
+ 0.42811062,
+ 0.42195771,
+ 0.41705844,
+ 0.41421569,
+ 0.40920586,
+ 0.40771583,
+ 0.40504016,
+ 0.40083468,
+ 0.39670057,
+ 0.39245785,
+ 0.39131344,
+ 0.3894957,
+ 0.384633,
+ 0.38087711,
+ 0.37776753,
+ 0.37579805,
+ 0.37338245,
+ 0.36650449,
+ 0.36414925,
+ 0.35971038,
+ 0.35686012,
+ 0.35400843,
+ 0.35204117,
+ 0.34807608,
+ 0.34164737,
+ 0.33900941,
+ 0.33633158,
+ 0.33339917,
+ 0.33046675,
+ 0.32627028,
+ 0.32333992,
+ 0.31895215,
+ 0.31456438,
+ 0.31258165,
+ 0.31041873,
+ 0.3080945,
+ 0.30381851,
+ 0.29743229,
+ 0.29299034,
+ 0.29044291,
+ 0.28889851,
+ 0.28445893,
+ 0.27927399,
+ 0.27881221,
+ 0.27478276,
+ 0.27210113,
+ 0.26761051,
+ 0.26614944,
+ 0.26197945,
+ 0.26019874,
+ 0.25561596,
+ 0.24764735,
+ 0.242794,
+ 0.24066556,
+ 0.23876688,
+ 0.23776918,
+ 0.23500044,
+ 0.23140805,
+ 0.22630978,
+ 0.22465708,
+ 0.22012034,
+ 0.21931855,
+ 0.21737655,
+ 0.21137313,
+ 0.21137313,
+ 0.2054403,
+ 0.20066035,
+ 0.19942565,
+ 0.1956668,
+ 0.19184618,
+ 0.18883094,
+ 0.18789529,
+ 0.18214675,
+ 0.17932944,
+ 0.17570591,
+ 0.17241725,
+ 0.16991508,
+ 0.16381745,
+ 0.16301355,
+ 0.15895733,
+ 0.15661501,
+ 0.15286626,
+ 0.14972355,
+ 0.14559317,
+ 0.14260036,
+ 0.13862233,
+ 0.13732744,
+ 0.13404406,
+ 0.1299207,
+ 0.12642199,
+ 0.12354625,
+ 0.12130635,
+ 0.11613453,
+ 0.11331698,
+ 0.11049944,
+ 0.10695236,
+ 0.10261457,
+ 0.10110793,
+ 0.09821057,
+ 0.09747792,
+ 0.09254985,
+ 0.0877651,
+ 0.08569419,
+ 0.08274293,
+ 0.07979169,
+ 0.07816033,
+ 0.07528176,
+ 0.06904142,
+ 0.06598392,
+ 0.06379119,
+ 0.06254445,
+ 0.0582815,
+ 0.05579089,
+ 0.05259846,
+ 0.04872115,
+ 0.04598668,
+ 0.04315712,
+ 0.04079987,
+ 0.0384426,
+ 0.0359178,
+ 0.02990992,
+ 0.02770915,
+ 0.02605924,
+ 0.02383844,
+ 0.02111181,
+ 0.0170337,
+ 0.014809,
+ 0.01237221,
+ 0.00991201,
+ 0.00441673,
+ 0.00270864,
+ 0.00135432,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -0.15586761
+ }
+ },
+ "index_mcp_pitch": {
+ "motor_index": 1,
+ "angle_rad": [
+ 1.20355299,
+ 1.19688025,
+ 1.19020751,
+ 1.18746825,
+ 1.18171545,
+ 1.17595609,
+ 1.16904439,
+ 1.16213268,
+ 1.16056527,
+ 1.1565733,
+ 1.15258134,
+ 1.14665422,
+ 1.14382629,
+ 1.14099836,
+ 1.13287057,
+ 1.12474277,
+ 1.12198745,
+ 1.11211872,
+ 1.11161327,
+ 1.10814236,
+ 1.09961245,
+ 1.09689991,
+ 1.08851232,
+ 1.08851232,
+ 1.0812559,
+ 1.07945987,
+ 1.07413618,
+ 1.06881249,
+ 1.06126834,
+ 1.05762743,
+ 1.05398652,
+ 1.04991375,
+ 1.04584098,
+ 1.04237595,
+ 1.03101722,
+ 1.03101722,
+ 1.02327039,
+ 1.01876135,
+ 1.01650061,
+ 1.01218132,
+ 1.00786202,
+ 1.00246743,
+ 0.99707283,
+ 0.99127555,
+ 0.98547826,
+ 0.98375967,
+ 0.97970058,
+ 0.97650481,
+ 0.97360482,
+ 0.96895738,
+ 0.96338853,
+ 0.95598397,
+ 0.95301783,
+ 0.94263641,
+ 0.93839384,
+ 0.93522289,
+ 0.93205193,
+ 0.92854525,
+ 0.92584757,
+ 0.92314988,
+ 0.92045219,
+ 0.90861296,
+ 0.90717963,
+ 0.89850764,
+ 0.8963371,
+ 0.89309055,
+ 0.88455865,
+ 0.8807907,
+ 0.87781866,
+ 0.87781866,
+ 0.87564533,
+ 0.86687642,
+ 0.86104154,
+ 0.85662668,
+ 0.85221183,
+ 0.8444087,
+ 0.84000853,
+ 0.83810041,
+ 0.83350895,
+ 0.83082561,
+ 0.82559005,
+ 0.82059431,
+ 0.81828192,
+ 0.81174119,
+ 0.80507781,
+ 0.8026428,
+ 0.79621778,
+ 0.78970652,
+ 0.7890615,
+ 0.78506968,
+ 0.78297975,
+ 0.77423624,
+ 0.77029839,
+ 0.76636055,
+ 0.76052811,
+ 0.75524242,
+ 0.75292727,
+ 0.74975545,
+ 0.74658365,
+ 0.74474035,
+ 0.73701979,
+ 0.73223729,
+ 0.72462978,
+ 0.7195781,
+ 0.71333776,
+ 0.71113569,
+ 0.70254244,
+ 0.6996315,
+ 0.69899243,
+ 0.69324201,
+ 0.68506388,
+ 0.68442481,
+ 0.6802363,
+ 0.67561663,
+ 0.67099696,
+ 0.66490516,
+ 0.66169597,
+ 0.65848678,
+ 0.65527758,
+ 0.64885463,
+ 0.64659128,
+ 0.64659128,
+ 0.63638351,
+ 0.62702849,
+ 0.62358685,
+ 0.62014523,
+ 0.6162584,
+ 0.61237158,
+ 0.6103009,
+ 0.6069213,
+ 0.6035417,
+ 0.59444915,
+ 0.5906723,
+ 0.58955048,
+ 0.58197123,
+ 0.57505872,
+ 0.57153809,
+ 0.56801745,
+ 0.56500383,
+ 0.56199022,
+ 0.55780822,
+ 0.55071837,
+ 0.5495265,
+ 0.54833462,
+ 0.53507145,
+ 0.53286054,
+ 0.53064964,
+ 0.52510077,
+ 0.51824987,
+ 0.51411453,
+ 0.5121901,
+ 0.50681897,
+ 0.49840522,
+ 0.49561172,
+ 0.4876498,
+ 0.48308091,
+ 0.48271016,
+ 0.47793721,
+ 0.47316426,
+ 0.46760026,
+ 0.4611916,
+ 0.45781211,
+ 0.45224109,
+ 0.44667008,
+ 0.445218,
+ 0.44218021,
+ 0.43914241,
+ 0.43490569,
+ 0.4322547,
+ 0.42393663,
+ 0.41414534,
+ 0.41087348,
+ 0.4052102,
+ 0.39979571,
+ 0.39506888,
+ 0.39308486,
+ 0.38764093,
+ 0.38294008,
+ 0.37823924,
+ 0.37282057,
+ 0.36634067,
+ 0.3630341,
+ 0.35972752,
+ 0.35471562,
+ 0.35089698,
+ 0.34707835,
+ 0.34543506,
+ 0.34225788,
+ 0.33558161,
+ 0.32710964,
+ 0.32376551,
+ 0.31765619,
+ 0.31154685,
+ 0.30797183,
+ 0.29922996,
+ 0.29674101,
+ 0.29047722,
+ 0.28887919,
+ 0.28335641,
+ 0.27806582,
+ 0.27331469,
+ 0.26856355,
+ 0.26381241,
+ 0.26049283,
+ 0.25704874,
+ 0.25220681,
+ 0.24585991,
+ 0.24148428,
+ 0.23960178,
+ 0.23014054,
+ 0.22487606,
+ 0.21816833,
+ 0.21214115,
+ 0.20791194,
+ 0.20368274,
+ 0.19964919,
+ 0.19561564,
+ 0.19272178,
+ 0.18136379,
+ 0.17661029,
+ 0.17271424,
+ 0.1688182,
+ 0.16280617,
+ 0.1587609,
+ 0.15471563,
+ 0.15276292,
+ 0.14517528,
+ 0.14233662,
+ 0.13893125,
+ 0.13113557,
+ 0.12291115,
+ 0.11695081,
+ 0.11561495,
+ 0.11168321,
+ 0.10775147,
+ 0.10201348,
+ 0.09627549,
+ 0.09146323,
+ 0.08270604,
+ 0.07861372,
+ 0.06992624,
+ 0.06810183,
+ 0.06511443,
+ 0.05993666,
+ 0.05475887,
+ 0.04949924,
+ 0.04423961,
+ 0.03905682,
+ 0.03387403,
+ 0.02643447,
+ 0.02084998,
+ 0.01840651,
+ 0.01596306,
+ 0.01064203,
+ 0.00532102,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.52488728
+ }
+ },
+ "middle_mcp_pitch": {
+ "motor_index": 2,
+ "angle_rad": [
+ 1.20355299,
+ 1.19688025,
+ 1.19020751,
+ 1.18746825,
+ 1.18171545,
+ 1.17595609,
+ 1.16904439,
+ 1.16213268,
+ 1.16056527,
+ 1.1565733,
+ 1.15258134,
+ 1.14665422,
+ 1.14382629,
+ 1.14099836,
+ 1.13287057,
+ 1.12474277,
+ 1.12198745,
+ 1.11211872,
+ 1.11161327,
+ 1.10814236,
+ 1.09961245,
+ 1.09689991,
+ 1.08851232,
+ 1.08851232,
+ 1.0812559,
+ 1.07945987,
+ 1.07413618,
+ 1.06881249,
+ 1.06126834,
+ 1.05762743,
+ 1.05398652,
+ 1.04991375,
+ 1.04584098,
+ 1.04237595,
+ 1.03101722,
+ 1.03101722,
+ 1.02327039,
+ 1.01876135,
+ 1.01650061,
+ 1.01218132,
+ 1.00786202,
+ 1.00246743,
+ 0.99707283,
+ 0.99127555,
+ 0.98547826,
+ 0.98375967,
+ 0.97970058,
+ 0.97650481,
+ 0.97360482,
+ 0.96895738,
+ 0.96338853,
+ 0.95598397,
+ 0.95301783,
+ 0.94263641,
+ 0.93839384,
+ 0.93522289,
+ 0.93205193,
+ 0.92854525,
+ 0.92584757,
+ 0.92314988,
+ 0.92045219,
+ 0.90861296,
+ 0.90717963,
+ 0.89850764,
+ 0.8963371,
+ 0.89309055,
+ 0.88455865,
+ 0.8807907,
+ 0.87781866,
+ 0.87781866,
+ 0.87564533,
+ 0.86687642,
+ 0.86104154,
+ 0.85662668,
+ 0.85221183,
+ 0.8444087,
+ 0.84000853,
+ 0.83810041,
+ 0.83350895,
+ 0.83082561,
+ 0.82559005,
+ 0.82059431,
+ 0.81828192,
+ 0.81174119,
+ 0.80507781,
+ 0.8026428,
+ 0.79621778,
+ 0.78970652,
+ 0.7890615,
+ 0.78506968,
+ 0.78297975,
+ 0.77423624,
+ 0.77029839,
+ 0.76636055,
+ 0.76052811,
+ 0.75524242,
+ 0.75292727,
+ 0.74975545,
+ 0.74658365,
+ 0.74474035,
+ 0.73701979,
+ 0.73223729,
+ 0.72462978,
+ 0.7195781,
+ 0.71333776,
+ 0.71113569,
+ 0.70254244,
+ 0.6996315,
+ 0.69899243,
+ 0.69324201,
+ 0.68506388,
+ 0.68442481,
+ 0.6802363,
+ 0.67561663,
+ 0.67099696,
+ 0.66490516,
+ 0.66169597,
+ 0.65848678,
+ 0.65527758,
+ 0.64885463,
+ 0.64659128,
+ 0.64659128,
+ 0.63638351,
+ 0.62702849,
+ 0.62358685,
+ 0.62014523,
+ 0.6162584,
+ 0.61237158,
+ 0.6103009,
+ 0.6069213,
+ 0.6035417,
+ 0.59444915,
+ 0.5906723,
+ 0.58955048,
+ 0.58197123,
+ 0.57505872,
+ 0.57153809,
+ 0.56801745,
+ 0.56500383,
+ 0.56199022,
+ 0.55780822,
+ 0.55071837,
+ 0.5495265,
+ 0.54833462,
+ 0.53507145,
+ 0.53286054,
+ 0.53064964,
+ 0.52510077,
+ 0.51824987,
+ 0.51411453,
+ 0.5121901,
+ 0.50681897,
+ 0.49840522,
+ 0.49561172,
+ 0.4876498,
+ 0.48308091,
+ 0.48271016,
+ 0.47793721,
+ 0.47316426,
+ 0.46760026,
+ 0.4611916,
+ 0.45781211,
+ 0.45224109,
+ 0.44667008,
+ 0.445218,
+ 0.44218021,
+ 0.43914241,
+ 0.43490569,
+ 0.4322547,
+ 0.42393663,
+ 0.41414534,
+ 0.41087348,
+ 0.4052102,
+ 0.39979571,
+ 0.39506888,
+ 0.39308486,
+ 0.38764093,
+ 0.38294008,
+ 0.37823924,
+ 0.37282057,
+ 0.36634067,
+ 0.3630341,
+ 0.35972752,
+ 0.35471562,
+ 0.35089698,
+ 0.34707835,
+ 0.34543506,
+ 0.34225788,
+ 0.33558161,
+ 0.32710964,
+ 0.32376551,
+ 0.31765619,
+ 0.31154685,
+ 0.30797183,
+ 0.29922996,
+ 0.29674101,
+ 0.29047722,
+ 0.28887919,
+ 0.28335641,
+ 0.27806582,
+ 0.27331469,
+ 0.26856355,
+ 0.26381241,
+ 0.26049283,
+ 0.25704874,
+ 0.25220681,
+ 0.24585991,
+ 0.24148428,
+ 0.23960178,
+ 0.23014054,
+ 0.22487606,
+ 0.21816833,
+ 0.21214115,
+ 0.20791194,
+ 0.20368274,
+ 0.19964919,
+ 0.19561564,
+ 0.19272178,
+ 0.18136379,
+ 0.17661029,
+ 0.17271424,
+ 0.1688182,
+ 0.16280617,
+ 0.1587609,
+ 0.15471563,
+ 0.15276292,
+ 0.14517528,
+ 0.14233662,
+ 0.13893125,
+ 0.13113557,
+ 0.12291115,
+ 0.11695081,
+ 0.11561495,
+ 0.11168321,
+ 0.10775147,
+ 0.10201348,
+ 0.09627549,
+ 0.09146323,
+ 0.08270604,
+ 0.07861372,
+ 0.06992624,
+ 0.06810183,
+ 0.06511443,
+ 0.05993666,
+ 0.05475887,
+ 0.04949924,
+ 0.04423961,
+ 0.03905682,
+ 0.03387403,
+ 0.02643447,
+ 0.02084998,
+ 0.01840651,
+ 0.01596306,
+ 0.01064203,
+ 0.00532102,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "ring_mcp_pitch": {
+ "motor_index": 3,
+ "angle_rad": [
+ 1.20355299,
+ 1.19688025,
+ 1.19020751,
+ 1.18746825,
+ 1.18171545,
+ 1.17595609,
+ 1.16904439,
+ 1.16213268,
+ 1.16056527,
+ 1.1565733,
+ 1.15258134,
+ 1.14665422,
+ 1.14382629,
+ 1.14099836,
+ 1.13287057,
+ 1.12474277,
+ 1.12198745,
+ 1.11211872,
+ 1.11161327,
+ 1.10814236,
+ 1.09961245,
+ 1.09689991,
+ 1.08851232,
+ 1.08851232,
+ 1.0812559,
+ 1.07945987,
+ 1.07413618,
+ 1.06881249,
+ 1.06126834,
+ 1.05762743,
+ 1.05398652,
+ 1.04991375,
+ 1.04584098,
+ 1.04237595,
+ 1.03101722,
+ 1.03101722,
+ 1.02327039,
+ 1.01876135,
+ 1.01650061,
+ 1.01218132,
+ 1.00786202,
+ 1.00246743,
+ 0.99707283,
+ 0.99127555,
+ 0.98547826,
+ 0.98375967,
+ 0.97970058,
+ 0.97650481,
+ 0.97360482,
+ 0.96895738,
+ 0.96338853,
+ 0.95598397,
+ 0.95301783,
+ 0.94263641,
+ 0.93839384,
+ 0.93522289,
+ 0.93205193,
+ 0.92854525,
+ 0.92584757,
+ 0.92314988,
+ 0.92045219,
+ 0.90861296,
+ 0.90717963,
+ 0.89850764,
+ 0.8963371,
+ 0.89309055,
+ 0.88455865,
+ 0.8807907,
+ 0.87781866,
+ 0.87781866,
+ 0.87564533,
+ 0.86687642,
+ 0.86104154,
+ 0.85662668,
+ 0.85221183,
+ 0.8444087,
+ 0.84000853,
+ 0.83810041,
+ 0.83350895,
+ 0.83082561,
+ 0.82559005,
+ 0.82059431,
+ 0.81828192,
+ 0.81174119,
+ 0.80507781,
+ 0.8026428,
+ 0.79621778,
+ 0.78970652,
+ 0.7890615,
+ 0.78506968,
+ 0.78297975,
+ 0.77423624,
+ 0.77029839,
+ 0.76636055,
+ 0.76052811,
+ 0.75524242,
+ 0.75292727,
+ 0.74975545,
+ 0.74658365,
+ 0.74474035,
+ 0.73701979,
+ 0.73223729,
+ 0.72462978,
+ 0.7195781,
+ 0.71333776,
+ 0.71113569,
+ 0.70254244,
+ 0.6996315,
+ 0.69899243,
+ 0.69324201,
+ 0.68506388,
+ 0.68442481,
+ 0.6802363,
+ 0.67561663,
+ 0.67099696,
+ 0.66490516,
+ 0.66169597,
+ 0.65848678,
+ 0.65527758,
+ 0.64885463,
+ 0.64659128,
+ 0.64659128,
+ 0.63638351,
+ 0.62702849,
+ 0.62358685,
+ 0.62014523,
+ 0.6162584,
+ 0.61237158,
+ 0.6103009,
+ 0.6069213,
+ 0.6035417,
+ 0.59444915,
+ 0.5906723,
+ 0.58955048,
+ 0.58197123,
+ 0.57505872,
+ 0.57153809,
+ 0.56801745,
+ 0.56500383,
+ 0.56199022,
+ 0.55780822,
+ 0.55071837,
+ 0.5495265,
+ 0.54833462,
+ 0.53507145,
+ 0.53286054,
+ 0.53064964,
+ 0.52510077,
+ 0.51824987,
+ 0.51411453,
+ 0.5121901,
+ 0.50681897,
+ 0.49840522,
+ 0.49561172,
+ 0.4876498,
+ 0.48308091,
+ 0.48271016,
+ 0.47793721,
+ 0.47316426,
+ 0.46760026,
+ 0.4611916,
+ 0.45781211,
+ 0.45224109,
+ 0.44667008,
+ 0.445218,
+ 0.44218021,
+ 0.43914241,
+ 0.43490569,
+ 0.4322547,
+ 0.42393663,
+ 0.41414534,
+ 0.41087348,
+ 0.4052102,
+ 0.39979571,
+ 0.39506888,
+ 0.39308486,
+ 0.38764093,
+ 0.38294008,
+ 0.37823924,
+ 0.37282057,
+ 0.36634067,
+ 0.3630341,
+ 0.35972752,
+ 0.35471562,
+ 0.35089698,
+ 0.34707835,
+ 0.34543506,
+ 0.34225788,
+ 0.33558161,
+ 0.32710964,
+ 0.32376551,
+ 0.31765619,
+ 0.31154685,
+ 0.30797183,
+ 0.29922996,
+ 0.29674101,
+ 0.29047722,
+ 0.28887919,
+ 0.28335641,
+ 0.27806582,
+ 0.27331469,
+ 0.26856355,
+ 0.26381241,
+ 0.26049283,
+ 0.25704874,
+ 0.25220681,
+ 0.24585991,
+ 0.24148428,
+ 0.23960178,
+ 0.23014054,
+ 0.22487606,
+ 0.21816833,
+ 0.21214115,
+ 0.20791194,
+ 0.20368274,
+ 0.19964919,
+ 0.19561564,
+ 0.19272178,
+ 0.18136379,
+ 0.17661029,
+ 0.17271424,
+ 0.1688182,
+ 0.16280617,
+ 0.1587609,
+ 0.15471563,
+ 0.15276292,
+ 0.14517528,
+ 0.14233662,
+ 0.13893125,
+ 0.13113557,
+ 0.12291115,
+ 0.11695081,
+ 0.11561495,
+ 0.11168321,
+ 0.10775147,
+ 0.10201348,
+ 0.09627549,
+ 0.09146323,
+ 0.08270604,
+ 0.07861372,
+ 0.06992624,
+ 0.06810183,
+ 0.06511443,
+ 0.05993666,
+ 0.05475887,
+ 0.04949924,
+ 0.04423961,
+ 0.03905682,
+ 0.03387403,
+ 0.02643447,
+ 0.02084998,
+ 0.01840651,
+ 0.01596306,
+ 0.01064203,
+ 0.00532102,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "pinky_mcp_pitch": {
+ "motor_index": 4,
+ "angle_rad": [
+ 1.20355299,
+ 1.19688025,
+ 1.19020751,
+ 1.18746825,
+ 1.18171545,
+ 1.17595609,
+ 1.16904439,
+ 1.16213268,
+ 1.16056527,
+ 1.1565733,
+ 1.15258134,
+ 1.14665422,
+ 1.14382629,
+ 1.14099836,
+ 1.13287057,
+ 1.12474277,
+ 1.12198745,
+ 1.11211872,
+ 1.11161327,
+ 1.10814236,
+ 1.09961245,
+ 1.09689991,
+ 1.08851232,
+ 1.08851232,
+ 1.0812559,
+ 1.07945987,
+ 1.07413618,
+ 1.06881249,
+ 1.06126834,
+ 1.05762743,
+ 1.05398652,
+ 1.04991375,
+ 1.04584098,
+ 1.04237595,
+ 1.03101722,
+ 1.03101722,
+ 1.02327039,
+ 1.01876135,
+ 1.01650061,
+ 1.01218132,
+ 1.00786202,
+ 1.00246743,
+ 0.99707283,
+ 0.99127555,
+ 0.98547826,
+ 0.98375967,
+ 0.97970058,
+ 0.97650481,
+ 0.97360482,
+ 0.96895738,
+ 0.96338853,
+ 0.95598397,
+ 0.95301783,
+ 0.94263641,
+ 0.93839384,
+ 0.93522289,
+ 0.93205193,
+ 0.92854525,
+ 0.92584757,
+ 0.92314988,
+ 0.92045219,
+ 0.90861296,
+ 0.90717963,
+ 0.89850764,
+ 0.8963371,
+ 0.89309055,
+ 0.88455865,
+ 0.8807907,
+ 0.87781866,
+ 0.87781866,
+ 0.87564533,
+ 0.86687642,
+ 0.86104154,
+ 0.85662668,
+ 0.85221183,
+ 0.8444087,
+ 0.84000853,
+ 0.83810041,
+ 0.83350895,
+ 0.83082561,
+ 0.82559005,
+ 0.82059431,
+ 0.81828192,
+ 0.81174119,
+ 0.80507781,
+ 0.8026428,
+ 0.79621778,
+ 0.78970652,
+ 0.7890615,
+ 0.78506968,
+ 0.78297975,
+ 0.77423624,
+ 0.77029839,
+ 0.76636055,
+ 0.76052811,
+ 0.75524242,
+ 0.75292727,
+ 0.74975545,
+ 0.74658365,
+ 0.74474035,
+ 0.73701979,
+ 0.73223729,
+ 0.72462978,
+ 0.7195781,
+ 0.71333776,
+ 0.71113569,
+ 0.70254244,
+ 0.6996315,
+ 0.69899243,
+ 0.69324201,
+ 0.68506388,
+ 0.68442481,
+ 0.6802363,
+ 0.67561663,
+ 0.67099696,
+ 0.66490516,
+ 0.66169597,
+ 0.65848678,
+ 0.65527758,
+ 0.64885463,
+ 0.64659128,
+ 0.64659128,
+ 0.63638351,
+ 0.62702849,
+ 0.62358685,
+ 0.62014523,
+ 0.6162584,
+ 0.61237158,
+ 0.6103009,
+ 0.6069213,
+ 0.6035417,
+ 0.59444915,
+ 0.5906723,
+ 0.58955048,
+ 0.58197123,
+ 0.57505872,
+ 0.57153809,
+ 0.56801745,
+ 0.56500383,
+ 0.56199022,
+ 0.55780822,
+ 0.55071837,
+ 0.5495265,
+ 0.54833462,
+ 0.53507145,
+ 0.53286054,
+ 0.53064964,
+ 0.52510077,
+ 0.51824987,
+ 0.51411453,
+ 0.5121901,
+ 0.50681897,
+ 0.49840522,
+ 0.49561172,
+ 0.4876498,
+ 0.48308091,
+ 0.48271016,
+ 0.47793721,
+ 0.47316426,
+ 0.46760026,
+ 0.4611916,
+ 0.45781211,
+ 0.45224109,
+ 0.44667008,
+ 0.445218,
+ 0.44218021,
+ 0.43914241,
+ 0.43490569,
+ 0.4322547,
+ 0.42393663,
+ 0.41414534,
+ 0.41087348,
+ 0.4052102,
+ 0.39979571,
+ 0.39506888,
+ 0.39308486,
+ 0.38764093,
+ 0.38294008,
+ 0.37823924,
+ 0.37282057,
+ 0.36634067,
+ 0.3630341,
+ 0.35972752,
+ 0.35471562,
+ 0.35089698,
+ 0.34707835,
+ 0.34543506,
+ 0.34225788,
+ 0.33558161,
+ 0.32710964,
+ 0.32376551,
+ 0.31765619,
+ 0.31154685,
+ 0.30797183,
+ 0.29922996,
+ 0.29674101,
+ 0.29047722,
+ 0.28887919,
+ 0.28335641,
+ 0.27806582,
+ 0.27331469,
+ 0.26856355,
+ 0.26381241,
+ 0.26049283,
+ 0.25704874,
+ 0.25220681,
+ 0.24585991,
+ 0.24148428,
+ 0.23960178,
+ 0.23014054,
+ 0.22487606,
+ 0.21816833,
+ 0.21214115,
+ 0.20791194,
+ 0.20368274,
+ 0.19964919,
+ 0.19561564,
+ 0.19272178,
+ 0.18136379,
+ 0.17661029,
+ 0.17271424,
+ 0.1688182,
+ 0.16280617,
+ 0.1587609,
+ 0.15471563,
+ 0.15276292,
+ 0.14517528,
+ 0.14233662,
+ 0.13893125,
+ 0.13113557,
+ 0.12291115,
+ 0.11695081,
+ 0.11561495,
+ 0.11168321,
+ 0.10775147,
+ 0.10201348,
+ 0.09627549,
+ 0.09146323,
+ 0.08270604,
+ 0.07861372,
+ 0.06992624,
+ 0.06810183,
+ 0.06511443,
+ 0.05993666,
+ 0.05475887,
+ 0.04949924,
+ 0.04423961,
+ 0.03905682,
+ 0.03387403,
+ 0.02643447,
+ 0.02084998,
+ 0.01840651,
+ 0.01596306,
+ 0.01064203,
+ 0.00532102,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "thumb_cmc_roll": {
+ "motor_index": 5,
+ "angle_rad": [
+ 1.49113837,
+ 1.48299412,
+ 1.47484987,
+ 1.46670562,
+ 1.45859335,
+ 1.45382203,
+ 1.44715324,
+ 1.43558423,
+ 1.42603289,
+ 1.4163538,
+ 1.41002421,
+ 1.39868951,
+ 1.39462818,
+ 1.37858985,
+ 1.3653879,
+ 1.36078239,
+ 1.35120598,
+ 1.34162957,
+ 1.32984029,
+ 1.32349923,
+ 1.31677544,
+ 1.31005166,
+ 1.30167068,
+ 1.29493479,
+ 1.2898308,
+ 1.28273062,
+ 1.27590242,
+ 1.27321083,
+ 1.2664633,
+ 1.26321021,
+ 1.25995711,
+ 1.25659456,
+ 1.24801926,
+ 1.24327106,
+ 1.23695984,
+ 1.23300608,
+ 1.22905233,
+ 1.22172802,
+ 1.2167439,
+ 1.21268492,
+ 1.20595153,
+ 1.19955728,
+ 1.19511587,
+ 1.19067449,
+ 1.18381185,
+ 1.17909931,
+ 1.17302651,
+ 1.16921764,
+ 1.16069368,
+ 1.15885601,
+ 1.15376791,
+ 1.14891263,
+ 1.14082903,
+ 1.13652122,
+ 1.13050425,
+ 1.12775255,
+ 1.12026215,
+ 1.11461015,
+ 1.10895815,
+ 1.10389402,
+ 1.0963601,
+ 1.09181418,
+ 1.08973228,
+ 1.08011135,
+ 1.07493443,
+ 1.06813966,
+ 1.06127261,
+ 1.05808492,
+ 1.05614501,
+ 1.0503615,
+ 1.0427287,
+ 1.03637765,
+ 1.0319081,
+ 1.02743856,
+ 1.0202487,
+ 1.01368291,
+ 1.01115318,
+ 1.00427394,
+ 0.99937998,
+ 0.99448602,
+ 0.98638392,
+ 0.98064945,
+ 0.97491497,
+ 0.97157221,
+ 0.96555964,
+ 0.96038067,
+ 0.95287024,
+ 0.94907962,
+ 0.945289,
+ 0.93751362,
+ 0.93067532,
+ 0.92741438,
+ 0.92167687,
+ 0.914698,
+ 0.90938291,
+ 0.90363474,
+ 0.89982653,
+ 0.89323129,
+ 0.88969873,
+ 0.88133233,
+ 0.8753818,
+ 0.87129042,
+ 0.86353449,
+ 0.86021048,
+ 0.85343717,
+ 0.84845304,
+ 0.83892283,
+ 0.83410142,
+ 0.83310676,
+ 0.82786759,
+ 0.82125565,
+ 0.81525782,
+ 0.80935384,
+ 0.80551244,
+ 0.79994969,
+ 0.79075003,
+ 0.78697599,
+ 0.78311117,
+ 0.77554554,
+ 0.76985473,
+ 0.76629872,
+ 0.7607637,
+ 0.75825559,
+ 0.74734144,
+ 0.74604244,
+ 0.73511846,
+ 0.73207871,
+ 0.7258513,
+ 0.71815064,
+ 0.71525816,
+ 0.706347,
+ 0.70203999,
+ 0.69376875,
+ 0.69086798,
+ 0.68498466,
+ 0.67798066,
+ 0.66996056,
+ 0.66847861,
+ 0.65768415,
+ 0.65026259,
+ 0.6476744,
+ 0.64028258,
+ 0.63664576,
+ 0.62797479,
+ 0.62624181,
+ 0.61747108,
+ 0.6098527,
+ 0.60730019,
+ 0.60071639,
+ 0.59031906,
+ 0.58657092,
+ 0.58282277,
+ 0.57714771,
+ 0.56656457,
+ 0.56471093,
+ 0.5599079,
+ 0.5532363,
+ 0.54570876,
+ 0.53980256,
+ 0.5359687,
+ 0.5281669,
+ 0.52168797,
+ 0.51677017,
+ 0.51370258,
+ 0.50461222,
+ 0.49848167,
+ 0.49235111,
+ 0.48698305,
+ 0.47952225,
+ 0.47259142,
+ 0.46785771,
+ 0.46312399,
+ 0.455981,
+ 0.44949951,
+ 0.4455532,
+ 0.43773196,
+ 0.42893411,
+ 0.42724308,
+ 0.41889455,
+ 0.41360977,
+ 0.40718061,
+ 0.40104342,
+ 0.39603533,
+ 0.39102724,
+ 0.38341292,
+ 0.37451007,
+ 0.37278258,
+ 0.36697934,
+ 0.35766775,
+ 0.35660944,
+ 0.34915639,
+ 0.34208432,
+ 0.34050335,
+ 0.3282399,
+ 0.32600987,
+ 0.32132475,
+ 0.31579819,
+ 0.30916198,
+ 0.30617461,
+ 0.29634712,
+ 0.29254485,
+ 0.28777655,
+ 0.28095718,
+ 0.27452628,
+ 0.27149899,
+ 0.26331163,
+ 0.25372751,
+ 0.24987538,
+ 0.23951905,
+ 0.23782686,
+ 0.23539821,
+ 0.22569864,
+ 0.22204906,
+ 0.21572324,
+ 0.21143919,
+ 0.20540505,
+ 0.20130069,
+ 0.19719633,
+ 0.19395032,
+ 0.18370428,
+ 0.17930137,
+ 0.17324752,
+ 0.16700858,
+ 0.16513415,
+ 0.16259567,
+ 0.15668616,
+ 0.15050219,
+ 0.14181842,
+ 0.13614854,
+ 0.13047865,
+ 0.12733332,
+ 0.1235231,
+ 0.11796513,
+ 0.11401534,
+ 0.10726928,
+ 0.10419172,
+ 0.09894966,
+ 0.0911411,
+ 0.08768112,
+ 0.08422112,
+ 0.07611578,
+ 0.06996658,
+ 0.0651931,
+ 0.06055613,
+ 0.05591918,
+ 0.05152305,
+ 0.04543357,
+ 0.03854995,
+ 0.03450354,
+ 0.02908547,
+ 0.02047039,
+ 0.01807239,
+ 0.01530482,
+ 0.00853693,
+ 0.00426846,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.11385882
+ }
+ },
+ "index_mcp_roll": {
+ "motor_index": 6,
+ "angle_rad": [
+ 0.24779237,
+ 0.2471294,
+ 0.24646643,
+ 0.24575134,
+ 0.24503625,
+ 0.24432116,
+ 0.24336051,
+ 0.24239986,
+ 0.24155337,
+ 0.2406523,
+ 0.23975122,
+ 0.23885015,
+ 0.23713582,
+ 0.23149946,
+ 0.2304481,
+ 0.22823671,
+ 0.22707669,
+ 0.22210587,
+ 0.22094585,
+ 0.21978583,
+ 0.21960349,
+ 0.21598841,
+ 0.21467591,
+ 0.21336342,
+ 0.21202435,
+ 0.21068528,
+ 0.20934622,
+ 0.20656302,
+ 0.20222434,
+ 0.19989027,
+ 0.19755621,
+ 0.19522214,
+ 0.19434412,
+ 0.19434412,
+ 0.18944825,
+ 0.18929246,
+ 0.18684787,
+ 0.18259741,
+ 0.18063573,
+ 0.17687973,
+ 0.17475867,
+ 0.17263761,
+ 0.17263761,
+ 0.16760824,
+ 0.16760824,
+ 0.16636738,
+ 0.16512652,
+ 0.16345255,
+ 0.15775519,
+ 0.15652109,
+ 0.15528699,
+ 0.15422834,
+ 0.15316969,
+ 0.15211105,
+ 0.15062727,
+ 0.14869149,
+ 0.1467557,
+ 0.14399529,
+ 0.13878554,
+ 0.13774037,
+ 0.1366952,
+ 0.13565002,
+ 0.13460485,
+ 0.13355967,
+ 0.13276858,
+ 0.1312132,
+ 0.12965784,
+ 0.12673571,
+ 0.12387347,
+ 0.12077971,
+ 0.11770352,
+ 0.11531577,
+ 0.11251552,
+ 0.10971527,
+ 0.10872364,
+ 0.10415061,
+ 0.10322388,
+ 0.10229714,
+ 0.10111256,
+ 0.10023102,
+ 0.09556534,
+ 0.09342987,
+ 0.09129439,
+ 0.08915892,
+ 0.08827737,
+ 0.08739582,
+ 0.08692593,
+ 0.08645603,
+ 0.08598614,
+ 0.08541786,
+ 0.08484959,
+ 0.08106263,
+ 0.07727569,
+ 0.07348874,
+ 0.07112389,
+ 0.06875905,
+ 0.06817932,
+ 0.06262211,
+ 0.06193094,
+ 0.06123978,
+ 0.05996067,
+ 0.05700788,
+ 0.0540551,
+ 0.05260928,
+ 0.05116347,
+ 0.04971766,
+ 0.04649238,
+ 0.04463286,
+ 0.04277334,
+ 0.04091382,
+ 0.03611707,
+ 0.0329226,
+ 0.03143934,
+ 0.02995608,
+ 0.02817822,
+ 0.02621122,
+ 0.02424422,
+ 0.02104982,
+ 0.01713074,
+ 0.01321167,
+ 0.0103225,
+ 0.00743333,
+ 0.00642403,
+ 0.00542622,
+ 0.00442842,
+ 0.00343061,
+ 0.00232498,
+ 0.00121936,
+ -0.00044479,
+ -0.00210893,
+ -0.00377308,
+ -0.00543722,
+ -0.00755299,
+ -0.00929899,
+ -0.01104499,
+ -0.01302213,
+ -0.01499926,
+ -0.01697639,
+ -0.01895351,
+ -0.0237178,
+ -0.02523847,
+ -0.02675915,
+ -0.02854427,
+ -0.0303294,
+ -0.03123815,
+ -0.0321469,
+ -0.03561649,
+ -0.03962324,
+ -0.04226221,
+ -0.04448784,
+ -0.04671349,
+ -0.0475573,
+ -0.04840111,
+ -0.05131471,
+ -0.05591982,
+ -0.05767745,
+ -0.05943509,
+ -0.06249287,
+ -0.06430088,
+ -0.06885362,
+ -0.07031641,
+ -0.0717792,
+ -0.07434088,
+ -0.07560038,
+ -0.07685988,
+ -0.07846433,
+ -0.08006877,
+ -0.08167322,
+ -0.08327767,
+ -0.08488211,
+ -0.08672626,
+ -0.08857041,
+ -0.09041455,
+ -0.09239232,
+ -0.09391702,
+ -0.09544171,
+ -0.09888187,
+ -0.10232202,
+ -0.10323463,
+ -0.10414724,
+ -0.10652204,
+ -0.10889683,
+ -0.111231,
+ -0.11356516,
+ -0.11589932,
+ -0.11685614,
+ -0.11956714,
+ -0.12227814,
+ -0.12498914,
+ -0.12620099,
+ -0.12741283,
+ -0.1338393,
+ -0.13443993,
+ -0.13504056,
+ -0.13579471,
+ -0.13654884,
+ -0.1398701,
+ -0.14431371,
+ -0.14545265,
+ -0.14659159,
+ -0.14773052,
+ -0.14925151,
+ -0.15414888,
+ -0.15621757,
+ -0.15828626,
+ -0.16042133,
+ -0.1625564,
+ -0.16470934,
+ -0.16556043,
+ -0.16641153,
+ -0.16726263,
+ -0.16916482,
+ -0.17021593,
+ -0.17219034,
+ -0.17377658,
+ -0.17536281,
+ -0.17840885,
+ -0.1818096,
+ -0.18355642,
+ -0.18874051,
+ -0.1892093,
+ -0.18967808,
+ -0.19257172,
+ -0.1939457,
+ -0.19810185,
+ -0.20156661,
+ -0.20271437,
+ -0.20386213,
+ -0.20510998,
+ -0.20635783,
+ -0.20760569,
+ -0.20885354,
+ -0.21041811,
+ -0.21198267,
+ -0.21624784,
+ -0.22051301,
+ -0.22171798,
+ -0.22292296,
+ -0.22412793,
+ -0.2253329,
+ -0.22653788,
+ -0.22774285,
+ -0.22923039,
+ -0.23071793,
+ -0.23315186,
+ -0.23399846,
+ -0.23484507,
+ -0.23569168,
+ -0.23653828,
+ -0.23726187,
+ -0.23798547,
+ -0.23870907,
+ -0.2395035,
+ -0.24018687,
+ -0.24398962,
+ -0.24779237
+ ],
+ "zero_command_u8": 128,
+ "zero_angles": {
+ "travel_midpoint_rad": 0.24779237
+ }
+ },
+ "middle_mcp_roll": {
+ "motor_index": 7,
+ "angle_rad": [
+ 0.24779237,
+ 0.2471294,
+ 0.24646643,
+ 0.24575134,
+ 0.24503625,
+ 0.24432116,
+ 0.24336051,
+ 0.24239986,
+ 0.24155337,
+ 0.2406523,
+ 0.23975122,
+ 0.23885015,
+ 0.23713582,
+ 0.23149946,
+ 0.2304481,
+ 0.22823671,
+ 0.22707669,
+ 0.22210587,
+ 0.22094585,
+ 0.21978583,
+ 0.21960349,
+ 0.21598841,
+ 0.21467591,
+ 0.21336342,
+ 0.21202435,
+ 0.21068528,
+ 0.20934622,
+ 0.20656302,
+ 0.20222434,
+ 0.19989027,
+ 0.19755621,
+ 0.19522214,
+ 0.19434412,
+ 0.19434412,
+ 0.18944825,
+ 0.18929246,
+ 0.18684787,
+ 0.18259741,
+ 0.18063573,
+ 0.17687973,
+ 0.17475867,
+ 0.17263761,
+ 0.17263761,
+ 0.16760824,
+ 0.16760824,
+ 0.16636738,
+ 0.16512652,
+ 0.16345255,
+ 0.15775519,
+ 0.15652109,
+ 0.15528699,
+ 0.15422834,
+ 0.15316969,
+ 0.15211105,
+ 0.15062727,
+ 0.14869149,
+ 0.1467557,
+ 0.14399529,
+ 0.13878554,
+ 0.13774037,
+ 0.1366952,
+ 0.13565002,
+ 0.13460485,
+ 0.13355967,
+ 0.13276858,
+ 0.1312132,
+ 0.12965784,
+ 0.12673571,
+ 0.12387347,
+ 0.12077971,
+ 0.11770352,
+ 0.11531577,
+ 0.11251552,
+ 0.10971527,
+ 0.10872364,
+ 0.10415061,
+ 0.10322388,
+ 0.10229714,
+ 0.10111256,
+ 0.10023102,
+ 0.09556534,
+ 0.09342987,
+ 0.09129439,
+ 0.08915892,
+ 0.08827737,
+ 0.08739582,
+ 0.08692593,
+ 0.08645603,
+ 0.08598614,
+ 0.08541786,
+ 0.08484959,
+ 0.08106263,
+ 0.07727569,
+ 0.07348874,
+ 0.07112389,
+ 0.06875905,
+ 0.06817932,
+ 0.06262211,
+ 0.06193094,
+ 0.06123978,
+ 0.05996067,
+ 0.05700788,
+ 0.0540551,
+ 0.05260928,
+ 0.05116347,
+ 0.04971766,
+ 0.04649238,
+ 0.04463286,
+ 0.04277334,
+ 0.04091382,
+ 0.03611707,
+ 0.0329226,
+ 0.03143934,
+ 0.02995608,
+ 0.02817822,
+ 0.02621122,
+ 0.02424422,
+ 0.02104982,
+ 0.01713074,
+ 0.01321167,
+ 0.0103225,
+ 0.00743333,
+ 0.00642403,
+ 0.00542622,
+ 0.00442842,
+ 0.00343061,
+ 0.00232498,
+ 0.00121936,
+ -0.00044479,
+ -0.00210893,
+ -0.00377308,
+ -0.00543722,
+ -0.00755299,
+ -0.00929899,
+ -0.01104499,
+ -0.01302213,
+ -0.01499926,
+ -0.01697639,
+ -0.01895351,
+ -0.0237178,
+ -0.02523847,
+ -0.02675915,
+ -0.02854427,
+ -0.0303294,
+ -0.03123815,
+ -0.0321469,
+ -0.03561649,
+ -0.03962324,
+ -0.04226221,
+ -0.04448784,
+ -0.04671349,
+ -0.0475573,
+ -0.04840111,
+ -0.05131471,
+ -0.05591982,
+ -0.05767745,
+ -0.05943509,
+ -0.06249287,
+ -0.06430088,
+ -0.06885362,
+ -0.07031641,
+ -0.0717792,
+ -0.07434088,
+ -0.07560038,
+ -0.07685988,
+ -0.07846433,
+ -0.08006877,
+ -0.08167322,
+ -0.08327767,
+ -0.08488211,
+ -0.08672626,
+ -0.08857041,
+ -0.09041455,
+ -0.09239232,
+ -0.09391702,
+ -0.09544171,
+ -0.09888187,
+ -0.10232202,
+ -0.10323463,
+ -0.10414724,
+ -0.10652204,
+ -0.10889683,
+ -0.111231,
+ -0.11356516,
+ -0.11589932,
+ -0.11685614,
+ -0.11956714,
+ -0.12227814,
+ -0.12498914,
+ -0.12620099,
+ -0.12741283,
+ -0.1338393,
+ -0.13443993,
+ -0.13504056,
+ -0.13579471,
+ -0.13654884,
+ -0.1398701,
+ -0.14431371,
+ -0.14545265,
+ -0.14659159,
+ -0.14773052,
+ -0.14925151,
+ -0.15414888,
+ -0.15621757,
+ -0.15828626,
+ -0.16042133,
+ -0.1625564,
+ -0.16470934,
+ -0.16556043,
+ -0.16641153,
+ -0.16726263,
+ -0.16916482,
+ -0.17021593,
+ -0.17219034,
+ -0.17377658,
+ -0.17536281,
+ -0.17840885,
+ -0.1818096,
+ -0.18355642,
+ -0.18874051,
+ -0.1892093,
+ -0.18967808,
+ -0.19257172,
+ -0.1939457,
+ -0.19810185,
+ -0.20156661,
+ -0.20271437,
+ -0.20386213,
+ -0.20510998,
+ -0.20635783,
+ -0.20760569,
+ -0.20885354,
+ -0.21041811,
+ -0.21198267,
+ -0.21624784,
+ -0.22051301,
+ -0.22171798,
+ -0.22292296,
+ -0.22412793,
+ -0.2253329,
+ -0.22653788,
+ -0.22774285,
+ -0.22923039,
+ -0.23071793,
+ -0.23315186,
+ -0.23399846,
+ -0.23484507,
+ -0.23569168,
+ -0.23653828,
+ -0.23726187,
+ -0.23798547,
+ -0.23870907,
+ -0.2395035,
+ -0.24018687,
+ -0.24398962,
+ -0.24779237
+ ],
+ "zero_command_u8": 128,
+ "source_joint": "index_mcp_roll"
+ },
+ "ring_mcp_roll": {
+ "motor_index": 8,
+ "angle_rad": [
+ 0.24779237,
+ 0.2471294,
+ 0.24646643,
+ 0.24575134,
+ 0.24503625,
+ 0.24432116,
+ 0.24336051,
+ 0.24239986,
+ 0.24155337,
+ 0.2406523,
+ 0.23975122,
+ 0.23885015,
+ 0.23713582,
+ 0.23149946,
+ 0.2304481,
+ 0.22823671,
+ 0.22707669,
+ 0.22210587,
+ 0.22094585,
+ 0.21978583,
+ 0.21960349,
+ 0.21598841,
+ 0.21467591,
+ 0.21336342,
+ 0.21202435,
+ 0.21068528,
+ 0.20934622,
+ 0.20656302,
+ 0.20222434,
+ 0.19989027,
+ 0.19755621,
+ 0.19522214,
+ 0.19434412,
+ 0.19434412,
+ 0.18944825,
+ 0.18929246,
+ 0.18684787,
+ 0.18259741,
+ 0.18063573,
+ 0.17687973,
+ 0.17475867,
+ 0.17263761,
+ 0.17263761,
+ 0.16760824,
+ 0.16760824,
+ 0.16636738,
+ 0.16512652,
+ 0.16345255,
+ 0.15775519,
+ 0.15652109,
+ 0.15528699,
+ 0.15422834,
+ 0.15316969,
+ 0.15211105,
+ 0.15062727,
+ 0.14869149,
+ 0.1467557,
+ 0.14399529,
+ 0.13878554,
+ 0.13774037,
+ 0.1366952,
+ 0.13565002,
+ 0.13460485,
+ 0.13355967,
+ 0.13276858,
+ 0.1312132,
+ 0.12965784,
+ 0.12673571,
+ 0.12387347,
+ 0.12077971,
+ 0.11770352,
+ 0.11531577,
+ 0.11251552,
+ 0.10971527,
+ 0.10872364,
+ 0.10415061,
+ 0.10322388,
+ 0.10229714,
+ 0.10111256,
+ 0.10023102,
+ 0.09556534,
+ 0.09342987,
+ 0.09129439,
+ 0.08915892,
+ 0.08827737,
+ 0.08739582,
+ 0.08692593,
+ 0.08645603,
+ 0.08598614,
+ 0.08541786,
+ 0.08484959,
+ 0.08106263,
+ 0.07727569,
+ 0.07348874,
+ 0.07112389,
+ 0.06875905,
+ 0.06817932,
+ 0.06262211,
+ 0.06193094,
+ 0.06123978,
+ 0.05996067,
+ 0.05700788,
+ 0.0540551,
+ 0.05260928,
+ 0.05116347,
+ 0.04971766,
+ 0.04649238,
+ 0.04463286,
+ 0.04277334,
+ 0.04091382,
+ 0.03611707,
+ 0.0329226,
+ 0.03143934,
+ 0.02995608,
+ 0.02817822,
+ 0.02621122,
+ 0.02424422,
+ 0.02104982,
+ 0.01713074,
+ 0.01321167,
+ 0.0103225,
+ 0.00743333,
+ 0.00642403,
+ 0.00542622,
+ 0.00442842,
+ 0.00343061,
+ 0.00232498,
+ 0.00121936,
+ -0.00044479,
+ -0.00210893,
+ -0.00377308,
+ -0.00543722,
+ -0.00755299,
+ -0.00929899,
+ -0.01104499,
+ -0.01302213,
+ -0.01499926,
+ -0.01697639,
+ -0.01895351,
+ -0.0237178,
+ -0.02523847,
+ -0.02675915,
+ -0.02854427,
+ -0.0303294,
+ -0.03123815,
+ -0.0321469,
+ -0.03561649,
+ -0.03962324,
+ -0.04226221,
+ -0.04448784,
+ -0.04671349,
+ -0.0475573,
+ -0.04840111,
+ -0.05131471,
+ -0.05591982,
+ -0.05767745,
+ -0.05943509,
+ -0.06249287,
+ -0.06430088,
+ -0.06885362,
+ -0.07031641,
+ -0.0717792,
+ -0.07434088,
+ -0.07560038,
+ -0.07685988,
+ -0.07846433,
+ -0.08006877,
+ -0.08167322,
+ -0.08327767,
+ -0.08488211,
+ -0.08672626,
+ -0.08857041,
+ -0.09041455,
+ -0.09239232,
+ -0.09391702,
+ -0.09544171,
+ -0.09888187,
+ -0.10232202,
+ -0.10323463,
+ -0.10414724,
+ -0.10652204,
+ -0.10889683,
+ -0.111231,
+ -0.11356516,
+ -0.11589932,
+ -0.11685614,
+ -0.11956714,
+ -0.12227814,
+ -0.12498914,
+ -0.12620099,
+ -0.12741283,
+ -0.1338393,
+ -0.13443993,
+ -0.13504056,
+ -0.13579471,
+ -0.13654884,
+ -0.1398701,
+ -0.14431371,
+ -0.14545265,
+ -0.14659159,
+ -0.14773052,
+ -0.14925151,
+ -0.15414888,
+ -0.15621757,
+ -0.15828626,
+ -0.16042133,
+ -0.1625564,
+ -0.16470934,
+ -0.16556043,
+ -0.16641153,
+ -0.16726263,
+ -0.16916482,
+ -0.17021593,
+ -0.17219034,
+ -0.17377658,
+ -0.17536281,
+ -0.17840885,
+ -0.1818096,
+ -0.18355642,
+ -0.18874051,
+ -0.1892093,
+ -0.18967808,
+ -0.19257172,
+ -0.1939457,
+ -0.19810185,
+ -0.20156661,
+ -0.20271437,
+ -0.20386213,
+ -0.20510998,
+ -0.20635783,
+ -0.20760569,
+ -0.20885354,
+ -0.21041811,
+ -0.21198267,
+ -0.21624784,
+ -0.22051301,
+ -0.22171798,
+ -0.22292296,
+ -0.22412793,
+ -0.2253329,
+ -0.22653788,
+ -0.22774285,
+ -0.22923039,
+ -0.23071793,
+ -0.23315186,
+ -0.23399846,
+ -0.23484507,
+ -0.23569168,
+ -0.23653828,
+ -0.23726187,
+ -0.23798547,
+ -0.23870907,
+ -0.2395035,
+ -0.24018687,
+ -0.24398962,
+ -0.24779237
+ ],
+ "zero_command_u8": 128,
+ "source_joint": "index_mcp_roll"
+ },
+ "pinky_mcp_roll": {
+ "motor_index": 9,
+ "angle_rad": [
+ 0.24779237,
+ 0.2471294,
+ 0.24646643,
+ 0.24575134,
+ 0.24503625,
+ 0.24432116,
+ 0.24336051,
+ 0.24239986,
+ 0.24155337,
+ 0.2406523,
+ 0.23975122,
+ 0.23885015,
+ 0.23713582,
+ 0.23149946,
+ 0.2304481,
+ 0.22823671,
+ 0.22707669,
+ 0.22210587,
+ 0.22094585,
+ 0.21978583,
+ 0.21960349,
+ 0.21598841,
+ 0.21467591,
+ 0.21336342,
+ 0.21202435,
+ 0.21068528,
+ 0.20934622,
+ 0.20656302,
+ 0.20222434,
+ 0.19989027,
+ 0.19755621,
+ 0.19522214,
+ 0.19434412,
+ 0.19434412,
+ 0.18944825,
+ 0.18929246,
+ 0.18684787,
+ 0.18259741,
+ 0.18063573,
+ 0.17687973,
+ 0.17475867,
+ 0.17263761,
+ 0.17263761,
+ 0.16760824,
+ 0.16760824,
+ 0.16636738,
+ 0.16512652,
+ 0.16345255,
+ 0.15775519,
+ 0.15652109,
+ 0.15528699,
+ 0.15422834,
+ 0.15316969,
+ 0.15211105,
+ 0.15062727,
+ 0.14869149,
+ 0.1467557,
+ 0.14399529,
+ 0.13878554,
+ 0.13774037,
+ 0.1366952,
+ 0.13565002,
+ 0.13460485,
+ 0.13355967,
+ 0.13276858,
+ 0.1312132,
+ 0.12965784,
+ 0.12673571,
+ 0.12387347,
+ 0.12077971,
+ 0.11770352,
+ 0.11531577,
+ 0.11251552,
+ 0.10971527,
+ 0.10872364,
+ 0.10415061,
+ 0.10322388,
+ 0.10229714,
+ 0.10111256,
+ 0.10023102,
+ 0.09556534,
+ 0.09342987,
+ 0.09129439,
+ 0.08915892,
+ 0.08827737,
+ 0.08739582,
+ 0.08692593,
+ 0.08645603,
+ 0.08598614,
+ 0.08541786,
+ 0.08484959,
+ 0.08106263,
+ 0.07727569,
+ 0.07348874,
+ 0.07112389,
+ 0.06875905,
+ 0.06817932,
+ 0.06262211,
+ 0.06193094,
+ 0.06123978,
+ 0.05996067,
+ 0.05700788,
+ 0.0540551,
+ 0.05260928,
+ 0.05116347,
+ 0.04971766,
+ 0.04649238,
+ 0.04463286,
+ 0.04277334,
+ 0.04091382,
+ 0.03611707,
+ 0.0329226,
+ 0.03143934,
+ 0.02995608,
+ 0.02817822,
+ 0.02621122,
+ 0.02424422,
+ 0.02104982,
+ 0.01713074,
+ 0.01321167,
+ 0.0103225,
+ 0.00743333,
+ 0.00642403,
+ 0.00542622,
+ 0.00442842,
+ 0.00343061,
+ 0.00232498,
+ 0.00121936,
+ -0.00044479,
+ -0.00210893,
+ -0.00377308,
+ -0.00543722,
+ -0.00755299,
+ -0.00929899,
+ -0.01104499,
+ -0.01302213,
+ -0.01499926,
+ -0.01697639,
+ -0.01895351,
+ -0.0237178,
+ -0.02523847,
+ -0.02675915,
+ -0.02854427,
+ -0.0303294,
+ -0.03123815,
+ -0.0321469,
+ -0.03561649,
+ -0.03962324,
+ -0.04226221,
+ -0.04448784,
+ -0.04671349,
+ -0.0475573,
+ -0.04840111,
+ -0.05131471,
+ -0.05591982,
+ -0.05767745,
+ -0.05943509,
+ -0.06249287,
+ -0.06430088,
+ -0.06885362,
+ -0.07031641,
+ -0.0717792,
+ -0.07434088,
+ -0.07560038,
+ -0.07685988,
+ -0.07846433,
+ -0.08006877,
+ -0.08167322,
+ -0.08327767,
+ -0.08488211,
+ -0.08672626,
+ -0.08857041,
+ -0.09041455,
+ -0.09239232,
+ -0.09391702,
+ -0.09544171,
+ -0.09888187,
+ -0.10232202,
+ -0.10323463,
+ -0.10414724,
+ -0.10652204,
+ -0.10889683,
+ -0.111231,
+ -0.11356516,
+ -0.11589932,
+ -0.11685614,
+ -0.11956714,
+ -0.12227814,
+ -0.12498914,
+ -0.12620099,
+ -0.12741283,
+ -0.1338393,
+ -0.13443993,
+ -0.13504056,
+ -0.13579471,
+ -0.13654884,
+ -0.1398701,
+ -0.14431371,
+ -0.14545265,
+ -0.14659159,
+ -0.14773052,
+ -0.14925151,
+ -0.15414888,
+ -0.15621757,
+ -0.15828626,
+ -0.16042133,
+ -0.1625564,
+ -0.16470934,
+ -0.16556043,
+ -0.16641153,
+ -0.16726263,
+ -0.16916482,
+ -0.17021593,
+ -0.17219034,
+ -0.17377658,
+ -0.17536281,
+ -0.17840885,
+ -0.1818096,
+ -0.18355642,
+ -0.18874051,
+ -0.1892093,
+ -0.18967808,
+ -0.19257172,
+ -0.1939457,
+ -0.19810185,
+ -0.20156661,
+ -0.20271437,
+ -0.20386213,
+ -0.20510998,
+ -0.20635783,
+ -0.20760569,
+ -0.20885354,
+ -0.21041811,
+ -0.21198267,
+ -0.21624784,
+ -0.22051301,
+ -0.22171798,
+ -0.22292296,
+ -0.22412793,
+ -0.2253329,
+ -0.22653788,
+ -0.22774285,
+ -0.22923039,
+ -0.23071793,
+ -0.23315186,
+ -0.23399846,
+ -0.23484507,
+ -0.23569168,
+ -0.23653828,
+ -0.23726187,
+ -0.23798547,
+ -0.23870907,
+ -0.2395035,
+ -0.24018687,
+ -0.24398962,
+ -0.24779237
+ ],
+ "zero_command_u8": 128,
+ "source_joint": "index_mcp_roll"
+ },
+ "thumb_cmc_yaw": {
+ "motor_index": 10,
+ "angle_rad": [
+ 1.60135992,
+ 1.59975281,
+ 1.59814569,
+ 1.59653857,
+ 1.5936129,
+ 1.59091071,
+ 1.58678455,
+ 1.58408236,
+ 1.57575251,
+ 1.57051823,
+ 1.56305581,
+ 1.55630928,
+ 1.54894772,
+ 1.53814598,
+ 1.5352275,
+ 1.53230902,
+ 1.5244734,
+ 1.51259584,
+ 1.50679922,
+ 1.5005313,
+ 1.49449267,
+ 1.48825428,
+ 1.48105505,
+ 1.47355995,
+ 1.46645559,
+ 1.45975272,
+ 1.45304984,
+ 1.44870588,
+ 1.44208757,
+ 1.43616536,
+ 1.43024316,
+ 1.42532207,
+ 1.41675295,
+ 1.4081918,
+ 1.40067275,
+ 1.39711976,
+ 1.39356677,
+ 1.38349093,
+ 1.37640465,
+ 1.36891688,
+ 1.36209069,
+ 1.3552645,
+ 1.35039337,
+ 1.34552226,
+ 1.33925005,
+ 1.33297783,
+ 1.32334818,
+ 1.32002926,
+ 1.31143126,
+ 1.30286727,
+ 1.30036182,
+ 1.29193307,
+ 1.28765344,
+ 1.28072294,
+ 1.27508084,
+ 1.26939633,
+ 1.25449683,
+ 1.25161379,
+ 1.25136399,
+ 1.24214899,
+ 1.23904967,
+ 1.23034942,
+ 1.22252025,
+ 1.2165129,
+ 1.20748444,
+ 1.20561797,
+ 1.19586127,
+ 1.19188466,
+ 1.18439141,
+ 1.17733548,
+ 1.17342857,
+ 1.17095336,
+ 1.16202094,
+ 1.16025572,
+ 1.14943627,
+ 1.13853646,
+ 1.13784588,
+ 1.13041471,
+ 1.12370907,
+ 1.11560873,
+ 1.11297118,
+ 1.10402852,
+ 1.09941055,
+ 1.08962321,
+ 1.08370837,
+ 1.07713385,
+ 1.07187615,
+ 1.06661845,
+ 1.06136665,
+ 1.05604653,
+ 1.04814036,
+ 1.04333457,
+ 1.03399167,
+ 1.02832071,
+ 1.02264974,
+ 1.01753844,
+ 1.01242712,
+ 1.00190961,
+ 0.99462185,
+ 0.98733408,
+ 0.97630094,
+ 0.96942626,
+ 0.96564421,
+ 0.96186218,
+ 0.95695045,
+ 0.94995003,
+ 0.94206402,
+ 0.9391589,
+ 0.92956474,
+ 0.9240055,
+ 0.91681568,
+ 0.91346813,
+ 0.90411618,
+ 0.90104985,
+ 0.89330252,
+ 0.88443381,
+ 0.878201,
+ 0.87305463,
+ 0.86790826,
+ 0.85869879,
+ 0.85179736,
+ 0.84489594,
+ 0.83884965,
+ 0.82994405,
+ 0.82711008,
+ 0.82427613,
+ 0.81438114,
+ 0.80863273,
+ 0.80079447,
+ 0.80079447,
+ 0.78867944,
+ 0.78624984,
+ 0.78377162,
+ 0.77618376,
+ 0.76659444,
+ 0.7618422,
+ 0.75564685,
+ 0.74947157,
+ 0.74103681,
+ 0.73841904,
+ 0.73237137,
+ 0.71989504,
+ 0.71630914,
+ 0.71003286,
+ 0.7004051,
+ 0.69292571,
+ 0.6893889,
+ 0.68746667,
+ 0.6726685,
+ 0.6721802,
+ 0.66597347,
+ 0.65846332,
+ 0.65190426,
+ 0.64915915,
+ 0.64199843,
+ 0.63681131,
+ 0.62699699,
+ 0.62133842,
+ 0.61743518,
+ 0.61521607,
+ 0.60490734,
+ 0.59817356,
+ 0.59493914,
+ 0.58177798,
+ 0.5716837,
+ 0.56740563,
+ 0.5615281,
+ 0.55431153,
+ 0.54993935,
+ 0.54556717,
+ 0.53433591,
+ 0.52891891,
+ 0.52350192,
+ 0.51885183,
+ 0.50377652,
+ 0.50185984,
+ 0.49994316,
+ 0.49413123,
+ 0.48333231,
+ 0.47668199,
+ 0.47547561,
+ 0.46919272,
+ 0.46247399,
+ 0.45789517,
+ 0.45331634,
+ 0.43998828,
+ 0.43330189,
+ 0.4266155,
+ 0.41899836,
+ 0.41306239,
+ 0.40867805,
+ 0.40429371,
+ 0.39364219,
+ 0.38994549,
+ 0.38624878,
+ 0.37888536,
+ 0.36761325,
+ 0.36618812,
+ 0.35970111,
+ 0.35347275,
+ 0.34794314,
+ 0.33900425,
+ 0.33081455,
+ 0.32309449,
+ 0.32129548,
+ 0.31381611,
+ 0.30819874,
+ 0.29852713,
+ 0.29455655,
+ 0.28651232,
+ 0.28179253,
+ 0.27707274,
+ 0.27060578,
+ 0.2643937,
+ 0.25409156,
+ 0.25281537,
+ 0.24145843,
+ 0.23392634,
+ 0.22639426,
+ 0.22138736,
+ 0.21966595,
+ 0.20414718,
+ 0.20020304,
+ 0.19522251,
+ 0.1890055,
+ 0.17691244,
+ 0.17237039,
+ 0.17065801,
+ 0.16863407,
+ 0.15743305,
+ 0.15158021,
+ 0.1466309,
+ 0.13965131,
+ 0.13267173,
+ 0.12770179,
+ 0.12273186,
+ 0.11408026,
+ 0.10750489,
+ 0.10092953,
+ 0.09730722,
+ 0.08764385,
+ 0.07819777,
+ 0.07488461,
+ 0.06509715,
+ 0.05342279,
+ 0.04890234,
+ 0.04285075,
+ 0.03762607,
+ 0.03310687,
+ 0.02858767,
+ 0.02486093,
+ 0.01783412,
+ 0.01080732,
+ 0.00720488,
+ 0.00360244,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.36708215
+ }
+ },
+ "thumb_mcp": {
+ "motor_index": 15,
+ "angle_rad": [
+ 1.20774677,
+ 1.2045899,
+ 1.20143302,
+ 1.1987163,
+ 1.19155974,
+ 1.18859056,
+ 1.18435302,
+ 1.1774829,
+ 1.1714606,
+ 1.16634243,
+ 1.16314449,
+ 1.15845405,
+ 1.15131763,
+ 1.14891962,
+ 1.14023342,
+ 1.13456888,
+ 1.130328,
+ 1.12545995,
+ 1.12133452,
+ 1.11610869,
+ 1.11120182,
+ 1.10221058,
+ 1.09661129,
+ 1.09142904,
+ 1.08599175,
+ 1.07976619,
+ 1.07420554,
+ 1.0686449,
+ 1.06718296,
+ 1.0618952,
+ 1.0571081,
+ 1.05232101,
+ 1.04776233,
+ 1.04002071,
+ 1.03752464,
+ 1.0337495,
+ 1.02800307,
+ 1.02053477,
+ 1.01669388,
+ 1.01111545,
+ 1.00690047,
+ 1.00009198,
+ 0.99487694,
+ 0.99228797,
+ 0.98589774,
+ 0.98145729,
+ 0.9769942,
+ 0.97240002,
+ 0.96907249,
+ 0.96226961,
+ 0.95770233,
+ 0.95249757,
+ 0.94799254,
+ 0.94348751,
+ 0.93928545,
+ 0.93416051,
+ 0.9268217,
+ 0.92251786,
+ 0.91802819,
+ 0.91211796,
+ 0.90620775,
+ 0.90432138,
+ 0.89990477,
+ 0.89337923,
+ 0.88622182,
+ 0.88405625,
+ 0.87980445,
+ 0.87555266,
+ 0.87015191,
+ 0.86498759,
+ 0.86100756,
+ 0.85702752,
+ 0.85246393,
+ 0.84741497,
+ 0.8408175,
+ 0.83587807,
+ 0.82920699,
+ 0.82391938,
+ 0.81929089,
+ 0.81700528,
+ 0.81367159,
+ 0.80803863,
+ 0.80422583,
+ 0.79906201,
+ 0.7956242,
+ 0.79167541,
+ 0.78412303,
+ 0.78215419,
+ 0.77573685,
+ 0.77010288,
+ 0.76674879,
+ 0.764761,
+ 0.75933425,
+ 0.75237505,
+ 0.75031642,
+ 0.74389489,
+ 0.73377593,
+ 0.73125589,
+ 0.72873586,
+ 0.72543529,
+ 0.72161446,
+ 0.71779362,
+ 0.71156233,
+ 0.7079579,
+ 0.70117599,
+ 0.69521178,
+ 0.69307389,
+ 0.68649618,
+ 0.6821477,
+ 0.67960201,
+ 0.67398503,
+ 0.66685763,
+ 0.66382668,
+ 0.65859227,
+ 0.65679177,
+ 0.6504829,
+ 0.64552006,
+ 0.64107435,
+ 0.63782959,
+ 0.63458484,
+ 0.62984864,
+ 0.62670954,
+ 0.62023567,
+ 0.61347435,
+ 0.60820586,
+ 0.60272796,
+ 0.60163048,
+ 0.59562955,
+ 0.59374845,
+ 0.5898348,
+ 0.58293068,
+ 0.57682324,
+ 0.57173075,
+ 0.5667875,
+ 0.56103166,
+ 0.55890932,
+ 0.55527978,
+ 0.55046003,
+ 0.54521904,
+ 0.53835481,
+ 0.53574681,
+ 0.5300615,
+ 0.52840401,
+ 0.52234599,
+ 0.51880261,
+ 0.51342214,
+ 0.51034237,
+ 0.50571027,
+ 0.50108033,
+ 0.49550409,
+ 0.49340498,
+ 0.48811331,
+ 0.47989205,
+ 0.47184999,
+ 0.47034423,
+ 0.46395,
+ 0.46078439,
+ 0.45761876,
+ 0.45506985,
+ 0.44603678,
+ 0.44444379,
+ 0.44000403,
+ 0.43490176,
+ 0.43004655,
+ 0.42606694,
+ 0.42363332,
+ 0.41761007,
+ 0.41493198,
+ 0.40676363,
+ 0.40345124,
+ 0.40013887,
+ 0.39522004,
+ 0.39024194,
+ 0.38375824,
+ 0.37591927,
+ 0.37314155,
+ 0.37026932,
+ 0.36607309,
+ 0.36317995,
+ 0.35813249,
+ 0.35118587,
+ 0.34887572,
+ 0.34136201,
+ 0.33695504,
+ 0.33093768,
+ 0.32866278,
+ 0.32457938,
+ 0.32156838,
+ 0.3182697,
+ 0.30981186,
+ 0.30614736,
+ 0.29951238,
+ 0.29501257,
+ 0.29005587,
+ 0.28605474,
+ 0.28116365,
+ 0.27540314,
+ 0.27047618,
+ 0.26560167,
+ 0.25781834,
+ 0.256387,
+ 0.2548828,
+ 0.24688287,
+ 0.24023649,
+ 0.23884316,
+ 0.23439026,
+ 0.22911934,
+ 0.22657832,
+ 0.2206412,
+ 0.21424596,
+ 0.20522796,
+ 0.20424611,
+ 0.19967024,
+ 0.19554081,
+ 0.18663804,
+ 0.18541253,
+ 0.18187764,
+ 0.17578972,
+ 0.16762995,
+ 0.16305807,
+ 0.15916674,
+ 0.1560191,
+ 0.15045022,
+ 0.14666139,
+ 0.13962033,
+ 0.13349031,
+ 0.12948211,
+ 0.12405396,
+ 0.11931089,
+ 0.1145678,
+ 0.10824575,
+ 0.10191715,
+ 0.09596376,
+ 0.0944644,
+ 0.08839722,
+ 0.08023226,
+ 0.07813798,
+ 0.07083195,
+ 0.06469809,
+ 0.06086896,
+ 0.05450041,
+ 0.04690487,
+ 0.04491639,
+ 0.03813109,
+ 0.03112436,
+ 0.0279543,
+ 0.02154466,
+ 0.01826601,
+ 0.01542655,
+ 0.01084521,
+ 0.00776381,
+ 0.00468735,
+ 0.00223589,
+ 0.00070487,
+ 0.00035244,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.17898738
+ }
+ },
+ "index_pip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.81566417,
+ 1.81339411,
+ 1.81112406,
+ 1.808854,
+ 1.79431644,
+ 1.78974023,
+ 1.77793797,
+ 1.77569152,
+ 1.76668992,
+ 1.76257939,
+ 1.75376494,
+ 1.74681025,
+ 1.73645706,
+ 1.73414576,
+ 1.72725924,
+ 1.71794709,
+ 1.71260681,
+ 1.7043698,
+ 1.69510688,
+ 1.69200652,
+ 1.68562663,
+ 1.67589844,
+ 1.6732981,
+ 1.66603581,
+ 1.65877352,
+ 1.65359975,
+ 1.64926007,
+ 1.63757647,
+ 1.6335099,
+ 1.62358116,
+ 1.61901291,
+ 1.60898087,
+ 1.6065509,
+ 1.60191744,
+ 1.59461286,
+ 1.58478078,
+ 1.58008153,
+ 1.56923176,
+ 1.56729984,
+ 1.56200958,
+ 1.55671931,
+ 1.55167623,
+ 1.54663314,
+ 1.54226076,
+ 1.53164689,
+ 1.52308408,
+ 1.51851042,
+ 1.50657653,
+ 1.50332528,
+ 1.49569639,
+ 1.48943613,
+ 1.48782864,
+ 1.47962117,
+ 1.4753217,
+ 1.46798051,
+ 1.46342428,
+ 1.45817818,
+ 1.45293209,
+ 1.43909964,
+ 1.43734016,
+ 1.42878581,
+ 1.42064598,
+ 1.41614646,
+ 1.40749748,
+ 1.40362793,
+ 1.39975837,
+ 1.395561,
+ 1.39136362,
+ 1.38381607,
+ 1.37632164,
+ 1.37119625,
+ 1.36472369,
+ 1.35910212,
+ 1.35348054,
+ 1.35187028,
+ 1.344083,
+ 1.33328122,
+ 1.32719397,
+ 1.32150991,
+ 1.31582585,
+ 1.30979687,
+ 1.30442393,
+ 1.29793195,
+ 1.29266748,
+ 1.28740302,
+ 1.27724768,
+ 1.27186932,
+ 1.26649097,
+ 1.2578794,
+ 1.25286497,
+ 1.24847014,
+ 1.24326511,
+ 1.23806008,
+ 1.23293816,
+ 1.2246581,
+ 1.21593163,
+ 1.21081327,
+ 1.20543141,
+ 1.20004956,
+ 1.19540963,
+ 1.1907697,
+ 1.18217798,
+ 1.17746442,
+ 1.1719183,
+ 1.16016239,
+ 1.15509001,
+ 1.14717263,
+ 1.14403918,
+ 1.1409057,
+ 1.12882085,
+ 1.1223191,
+ 1.11450679,
+ 1.10669448,
+ 1.10247252,
+ 1.09705193,
+ 1.09035424,
+ 1.08372619,
+ 1.080776,
+ 1.06766184,
+ 1.06509027,
+ 1.06134682,
+ 1.0514389,
+ 1.04149625,
+ 1.03881521,
+ 1.03448379,
+ 1.0248459,
+ 1.01677239,
+ 1.01017796,
+ 1.00397106,
+ 0.99776417,
+ 0.99334467,
+ 0.98532871,
+ 0.97956345,
+ 0.97517777,
+ 0.97253828,
+ 0.96051596,
+ 0.95270785,
+ 0.94262538,
+ 0.93586312,
+ 0.93144025,
+ 0.92432427,
+ 0.91720828,
+ 0.91192787,
+ 0.89782433,
+ 0.89380463,
+ 0.88978493,
+ 0.88337539,
+ 0.87753306,
+ 0.87169072,
+ 0.86056027,
+ 0.85760634,
+ 0.84475343,
+ 0.84062641,
+ 0.83225506,
+ 0.82331768,
+ 0.8137135,
+ 0.81020031,
+ 0.80282288,
+ 0.79544546,
+ 0.79009989,
+ 0.78195516,
+ 0.77269146,
+ 0.76342776,
+ 0.75379251,
+ 0.7468216,
+ 0.7362979,
+ 0.73300393,
+ 0.7297038,
+ 0.72017751,
+ 0.71045506,
+ 0.70271627,
+ 0.69535352,
+ 0.68528353,
+ 0.68261545,
+ 0.67602052,
+ 0.66942561,
+ 0.659473,
+ 0.65032862,
+ 0.64135294,
+ 0.63466645,
+ 0.62101727,
+ 0.61428085,
+ 0.60824343,
+ 0.60220602,
+ 0.59698862,
+ 0.59177122,
+ 0.58303211,
+ 0.574293,
+ 0.57135139,
+ 0.56422297,
+ 0.55984128,
+ 0.54379636,
+ 0.54074783,
+ 0.52845744,
+ 0.5237409,
+ 0.51513691,
+ 0.50627906,
+ 0.49818682,
+ 0.49009457,
+ 0.485026,
+ 0.47995742,
+ 0.47143283,
+ 0.46180836,
+ 0.45218389,
+ 0.43712526,
+ 0.43240461,
+ 0.42768396,
+ 0.42583869,
+ 0.41392732,
+ 0.39855628,
+ 0.39545785,
+ 0.38796383,
+ 0.37232392,
+ 0.36020432,
+ 0.35619637,
+ 0.34987137,
+ 0.34354638,
+ 0.32974278,
+ 0.31783071,
+ 0.3133865,
+ 0.30894228,
+ 0.29496525,
+ 0.2791106,
+ 0.27586758,
+ 0.27262455,
+ 0.26334833,
+ 0.25017528,
+ 0.24103956,
+ 0.23440916,
+ 0.22292089,
+ 0.21679075,
+ 0.2106606,
+ 0.19786692,
+ 0.19090249,
+ 0.17818138,
+ 0.17108583,
+ 0.16399027,
+ 0.15000384,
+ 0.14317552,
+ 0.12887976,
+ 0.11941547,
+ 0.10995118,
+ 0.10995118,
+ 0.09181243,
+ 0.08708578,
+ 0.07592188,
+ 0.06755762,
+ 0.0581293,
+ 0.052147,
+ 0.03777402,
+ 0.03339394,
+ 0.02721275,
+ 0.01605371,
+ 0.01070247,
+ 0.00535123,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.56086048
+ }
+ },
+ "middle_pip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.81566417,
+ 1.81339411,
+ 1.81112406,
+ 1.808854,
+ 1.79431644,
+ 1.78974023,
+ 1.77793797,
+ 1.77569152,
+ 1.76668992,
+ 1.76257939,
+ 1.75376494,
+ 1.74681025,
+ 1.73645706,
+ 1.73414576,
+ 1.72725924,
+ 1.71794709,
+ 1.71260681,
+ 1.7043698,
+ 1.69510688,
+ 1.69200652,
+ 1.68562663,
+ 1.67589844,
+ 1.6732981,
+ 1.66603581,
+ 1.65877352,
+ 1.65359975,
+ 1.64926007,
+ 1.63757647,
+ 1.6335099,
+ 1.62358116,
+ 1.61901291,
+ 1.60898087,
+ 1.6065509,
+ 1.60191744,
+ 1.59461286,
+ 1.58478078,
+ 1.58008153,
+ 1.56923176,
+ 1.56729984,
+ 1.56200958,
+ 1.55671931,
+ 1.55167623,
+ 1.54663314,
+ 1.54226076,
+ 1.53164689,
+ 1.52308408,
+ 1.51851042,
+ 1.50657653,
+ 1.50332528,
+ 1.49569639,
+ 1.48943613,
+ 1.48782864,
+ 1.47962117,
+ 1.4753217,
+ 1.46798051,
+ 1.46342428,
+ 1.45817818,
+ 1.45293209,
+ 1.43909964,
+ 1.43734016,
+ 1.42878581,
+ 1.42064598,
+ 1.41614646,
+ 1.40749748,
+ 1.40362793,
+ 1.39975837,
+ 1.395561,
+ 1.39136362,
+ 1.38381607,
+ 1.37632164,
+ 1.37119625,
+ 1.36472369,
+ 1.35910212,
+ 1.35348054,
+ 1.35187028,
+ 1.344083,
+ 1.33328122,
+ 1.32719397,
+ 1.32150991,
+ 1.31582585,
+ 1.30979687,
+ 1.30442393,
+ 1.29793195,
+ 1.29266748,
+ 1.28740302,
+ 1.27724768,
+ 1.27186932,
+ 1.26649097,
+ 1.2578794,
+ 1.25286497,
+ 1.24847014,
+ 1.24326511,
+ 1.23806008,
+ 1.23293816,
+ 1.2246581,
+ 1.21593163,
+ 1.21081327,
+ 1.20543141,
+ 1.20004956,
+ 1.19540963,
+ 1.1907697,
+ 1.18217798,
+ 1.17746442,
+ 1.1719183,
+ 1.16016239,
+ 1.15509001,
+ 1.14717263,
+ 1.14403918,
+ 1.1409057,
+ 1.12882085,
+ 1.1223191,
+ 1.11450679,
+ 1.10669448,
+ 1.10247252,
+ 1.09705193,
+ 1.09035424,
+ 1.08372619,
+ 1.080776,
+ 1.06766184,
+ 1.06509027,
+ 1.06134682,
+ 1.0514389,
+ 1.04149625,
+ 1.03881521,
+ 1.03448379,
+ 1.0248459,
+ 1.01677239,
+ 1.01017796,
+ 1.00397106,
+ 0.99776417,
+ 0.99334467,
+ 0.98532871,
+ 0.97956345,
+ 0.97517777,
+ 0.97253828,
+ 0.96051596,
+ 0.95270785,
+ 0.94262538,
+ 0.93586312,
+ 0.93144025,
+ 0.92432427,
+ 0.91720828,
+ 0.91192787,
+ 0.89782433,
+ 0.89380463,
+ 0.88978493,
+ 0.88337539,
+ 0.87753306,
+ 0.87169072,
+ 0.86056027,
+ 0.85760634,
+ 0.84475343,
+ 0.84062641,
+ 0.83225506,
+ 0.82331768,
+ 0.8137135,
+ 0.81020031,
+ 0.80282288,
+ 0.79544546,
+ 0.79009989,
+ 0.78195516,
+ 0.77269146,
+ 0.76342776,
+ 0.75379251,
+ 0.7468216,
+ 0.7362979,
+ 0.73300393,
+ 0.7297038,
+ 0.72017751,
+ 0.71045506,
+ 0.70271627,
+ 0.69535352,
+ 0.68528353,
+ 0.68261545,
+ 0.67602052,
+ 0.66942561,
+ 0.659473,
+ 0.65032862,
+ 0.64135294,
+ 0.63466645,
+ 0.62101727,
+ 0.61428085,
+ 0.60824343,
+ 0.60220602,
+ 0.59698862,
+ 0.59177122,
+ 0.58303211,
+ 0.574293,
+ 0.57135139,
+ 0.56422297,
+ 0.55984128,
+ 0.54379636,
+ 0.54074783,
+ 0.52845744,
+ 0.5237409,
+ 0.51513691,
+ 0.50627906,
+ 0.49818682,
+ 0.49009457,
+ 0.485026,
+ 0.47995742,
+ 0.47143283,
+ 0.46180836,
+ 0.45218389,
+ 0.43712526,
+ 0.43240461,
+ 0.42768396,
+ 0.42583869,
+ 0.41392732,
+ 0.39855628,
+ 0.39545785,
+ 0.38796383,
+ 0.37232392,
+ 0.36020432,
+ 0.35619637,
+ 0.34987137,
+ 0.34354638,
+ 0.32974278,
+ 0.31783071,
+ 0.3133865,
+ 0.30894228,
+ 0.29496525,
+ 0.2791106,
+ 0.27586758,
+ 0.27262455,
+ 0.26334833,
+ 0.25017528,
+ 0.24103956,
+ 0.23440916,
+ 0.22292089,
+ 0.21679075,
+ 0.2106606,
+ 0.19786692,
+ 0.19090249,
+ 0.17818138,
+ 0.17108583,
+ 0.16399027,
+ 0.15000384,
+ 0.14317552,
+ 0.12887976,
+ 0.11941547,
+ 0.10995118,
+ 0.10995118,
+ 0.09181243,
+ 0.08708578,
+ 0.07592188,
+ 0.06755762,
+ 0.0581293,
+ 0.052147,
+ 0.03777402,
+ 0.03339394,
+ 0.02721275,
+ 0.01605371,
+ 0.01070247,
+ 0.00535123,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "ring_pip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.81566417,
+ 1.81339411,
+ 1.81112406,
+ 1.808854,
+ 1.79431644,
+ 1.78974023,
+ 1.77793797,
+ 1.77569152,
+ 1.76668992,
+ 1.76257939,
+ 1.75376494,
+ 1.74681025,
+ 1.73645706,
+ 1.73414576,
+ 1.72725924,
+ 1.71794709,
+ 1.71260681,
+ 1.7043698,
+ 1.69510688,
+ 1.69200652,
+ 1.68562663,
+ 1.67589844,
+ 1.6732981,
+ 1.66603581,
+ 1.65877352,
+ 1.65359975,
+ 1.64926007,
+ 1.63757647,
+ 1.6335099,
+ 1.62358116,
+ 1.61901291,
+ 1.60898087,
+ 1.6065509,
+ 1.60191744,
+ 1.59461286,
+ 1.58478078,
+ 1.58008153,
+ 1.56923176,
+ 1.56729984,
+ 1.56200958,
+ 1.55671931,
+ 1.55167623,
+ 1.54663314,
+ 1.54226076,
+ 1.53164689,
+ 1.52308408,
+ 1.51851042,
+ 1.50657653,
+ 1.50332528,
+ 1.49569639,
+ 1.48943613,
+ 1.48782864,
+ 1.47962117,
+ 1.4753217,
+ 1.46798051,
+ 1.46342428,
+ 1.45817818,
+ 1.45293209,
+ 1.43909964,
+ 1.43734016,
+ 1.42878581,
+ 1.42064598,
+ 1.41614646,
+ 1.40749748,
+ 1.40362793,
+ 1.39975837,
+ 1.395561,
+ 1.39136362,
+ 1.38381607,
+ 1.37632164,
+ 1.37119625,
+ 1.36472369,
+ 1.35910212,
+ 1.35348054,
+ 1.35187028,
+ 1.344083,
+ 1.33328122,
+ 1.32719397,
+ 1.32150991,
+ 1.31582585,
+ 1.30979687,
+ 1.30442393,
+ 1.29793195,
+ 1.29266748,
+ 1.28740302,
+ 1.27724768,
+ 1.27186932,
+ 1.26649097,
+ 1.2578794,
+ 1.25286497,
+ 1.24847014,
+ 1.24326511,
+ 1.23806008,
+ 1.23293816,
+ 1.2246581,
+ 1.21593163,
+ 1.21081327,
+ 1.20543141,
+ 1.20004956,
+ 1.19540963,
+ 1.1907697,
+ 1.18217798,
+ 1.17746442,
+ 1.1719183,
+ 1.16016239,
+ 1.15509001,
+ 1.14717263,
+ 1.14403918,
+ 1.1409057,
+ 1.12882085,
+ 1.1223191,
+ 1.11450679,
+ 1.10669448,
+ 1.10247252,
+ 1.09705193,
+ 1.09035424,
+ 1.08372619,
+ 1.080776,
+ 1.06766184,
+ 1.06509027,
+ 1.06134682,
+ 1.0514389,
+ 1.04149625,
+ 1.03881521,
+ 1.03448379,
+ 1.0248459,
+ 1.01677239,
+ 1.01017796,
+ 1.00397106,
+ 0.99776417,
+ 0.99334467,
+ 0.98532871,
+ 0.97956345,
+ 0.97517777,
+ 0.97253828,
+ 0.96051596,
+ 0.95270785,
+ 0.94262538,
+ 0.93586312,
+ 0.93144025,
+ 0.92432427,
+ 0.91720828,
+ 0.91192787,
+ 0.89782433,
+ 0.89380463,
+ 0.88978493,
+ 0.88337539,
+ 0.87753306,
+ 0.87169072,
+ 0.86056027,
+ 0.85760634,
+ 0.84475343,
+ 0.84062641,
+ 0.83225506,
+ 0.82331768,
+ 0.8137135,
+ 0.81020031,
+ 0.80282288,
+ 0.79544546,
+ 0.79009989,
+ 0.78195516,
+ 0.77269146,
+ 0.76342776,
+ 0.75379251,
+ 0.7468216,
+ 0.7362979,
+ 0.73300393,
+ 0.7297038,
+ 0.72017751,
+ 0.71045506,
+ 0.70271627,
+ 0.69535352,
+ 0.68528353,
+ 0.68261545,
+ 0.67602052,
+ 0.66942561,
+ 0.659473,
+ 0.65032862,
+ 0.64135294,
+ 0.63466645,
+ 0.62101727,
+ 0.61428085,
+ 0.60824343,
+ 0.60220602,
+ 0.59698862,
+ 0.59177122,
+ 0.58303211,
+ 0.574293,
+ 0.57135139,
+ 0.56422297,
+ 0.55984128,
+ 0.54379636,
+ 0.54074783,
+ 0.52845744,
+ 0.5237409,
+ 0.51513691,
+ 0.50627906,
+ 0.49818682,
+ 0.49009457,
+ 0.485026,
+ 0.47995742,
+ 0.47143283,
+ 0.46180836,
+ 0.45218389,
+ 0.43712526,
+ 0.43240461,
+ 0.42768396,
+ 0.42583869,
+ 0.41392732,
+ 0.39855628,
+ 0.39545785,
+ 0.38796383,
+ 0.37232392,
+ 0.36020432,
+ 0.35619637,
+ 0.34987137,
+ 0.34354638,
+ 0.32974278,
+ 0.31783071,
+ 0.3133865,
+ 0.30894228,
+ 0.29496525,
+ 0.2791106,
+ 0.27586758,
+ 0.27262455,
+ 0.26334833,
+ 0.25017528,
+ 0.24103956,
+ 0.23440916,
+ 0.22292089,
+ 0.21679075,
+ 0.2106606,
+ 0.19786692,
+ 0.19090249,
+ 0.17818138,
+ 0.17108583,
+ 0.16399027,
+ 0.15000384,
+ 0.14317552,
+ 0.12887976,
+ 0.11941547,
+ 0.10995118,
+ 0.10995118,
+ 0.09181243,
+ 0.08708578,
+ 0.07592188,
+ 0.06755762,
+ 0.0581293,
+ 0.052147,
+ 0.03777402,
+ 0.03339394,
+ 0.02721275,
+ 0.01605371,
+ 0.01070247,
+ 0.00535123,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "pinky_pip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.81566417,
+ 1.81339411,
+ 1.81112406,
+ 1.808854,
+ 1.79431644,
+ 1.78974023,
+ 1.77793797,
+ 1.77569152,
+ 1.76668992,
+ 1.76257939,
+ 1.75376494,
+ 1.74681025,
+ 1.73645706,
+ 1.73414576,
+ 1.72725924,
+ 1.71794709,
+ 1.71260681,
+ 1.7043698,
+ 1.69510688,
+ 1.69200652,
+ 1.68562663,
+ 1.67589844,
+ 1.6732981,
+ 1.66603581,
+ 1.65877352,
+ 1.65359975,
+ 1.64926007,
+ 1.63757647,
+ 1.6335099,
+ 1.62358116,
+ 1.61901291,
+ 1.60898087,
+ 1.6065509,
+ 1.60191744,
+ 1.59461286,
+ 1.58478078,
+ 1.58008153,
+ 1.56923176,
+ 1.56729984,
+ 1.56200958,
+ 1.55671931,
+ 1.55167623,
+ 1.54663314,
+ 1.54226076,
+ 1.53164689,
+ 1.52308408,
+ 1.51851042,
+ 1.50657653,
+ 1.50332528,
+ 1.49569639,
+ 1.48943613,
+ 1.48782864,
+ 1.47962117,
+ 1.4753217,
+ 1.46798051,
+ 1.46342428,
+ 1.45817818,
+ 1.45293209,
+ 1.43909964,
+ 1.43734016,
+ 1.42878581,
+ 1.42064598,
+ 1.41614646,
+ 1.40749748,
+ 1.40362793,
+ 1.39975837,
+ 1.395561,
+ 1.39136362,
+ 1.38381607,
+ 1.37632164,
+ 1.37119625,
+ 1.36472369,
+ 1.35910212,
+ 1.35348054,
+ 1.35187028,
+ 1.344083,
+ 1.33328122,
+ 1.32719397,
+ 1.32150991,
+ 1.31582585,
+ 1.30979687,
+ 1.30442393,
+ 1.29793195,
+ 1.29266748,
+ 1.28740302,
+ 1.27724768,
+ 1.27186932,
+ 1.26649097,
+ 1.2578794,
+ 1.25286497,
+ 1.24847014,
+ 1.24326511,
+ 1.23806008,
+ 1.23293816,
+ 1.2246581,
+ 1.21593163,
+ 1.21081327,
+ 1.20543141,
+ 1.20004956,
+ 1.19540963,
+ 1.1907697,
+ 1.18217798,
+ 1.17746442,
+ 1.1719183,
+ 1.16016239,
+ 1.15509001,
+ 1.14717263,
+ 1.14403918,
+ 1.1409057,
+ 1.12882085,
+ 1.1223191,
+ 1.11450679,
+ 1.10669448,
+ 1.10247252,
+ 1.09705193,
+ 1.09035424,
+ 1.08372619,
+ 1.080776,
+ 1.06766184,
+ 1.06509027,
+ 1.06134682,
+ 1.0514389,
+ 1.04149625,
+ 1.03881521,
+ 1.03448379,
+ 1.0248459,
+ 1.01677239,
+ 1.01017796,
+ 1.00397106,
+ 0.99776417,
+ 0.99334467,
+ 0.98532871,
+ 0.97956345,
+ 0.97517777,
+ 0.97253828,
+ 0.96051596,
+ 0.95270785,
+ 0.94262538,
+ 0.93586312,
+ 0.93144025,
+ 0.92432427,
+ 0.91720828,
+ 0.91192787,
+ 0.89782433,
+ 0.89380463,
+ 0.88978493,
+ 0.88337539,
+ 0.87753306,
+ 0.87169072,
+ 0.86056027,
+ 0.85760634,
+ 0.84475343,
+ 0.84062641,
+ 0.83225506,
+ 0.82331768,
+ 0.8137135,
+ 0.81020031,
+ 0.80282288,
+ 0.79544546,
+ 0.79009989,
+ 0.78195516,
+ 0.77269146,
+ 0.76342776,
+ 0.75379251,
+ 0.7468216,
+ 0.7362979,
+ 0.73300393,
+ 0.7297038,
+ 0.72017751,
+ 0.71045506,
+ 0.70271627,
+ 0.69535352,
+ 0.68528353,
+ 0.68261545,
+ 0.67602052,
+ 0.66942561,
+ 0.659473,
+ 0.65032862,
+ 0.64135294,
+ 0.63466645,
+ 0.62101727,
+ 0.61428085,
+ 0.60824343,
+ 0.60220602,
+ 0.59698862,
+ 0.59177122,
+ 0.58303211,
+ 0.574293,
+ 0.57135139,
+ 0.56422297,
+ 0.55984128,
+ 0.54379636,
+ 0.54074783,
+ 0.52845744,
+ 0.5237409,
+ 0.51513691,
+ 0.50627906,
+ 0.49818682,
+ 0.49009457,
+ 0.485026,
+ 0.47995742,
+ 0.47143283,
+ 0.46180836,
+ 0.45218389,
+ 0.43712526,
+ 0.43240461,
+ 0.42768396,
+ 0.42583869,
+ 0.41392732,
+ 0.39855628,
+ 0.39545785,
+ 0.38796383,
+ 0.37232392,
+ 0.36020432,
+ 0.35619637,
+ 0.34987137,
+ 0.34354638,
+ 0.32974278,
+ 0.31783071,
+ 0.3133865,
+ 0.30894228,
+ 0.29496525,
+ 0.2791106,
+ 0.27586758,
+ 0.27262455,
+ 0.26334833,
+ 0.25017528,
+ 0.24103956,
+ 0.23440916,
+ 0.22292089,
+ 0.21679075,
+ 0.2106606,
+ 0.19786692,
+ 0.19090249,
+ 0.17818138,
+ 0.17108583,
+ 0.16399027,
+ 0.15000384,
+ 0.14317552,
+ 0.12887976,
+ 0.11941547,
+ 0.10995118,
+ 0.10995118,
+ 0.09181243,
+ 0.08708578,
+ 0.07592188,
+ 0.06755762,
+ 0.0581293,
+ 0.052147,
+ 0.03777402,
+ 0.03339394,
+ 0.02721275,
+ 0.01605371,
+ 0.01070247,
+ 0.00535123,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "thumb_ip": {
+ "motor_index": 15,
+ "angle_rad": [
+ 2.22028171,
+ 2.21221807,
+ 2.20415442,
+ 2.19763282,
+ 2.18307809,
+ 2.17700416,
+ 2.16767618,
+ 2.15409648,
+ 2.14166251,
+ 2.13179718,
+ 2.12488352,
+ 2.11618512,
+ 2.1015971,
+ 2.09697857,
+ 2.07971193,
+ 2.06886929,
+ 2.06062884,
+ 2.05106937,
+ 2.04301891,
+ 2.03299899,
+ 2.023785,
+ 2.00662128,
+ 1.99592046,
+ 1.98621019,
+ 1.97612064,
+ 1.96425197,
+ 1.9539334,
+ 1.94361483,
+ 1.94076396,
+ 1.93120727,
+ 1.92245129,
+ 1.9136953,
+ 1.9054801,
+ 1.89066901,
+ 1.88621845,
+ 1.87919834,
+ 1.86907155,
+ 1.85509074,
+ 1.84800858,
+ 1.83803034,
+ 1.83039093,
+ 1.81812448,
+ 1.80860402,
+ 1.80378149,
+ 1.79214073,
+ 1.78444657,
+ 1.77579909,
+ 1.76775173,
+ 1.76221891,
+ 1.74985108,
+ 1.74163048,
+ 1.73228828,
+ 1.7242556,
+ 1.7162229,
+ 1.7086302,
+ 1.69962416,
+ 1.68644823,
+ 1.67858982,
+ 1.67069609,
+ 1.65999191,
+ 1.64928773,
+ 1.64603288,
+ 1.63826226,
+ 1.62635842,
+ 1.61359727,
+ 1.60988577,
+ 1.60206125,
+ 1.59423673,
+ 1.58481114,
+ 1.57539593,
+ 1.56791157,
+ 1.5604272,
+ 1.55338323,
+ 1.54429693,
+ 1.5323938,
+ 1.5237674,
+ 1.51195821,
+ 1.5022393,
+ 1.49409313,
+ 1.48950699,
+ 1.48371183,
+ 1.47376463,
+ 1.46672797,
+ 1.45750865,
+ 1.45134937,
+ 1.4445595,
+ 1.4308984,
+ 1.42737626,
+ 1.41580209,
+ 1.40580953,
+ 1.39974831,
+ 1.396141,
+ 1.38641733,
+ 1.37401745,
+ 1.37033176,
+ 1.3589148,
+ 1.34074792,
+ 1.33634681,
+ 1.3319457,
+ 1.32608426,
+ 1.31913258,
+ 1.31218092,
+ 1.300959,
+ 1.29462336,
+ 1.28256584,
+ 1.2719252,
+ 1.26824056,
+ 1.25569511,
+ 1.24807822,
+ 1.2434533,
+ 1.23354608,
+ 1.22081021,
+ 1.21506071,
+ 1.20591476,
+ 1.2026647,
+ 1.19125858,
+ 1.18202533,
+ 1.17402526,
+ 1.16825796,
+ 1.16249066,
+ 1.1532868,
+ 1.14822136,
+ 1.13610396,
+ 1.12387966,
+ 1.11431448,
+ 1.10440808,
+ 1.10240913,
+ 1.09143486,
+ 1.08811678,
+ 1.08080131,
+ 1.06816201,
+ 1.05692052,
+ 1.04769677,
+ 1.03859553,
+ 1.0280498,
+ 1.02418135,
+ 1.0175254,
+ 1.00867694,
+ 0.99916434,
+ 0.98628438,
+ 0.98152836,
+ 0.97106922,
+ 0.96801108,
+ 0.95678584,
+ 0.95027929,
+ 0.94038587,
+ 0.93473228,
+ 0.92617872,
+ 0.91761505,
+ 0.90721746,
+ 0.90350592,
+ 0.89377569,
+ 0.87866139,
+ 0.8636699,
+ 0.86075198,
+ 0.84911098,
+ 0.84319875,
+ 0.83728653,
+ 0.83271218,
+ 0.81574466,
+ 0.81274629,
+ 0.80466105,
+ 0.79538187,
+ 0.78634786,
+ 0.77887569,
+ 0.77446958,
+ 0.76318017,
+ 0.75821501,
+ 0.74293438,
+ 0.73690601,
+ 0.73087765,
+ 0.72152479,
+ 0.71224548,
+ 0.6998746,
+ 0.68606634,
+ 0.68118524,
+ 0.6747428,
+ 0.66722541,
+ 0.66162188,
+ 0.65247415,
+ 0.64009121,
+ 0.63561081,
+ 0.62093951,
+ 0.61240817,
+ 0.60144516,
+ 0.59768201,
+ 0.58962483,
+ 0.58389158,
+ 0.57790176,
+ 0.56242465,
+ 0.55557701,
+ 0.5428332,
+ 0.53454993,
+ 0.52535634,
+ 0.51784225,
+ 0.50890541,
+ 0.49785168,
+ 0.48884094,
+ 0.47983439,
+ 0.46510529,
+ 0.46237673,
+ 0.45936284,
+ 0.44446881,
+ 0.43197736,
+ 0.42946154,
+ 0.42110066,
+ 0.41108022,
+ 0.40616019,
+ 0.39543272,
+ 0.38422484,
+ 0.36678398,
+ 0.36497061,
+ 0.35618035,
+ 0.3486307,
+ 0.33266648,
+ 0.33045894,
+ 0.3239002,
+ 0.31245291,
+ 0.29763293,
+ 0.28906455,
+ 0.28179588,
+ 0.27587154,
+ 0.26579126,
+ 0.25883828,
+ 0.24583552,
+ 0.23444159,
+ 0.22730394,
+ 0.2171772,
+ 0.20859321,
+ 0.20000922,
+ 0.18830696,
+ 0.17684882,
+ 0.16531945,
+ 0.1622912,
+ 0.15077082,
+ 0.13639799,
+ 0.13277283,
+ 0.12012745,
+ 0.11012684,
+ 0.10258596,
+ 0.09077471,
+ 0.07694611,
+ 0.07242148,
+ 0.06143116,
+ 0.04927727,
+ 0.04234952,
+ 0.03152545,
+ 0.02630713,
+ 0.02116654,
+ 0.01401111,
+ 0.009842,
+ 0.00553325,
+ 0.00312022,
+ 0.00077204,
+ 0.00038603,
+ 0.0
+ ],
+ "passive": true
+ },
+ "index_dip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.48050343,
+ 1.47836211,
+ 1.47622081,
+ 1.4740795,
+ 1.47246415,
+ 1.46685673,
+ 1.4575846,
+ 1.45347068,
+ 1.45087024,
+ 1.44826982,
+ 1.44433868,
+ 1.43239574,
+ 1.42121168,
+ 1.40735575,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.39936842,
+ 1.37990587,
+ 1.37311817,
+ 1.36200307,
+ 1.36035363,
+ 1.35413808,
+ 1.34792254,
+ 1.34388507,
+ 1.34054206,
+ 1.33139071,
+ 1.32743889,
+ 1.31538267,
+ 1.31396916,
+ 1.30589318,
+ 1.30083092,
+ 1.29293505,
+ 1.28586652,
+ 1.26909367,
+ 1.26592167,
+ 1.25697562,
+ 1.25380363,
+ 1.25090046,
+ 1.24799731,
+ 1.24309377,
+ 1.23819024,
+ 1.23302545,
+ 1.22200723,
+ 1.21774009,
+ 1.21112659,
+ 1.2041927,
+ 1.18941903,
+ 1.18527852,
+ 1.18160287,
+ 1.17588494,
+ 1.17244545,
+ 1.16589703,
+ 1.16048265,
+ 1.1509267,
+ 1.1509267,
+ 1.1509267,
+ 1.13685345,
+ 1.12636006,
+ 1.1198361,
+ 1.10895493,
+ 1.10181478,
+ 1.08997811,
+ 1.08748629,
+ 1.08499448,
+ 1.0799628,
+ 1.07493112,
+ 1.06809313,
+ 1.06313186,
+ 1.05755129,
+ 1.04893574,
+ 1.04721102,
+ 1.0454863,
+ 1.0422691,
+ 1.03391779,
+ 1.02402091,
+ 1.01710977,
+ 1.01115261,
+ 1.00519545,
+ 0.99487448,
+ 0.98704997,
+ 0.98463768,
+ 0.97965527,
+ 0.97467286,
+ 0.96266945,
+ 0.95953759,
+ 0.95640572,
+ 0.95106541,
+ 0.94213715,
+ 0.93590423,
+ 0.93458873,
+ 0.93327321,
+ 0.92146441,
+ 0.91204241,
+ 0.90761896,
+ 0.90448491,
+ 0.8972833,
+ 0.89008171,
+ 0.88707191,
+ 0.88406213,
+ 0.87926428,
+ 0.87376692,
+ 0.869869,
+ 0.86115632,
+ 0.85904011,
+ 0.84661428,
+ 0.84266557,
+ 0.83871686,
+ 0.82676189,
+ 0.82002801,
+ 0.81104335,
+ 0.80205868,
+ 0.79746151,
+ 0.79169719,
+ 0.78827151,
+ 0.78449463,
+ 0.78187933,
+ 0.77673167,
+ 0.7667012,
+ 0.76324577,
+ 0.76254959,
+ 0.75778569,
+ 0.7364752,
+ 0.73513134,
+ 0.73378749,
+ 0.71974438,
+ 0.71230346,
+ 0.70352103,
+ 0.69473862,
+ 0.69352028,
+ 0.68588165,
+ 0.67833283,
+ 0.67720433,
+ 0.67607582,
+ 0.67006257,
+ 0.66200809,
+ 0.65668604,
+ 0.64442431,
+ 0.64339503,
+ 0.63988723,
+ 0.63637944,
+ 0.62907559,
+ 0.61160468,
+ 0.60968416,
+ 0.60776363,
+ 0.60281608,
+ 0.5996177,
+ 0.59641932,
+ 0.58547876,
+ 0.58177195,
+ 0.57218882,
+ 0.56803998,
+ 0.55960471,
+ 0.54980057,
+ 0.54459166,
+ 0.54139406,
+ 0.53343234,
+ 0.52547061,
+ 0.5160928,
+ 0.51069966,
+ 0.50384586,
+ 0.49699207,
+ 0.49430565,
+ 0.49036375,
+ 0.48029037,
+ 0.47775235,
+ 0.47177909,
+ 0.46477157,
+ 0.4572241,
+ 0.45393185,
+ 0.44881148,
+ 0.44321069,
+ 0.4403614,
+ 0.43498745,
+ 0.4296135,
+ 0.41570599,
+ 0.41201603,
+ 0.4029577,
+ 0.39685624,
+ 0.39134921,
+ 0.38755839,
+ 0.38272958,
+ 0.37790077,
+ 0.37294642,
+ 0.36799207,
+ 0.36418666,
+ 0.36038123,
+ 0.35630868,
+ 0.34969186,
+ 0.34623518,
+ 0.33602326,
+ 0.33135709,
+ 0.32025457,
+ 0.31868321,
+ 0.31370815,
+ 0.30583299,
+ 0.29923867,
+ 0.29264435,
+ 0.29108793,
+ 0.2895315,
+ 0.28400854,
+ 0.27793415,
+ 0.27185975,
+ 0.25828274,
+ 0.25526867,
+ 0.25225459,
+ 0.25064107,
+ 0.24338385,
+ 0.23151012,
+ 0.23011228,
+ 0.22742524,
+ 0.21974308,
+ 0.21324286,
+ 0.20631256,
+ 0.2024778,
+ 0.19864303,
+ 0.18882241,
+ 0.18218249,
+ 0.18043825,
+ 0.17869402,
+ 0.16899082,
+ 0.15659445,
+ 0.15211626,
+ 0.14763805,
+ 0.14388234,
+ 0.14040775,
+ 0.1335648,
+ 0.13170271,
+ 0.12306748,
+ 0.11925321,
+ 0.11543895,
+ 0.10966981,
+ 0.1067646,
+ 0.09897263,
+ 0.09447121,
+ 0.0899698,
+ 0.08106828,
+ 0.07671957,
+ 0.07027042,
+ 0.06611441,
+ 0.06195839,
+ 0.05697807,
+ 0.04790258,
+ 0.04402908,
+ 0.04162282,
+ 0.03485407,
+ 0.03092036,
+ 0.02741526,
+ 0.01935368,
+ 0.01620766,
+ 0.01130011,
+ 0.00369091,
+ 0.00246061,
+ 0.00123031,
+ 0.0
+ ],
+ "passive": true
+ },
+ "middle_dip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.48050343,
+ 1.47836211,
+ 1.47622081,
+ 1.4740795,
+ 1.47246415,
+ 1.46685673,
+ 1.4575846,
+ 1.45347068,
+ 1.45087024,
+ 1.44826982,
+ 1.44433868,
+ 1.43239574,
+ 1.42121168,
+ 1.40735575,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.39936842,
+ 1.37990587,
+ 1.37311817,
+ 1.36200307,
+ 1.36035363,
+ 1.35413808,
+ 1.34792254,
+ 1.34388507,
+ 1.34054206,
+ 1.33139071,
+ 1.32743889,
+ 1.31538267,
+ 1.31396916,
+ 1.30589318,
+ 1.30083092,
+ 1.29293505,
+ 1.28586652,
+ 1.26909367,
+ 1.26592167,
+ 1.25697562,
+ 1.25380363,
+ 1.25090046,
+ 1.24799731,
+ 1.24309377,
+ 1.23819024,
+ 1.23302545,
+ 1.22200723,
+ 1.21774009,
+ 1.21112659,
+ 1.2041927,
+ 1.18941903,
+ 1.18527852,
+ 1.18160287,
+ 1.17588494,
+ 1.17244545,
+ 1.16589703,
+ 1.16048265,
+ 1.1509267,
+ 1.1509267,
+ 1.1509267,
+ 1.13685345,
+ 1.12636006,
+ 1.1198361,
+ 1.10895493,
+ 1.10181478,
+ 1.08997811,
+ 1.08748629,
+ 1.08499448,
+ 1.0799628,
+ 1.07493112,
+ 1.06809313,
+ 1.06313186,
+ 1.05755129,
+ 1.04893574,
+ 1.04721102,
+ 1.0454863,
+ 1.0422691,
+ 1.03391779,
+ 1.02402091,
+ 1.01710977,
+ 1.01115261,
+ 1.00519545,
+ 0.99487448,
+ 0.98704997,
+ 0.98463768,
+ 0.97965527,
+ 0.97467286,
+ 0.96266945,
+ 0.95953759,
+ 0.95640572,
+ 0.95106541,
+ 0.94213715,
+ 0.93590423,
+ 0.93458873,
+ 0.93327321,
+ 0.92146441,
+ 0.91204241,
+ 0.90761896,
+ 0.90448491,
+ 0.8972833,
+ 0.89008171,
+ 0.88707191,
+ 0.88406213,
+ 0.87926428,
+ 0.87376692,
+ 0.869869,
+ 0.86115632,
+ 0.85904011,
+ 0.84661428,
+ 0.84266557,
+ 0.83871686,
+ 0.82676189,
+ 0.82002801,
+ 0.81104335,
+ 0.80205868,
+ 0.79746151,
+ 0.79169719,
+ 0.78827151,
+ 0.78449463,
+ 0.78187933,
+ 0.77673167,
+ 0.7667012,
+ 0.76324577,
+ 0.76254959,
+ 0.75778569,
+ 0.7364752,
+ 0.73513134,
+ 0.73378749,
+ 0.71974438,
+ 0.71230346,
+ 0.70352103,
+ 0.69473862,
+ 0.69352028,
+ 0.68588165,
+ 0.67833283,
+ 0.67720433,
+ 0.67607582,
+ 0.67006257,
+ 0.66200809,
+ 0.65668604,
+ 0.64442431,
+ 0.64339503,
+ 0.63988723,
+ 0.63637944,
+ 0.62907559,
+ 0.61160468,
+ 0.60968416,
+ 0.60776363,
+ 0.60281608,
+ 0.5996177,
+ 0.59641932,
+ 0.58547876,
+ 0.58177195,
+ 0.57218882,
+ 0.56803998,
+ 0.55960471,
+ 0.54980057,
+ 0.54459166,
+ 0.54139406,
+ 0.53343234,
+ 0.52547061,
+ 0.5160928,
+ 0.51069966,
+ 0.50384586,
+ 0.49699207,
+ 0.49430565,
+ 0.49036375,
+ 0.48029037,
+ 0.47775235,
+ 0.47177909,
+ 0.46477157,
+ 0.4572241,
+ 0.45393185,
+ 0.44881148,
+ 0.44321069,
+ 0.4403614,
+ 0.43498745,
+ 0.4296135,
+ 0.41570599,
+ 0.41201603,
+ 0.4029577,
+ 0.39685624,
+ 0.39134921,
+ 0.38755839,
+ 0.38272958,
+ 0.37790077,
+ 0.37294642,
+ 0.36799207,
+ 0.36418666,
+ 0.36038123,
+ 0.35630868,
+ 0.34969186,
+ 0.34623518,
+ 0.33602326,
+ 0.33135709,
+ 0.32025457,
+ 0.31868321,
+ 0.31370815,
+ 0.30583299,
+ 0.29923867,
+ 0.29264435,
+ 0.29108793,
+ 0.2895315,
+ 0.28400854,
+ 0.27793415,
+ 0.27185975,
+ 0.25828274,
+ 0.25526867,
+ 0.25225459,
+ 0.25064107,
+ 0.24338385,
+ 0.23151012,
+ 0.23011228,
+ 0.22742524,
+ 0.21974308,
+ 0.21324286,
+ 0.20631256,
+ 0.2024778,
+ 0.19864303,
+ 0.18882241,
+ 0.18218249,
+ 0.18043825,
+ 0.17869402,
+ 0.16899082,
+ 0.15659445,
+ 0.15211626,
+ 0.14763805,
+ 0.14388234,
+ 0.14040775,
+ 0.1335648,
+ 0.13170271,
+ 0.12306748,
+ 0.11925321,
+ 0.11543895,
+ 0.10966981,
+ 0.1067646,
+ 0.09897263,
+ 0.09447121,
+ 0.0899698,
+ 0.08106828,
+ 0.07671957,
+ 0.07027042,
+ 0.06611441,
+ 0.06195839,
+ 0.05697807,
+ 0.04790258,
+ 0.04402908,
+ 0.04162282,
+ 0.03485407,
+ 0.03092036,
+ 0.02741526,
+ 0.01935368,
+ 0.01620766,
+ 0.01130011,
+ 0.00369091,
+ 0.00246061,
+ 0.00123031,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "ring_dip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.48050343,
+ 1.47836211,
+ 1.47622081,
+ 1.4740795,
+ 1.47246415,
+ 1.46685673,
+ 1.4575846,
+ 1.45347068,
+ 1.45087024,
+ 1.44826982,
+ 1.44433868,
+ 1.43239574,
+ 1.42121168,
+ 1.40735575,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.39936842,
+ 1.37990587,
+ 1.37311817,
+ 1.36200307,
+ 1.36035363,
+ 1.35413808,
+ 1.34792254,
+ 1.34388507,
+ 1.34054206,
+ 1.33139071,
+ 1.32743889,
+ 1.31538267,
+ 1.31396916,
+ 1.30589318,
+ 1.30083092,
+ 1.29293505,
+ 1.28586652,
+ 1.26909367,
+ 1.26592167,
+ 1.25697562,
+ 1.25380363,
+ 1.25090046,
+ 1.24799731,
+ 1.24309377,
+ 1.23819024,
+ 1.23302545,
+ 1.22200723,
+ 1.21774009,
+ 1.21112659,
+ 1.2041927,
+ 1.18941903,
+ 1.18527852,
+ 1.18160287,
+ 1.17588494,
+ 1.17244545,
+ 1.16589703,
+ 1.16048265,
+ 1.1509267,
+ 1.1509267,
+ 1.1509267,
+ 1.13685345,
+ 1.12636006,
+ 1.1198361,
+ 1.10895493,
+ 1.10181478,
+ 1.08997811,
+ 1.08748629,
+ 1.08499448,
+ 1.0799628,
+ 1.07493112,
+ 1.06809313,
+ 1.06313186,
+ 1.05755129,
+ 1.04893574,
+ 1.04721102,
+ 1.0454863,
+ 1.0422691,
+ 1.03391779,
+ 1.02402091,
+ 1.01710977,
+ 1.01115261,
+ 1.00519545,
+ 0.99487448,
+ 0.98704997,
+ 0.98463768,
+ 0.97965527,
+ 0.97467286,
+ 0.96266945,
+ 0.95953759,
+ 0.95640572,
+ 0.95106541,
+ 0.94213715,
+ 0.93590423,
+ 0.93458873,
+ 0.93327321,
+ 0.92146441,
+ 0.91204241,
+ 0.90761896,
+ 0.90448491,
+ 0.8972833,
+ 0.89008171,
+ 0.88707191,
+ 0.88406213,
+ 0.87926428,
+ 0.87376692,
+ 0.869869,
+ 0.86115632,
+ 0.85904011,
+ 0.84661428,
+ 0.84266557,
+ 0.83871686,
+ 0.82676189,
+ 0.82002801,
+ 0.81104335,
+ 0.80205868,
+ 0.79746151,
+ 0.79169719,
+ 0.78827151,
+ 0.78449463,
+ 0.78187933,
+ 0.77673167,
+ 0.7667012,
+ 0.76324577,
+ 0.76254959,
+ 0.75778569,
+ 0.7364752,
+ 0.73513134,
+ 0.73378749,
+ 0.71974438,
+ 0.71230346,
+ 0.70352103,
+ 0.69473862,
+ 0.69352028,
+ 0.68588165,
+ 0.67833283,
+ 0.67720433,
+ 0.67607582,
+ 0.67006257,
+ 0.66200809,
+ 0.65668604,
+ 0.64442431,
+ 0.64339503,
+ 0.63988723,
+ 0.63637944,
+ 0.62907559,
+ 0.61160468,
+ 0.60968416,
+ 0.60776363,
+ 0.60281608,
+ 0.5996177,
+ 0.59641932,
+ 0.58547876,
+ 0.58177195,
+ 0.57218882,
+ 0.56803998,
+ 0.55960471,
+ 0.54980057,
+ 0.54459166,
+ 0.54139406,
+ 0.53343234,
+ 0.52547061,
+ 0.5160928,
+ 0.51069966,
+ 0.50384586,
+ 0.49699207,
+ 0.49430565,
+ 0.49036375,
+ 0.48029037,
+ 0.47775235,
+ 0.47177909,
+ 0.46477157,
+ 0.4572241,
+ 0.45393185,
+ 0.44881148,
+ 0.44321069,
+ 0.4403614,
+ 0.43498745,
+ 0.4296135,
+ 0.41570599,
+ 0.41201603,
+ 0.4029577,
+ 0.39685624,
+ 0.39134921,
+ 0.38755839,
+ 0.38272958,
+ 0.37790077,
+ 0.37294642,
+ 0.36799207,
+ 0.36418666,
+ 0.36038123,
+ 0.35630868,
+ 0.34969186,
+ 0.34623518,
+ 0.33602326,
+ 0.33135709,
+ 0.32025457,
+ 0.31868321,
+ 0.31370815,
+ 0.30583299,
+ 0.29923867,
+ 0.29264435,
+ 0.29108793,
+ 0.2895315,
+ 0.28400854,
+ 0.27793415,
+ 0.27185975,
+ 0.25828274,
+ 0.25526867,
+ 0.25225459,
+ 0.25064107,
+ 0.24338385,
+ 0.23151012,
+ 0.23011228,
+ 0.22742524,
+ 0.21974308,
+ 0.21324286,
+ 0.20631256,
+ 0.2024778,
+ 0.19864303,
+ 0.18882241,
+ 0.18218249,
+ 0.18043825,
+ 0.17869402,
+ 0.16899082,
+ 0.15659445,
+ 0.15211626,
+ 0.14763805,
+ 0.14388234,
+ 0.14040775,
+ 0.1335648,
+ 0.13170271,
+ 0.12306748,
+ 0.11925321,
+ 0.11543895,
+ 0.10966981,
+ 0.1067646,
+ 0.09897263,
+ 0.09447121,
+ 0.0899698,
+ 0.08106828,
+ 0.07671957,
+ 0.07027042,
+ 0.06611441,
+ 0.06195839,
+ 0.05697807,
+ 0.04790258,
+ 0.04402908,
+ 0.04162282,
+ 0.03485407,
+ 0.03092036,
+ 0.02741526,
+ 0.01935368,
+ 0.01620766,
+ 0.01130011,
+ 0.00369091,
+ 0.00246061,
+ 0.00123031,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "pinky_dip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.48050343,
+ 1.47836211,
+ 1.47622081,
+ 1.4740795,
+ 1.47246415,
+ 1.46685673,
+ 1.4575846,
+ 1.45347068,
+ 1.45087024,
+ 1.44826982,
+ 1.44433868,
+ 1.43239574,
+ 1.42121168,
+ 1.40735575,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.40307863,
+ 1.39936842,
+ 1.37990587,
+ 1.37311817,
+ 1.36200307,
+ 1.36035363,
+ 1.35413808,
+ 1.34792254,
+ 1.34388507,
+ 1.34054206,
+ 1.33139071,
+ 1.32743889,
+ 1.31538267,
+ 1.31396916,
+ 1.30589318,
+ 1.30083092,
+ 1.29293505,
+ 1.28586652,
+ 1.26909367,
+ 1.26592167,
+ 1.25697562,
+ 1.25380363,
+ 1.25090046,
+ 1.24799731,
+ 1.24309377,
+ 1.23819024,
+ 1.23302545,
+ 1.22200723,
+ 1.21774009,
+ 1.21112659,
+ 1.2041927,
+ 1.18941903,
+ 1.18527852,
+ 1.18160287,
+ 1.17588494,
+ 1.17244545,
+ 1.16589703,
+ 1.16048265,
+ 1.1509267,
+ 1.1509267,
+ 1.1509267,
+ 1.13685345,
+ 1.12636006,
+ 1.1198361,
+ 1.10895493,
+ 1.10181478,
+ 1.08997811,
+ 1.08748629,
+ 1.08499448,
+ 1.0799628,
+ 1.07493112,
+ 1.06809313,
+ 1.06313186,
+ 1.05755129,
+ 1.04893574,
+ 1.04721102,
+ 1.0454863,
+ 1.0422691,
+ 1.03391779,
+ 1.02402091,
+ 1.01710977,
+ 1.01115261,
+ 1.00519545,
+ 0.99487448,
+ 0.98704997,
+ 0.98463768,
+ 0.97965527,
+ 0.97467286,
+ 0.96266945,
+ 0.95953759,
+ 0.95640572,
+ 0.95106541,
+ 0.94213715,
+ 0.93590423,
+ 0.93458873,
+ 0.93327321,
+ 0.92146441,
+ 0.91204241,
+ 0.90761896,
+ 0.90448491,
+ 0.8972833,
+ 0.89008171,
+ 0.88707191,
+ 0.88406213,
+ 0.87926428,
+ 0.87376692,
+ 0.869869,
+ 0.86115632,
+ 0.85904011,
+ 0.84661428,
+ 0.84266557,
+ 0.83871686,
+ 0.82676189,
+ 0.82002801,
+ 0.81104335,
+ 0.80205868,
+ 0.79746151,
+ 0.79169719,
+ 0.78827151,
+ 0.78449463,
+ 0.78187933,
+ 0.77673167,
+ 0.7667012,
+ 0.76324577,
+ 0.76254959,
+ 0.75778569,
+ 0.7364752,
+ 0.73513134,
+ 0.73378749,
+ 0.71974438,
+ 0.71230346,
+ 0.70352103,
+ 0.69473862,
+ 0.69352028,
+ 0.68588165,
+ 0.67833283,
+ 0.67720433,
+ 0.67607582,
+ 0.67006257,
+ 0.66200809,
+ 0.65668604,
+ 0.64442431,
+ 0.64339503,
+ 0.63988723,
+ 0.63637944,
+ 0.62907559,
+ 0.61160468,
+ 0.60968416,
+ 0.60776363,
+ 0.60281608,
+ 0.5996177,
+ 0.59641932,
+ 0.58547876,
+ 0.58177195,
+ 0.57218882,
+ 0.56803998,
+ 0.55960471,
+ 0.54980057,
+ 0.54459166,
+ 0.54139406,
+ 0.53343234,
+ 0.52547061,
+ 0.5160928,
+ 0.51069966,
+ 0.50384586,
+ 0.49699207,
+ 0.49430565,
+ 0.49036375,
+ 0.48029037,
+ 0.47775235,
+ 0.47177909,
+ 0.46477157,
+ 0.4572241,
+ 0.45393185,
+ 0.44881148,
+ 0.44321069,
+ 0.4403614,
+ 0.43498745,
+ 0.4296135,
+ 0.41570599,
+ 0.41201603,
+ 0.4029577,
+ 0.39685624,
+ 0.39134921,
+ 0.38755839,
+ 0.38272958,
+ 0.37790077,
+ 0.37294642,
+ 0.36799207,
+ 0.36418666,
+ 0.36038123,
+ 0.35630868,
+ 0.34969186,
+ 0.34623518,
+ 0.33602326,
+ 0.33135709,
+ 0.32025457,
+ 0.31868321,
+ 0.31370815,
+ 0.30583299,
+ 0.29923867,
+ 0.29264435,
+ 0.29108793,
+ 0.2895315,
+ 0.28400854,
+ 0.27793415,
+ 0.27185975,
+ 0.25828274,
+ 0.25526867,
+ 0.25225459,
+ 0.25064107,
+ 0.24338385,
+ 0.23151012,
+ 0.23011228,
+ 0.22742524,
+ 0.21974308,
+ 0.21324286,
+ 0.20631256,
+ 0.2024778,
+ 0.19864303,
+ 0.18882241,
+ 0.18218249,
+ 0.18043825,
+ 0.17869402,
+ 0.16899082,
+ 0.15659445,
+ 0.15211626,
+ 0.14763805,
+ 0.14388234,
+ 0.14040775,
+ 0.1335648,
+ 0.13170271,
+ 0.12306748,
+ 0.11925321,
+ 0.11543895,
+ 0.10966981,
+ 0.1067646,
+ 0.09897263,
+ 0.09447121,
+ 0.0899698,
+ 0.08106828,
+ 0.07671957,
+ 0.07027042,
+ 0.06611441,
+ 0.06195839,
+ 0.05697807,
+ 0.04790258,
+ 0.04402908,
+ 0.04162282,
+ 0.03485407,
+ 0.03092036,
+ 0.02741526,
+ 0.01935368,
+ 0.01620766,
+ 0.01130011,
+ 0.00369091,
+ 0.00246061,
+ 0.00123031,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ }
+ },
+ "quality": {
+ "passed": true,
+ "validation_mae_rad": null,
+ "validation_p95_rad": null
+ }
+}
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(3).json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(3).json
new file mode 100644
index 0000000..84951b7
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration(3).json
@@ -0,0 +1,5575 @@
+{
+ "schema_version": 3,
+ "model": "G20",
+ "side": "left",
+ "serial_number": "G20_LEFT_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": [
+ 0.82302235,
+ 0.82060388,
+ 0.81818543,
+ 0.81576696,
+ 0.81220713,
+ 0.80974383,
+ 0.80967812,
+ 0.80587024,
+ 0.80386004,
+ 0.80038526,
+ 0.79607154,
+ 0.79150025,
+ 0.78602276,
+ 0.78257286,
+ 0.78015088,
+ 0.77537133,
+ 0.77318001,
+ 0.77101047,
+ 0.77023981,
+ 0.76630565,
+ 0.76434103,
+ 0.76132507,
+ 0.7583091,
+ 0.75727862,
+ 0.75582837,
+ 0.75478015,
+ 0.74788933,
+ 0.74051641,
+ 0.73549233,
+ 0.7332327,
+ 0.72844606,
+ 0.724959,
+ 0.72133662,
+ 0.71996852,
+ 0.71821724,
+ 0.71578254,
+ 0.71094791,
+ 0.70887071,
+ 0.70780331,
+ 0.70457846,
+ 0.69931206,
+ 0.69827003,
+ 0.69468686,
+ 0.69196429,
+ 0.68863524,
+ 0.68530618,
+ 0.68260118,
+ 0.67973887,
+ 0.67386228,
+ 0.66934167,
+ 0.66851153,
+ 0.66434503,
+ 0.66046152,
+ 0.65765588,
+ 0.65725282,
+ 0.6539747,
+ 0.65032532,
+ 0.64909298,
+ 0.64334022,
+ 0.64182598,
+ 0.63802381,
+ 0.633536,
+ 0.63057809,
+ 0.62751188,
+ 0.62492844,
+ 0.62098257,
+ 0.61700031,
+ 0.61234065,
+ 0.60782687,
+ 0.60453853,
+ 0.60179746,
+ 0.60024696,
+ 0.59869646,
+ 0.59494516,
+ 0.59060251,
+ 0.58759318,
+ 0.58458383,
+ 0.58083673,
+ 0.57630686,
+ 0.57423457,
+ 0.57325665,
+ 0.56855196,
+ 0.56129045,
+ 0.55861808,
+ 0.55628972,
+ 0.55160377,
+ 0.54764718,
+ 0.54590494,
+ 0.542532,
+ 0.54046142,
+ 0.53565587,
+ 0.53385538,
+ 0.52896333,
+ 0.5249773,
+ 0.5226907,
+ 0.5197317,
+ 0.5167727,
+ 0.51222845,
+ 0.50759944,
+ 0.50480349,
+ 0.49969221,
+ 0.49556919,
+ 0.49269674,
+ 0.48963219,
+ 0.4892475,
+ 0.48718098,
+ 0.4816307,
+ 0.4783412,
+ 0.47545994,
+ 0.47229515,
+ 0.46786235,
+ 0.46500252,
+ 0.46199477,
+ 0.45898702,
+ 0.45559827,
+ 0.45066068,
+ 0.44526729,
+ 0.44379462,
+ 0.44138564,
+ 0.43780941,
+ 0.4348763,
+ 0.4305244,
+ 0.4271571,
+ 0.42351902,
+ 0.41866575,
+ 0.41678315,
+ 0.41490056,
+ 0.41309776,
+ 0.40744476,
+ 0.4045128,
+ 0.40158086,
+ 0.39807799,
+ 0.3945751,
+ 0.38969402,
+ 0.38512039,
+ 0.38155429,
+ 0.3811649,
+ 0.37533996,
+ 0.36977887,
+ 0.36773195,
+ 0.36503684,
+ 0.36164777,
+ 0.35692532,
+ 0.35533744,
+ 0.35271272,
+ 0.34896597,
+ 0.34432864,
+ 0.34227361,
+ 0.33997452,
+ 0.33568681,
+ 0.33139912,
+ 0.32678222,
+ 0.32231735,
+ 0.32018636,
+ 0.31841894,
+ 0.31458215,
+ 0.30948897,
+ 0.30772086,
+ 0.30720064,
+ 0.30275094,
+ 0.29729935,
+ 0.29392742,
+ 0.29277606,
+ 0.28966932,
+ 0.28357544,
+ 0.27831173,
+ 0.2723217,
+ 0.27112666,
+ 0.26862617,
+ 0.26612567,
+ 0.26288759,
+ 0.25964951,
+ 0.25623716,
+ 0.2511699,
+ 0.24746535,
+ 0.24580483,
+ 0.24193261,
+ 0.23854752,
+ 0.23417788,
+ 0.23306413,
+ 0.23013754,
+ 0.2264336,
+ 0.22303888,
+ 0.21873816,
+ 0.21495132,
+ 0.21364332,
+ 0.21214788,
+ 0.20573327,
+ 0.20169218,
+ 0.1993981,
+ 0.19843173,
+ 0.19486335,
+ 0.19118024,
+ 0.18790098,
+ 0.18345544,
+ 0.17815252,
+ 0.17580763,
+ 0.17102805,
+ 0.16850931,
+ 0.16519503,
+ 0.16427697,
+ 0.16061526,
+ 0.15695354,
+ 0.15354325,
+ 0.14885993,
+ 0.14689033,
+ 0.14091916,
+ 0.13953717,
+ 0.13745552,
+ 0.13537387,
+ 0.13286682,
+ 0.12781594,
+ 0.12637689,
+ 0.12479894,
+ 0.12065956,
+ 0.11566304,
+ 0.11270784,
+ 0.11224862,
+ 0.10727259,
+ 0.10327179,
+ 0.09762735,
+ 0.09570641,
+ 0.09378548,
+ 0.0920126,
+ 0.09023971,
+ 0.08563854,
+ 0.08374028,
+ 0.07903792,
+ 0.07459252,
+ 0.07284677,
+ 0.07004034,
+ 0.06712008,
+ 0.06370456,
+ 0.06159659,
+ 0.05988838,
+ 0.05652321,
+ 0.05376173,
+ 0.04976646,
+ 0.04696177,
+ 0.04219429,
+ 0.03904031,
+ 0.03494834,
+ 0.0322814,
+ 0.03058464,
+ 0.02923512,
+ 0.02541048,
+ 0.02175283,
+ 0.02042089,
+ 0.01833525,
+ 0.01559807,
+ 0.01432811,
+ 0.01171046,
+ 0.00879682,
+ 0.00584101,
+ 0.0029205,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -0.16004248
+ }
+ },
+ "index_mcp_pitch": {
+ "motor_index": 1,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.52588402
+ }
+ },
+ "middle_mcp_pitch": {
+ "motor_index": 2,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "ring_mcp_pitch": {
+ "motor_index": 3,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "pinky_mcp_pitch": {
+ "motor_index": 4,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "thumb_cmc_roll": {
+ "motor_index": 5,
+ "angle_rad": [
+ 1.38358796,
+ 1.38035968,
+ 1.37713142,
+ 1.37358351,
+ 1.36859255,
+ 1.36388489,
+ 1.35829066,
+ 1.35300447,
+ 1.34366968,
+ 1.34032739,
+ 1.33753495,
+ 1.33174753,
+ 1.32596012,
+ 1.3215263,
+ 1.31387133,
+ 1.31033448,
+ 1.30209113,
+ 1.29779988,
+ 1.29106649,
+ 1.28588635,
+ 1.2807062,
+ 1.27739207,
+ 1.26853986,
+ 1.26258886,
+ 1.25871301,
+ 1.2517839,
+ 1.24605731,
+ 1.24033072,
+ 1.23358431,
+ 1.22984007,
+ 1.22609583,
+ 1.21995779,
+ 1.21374731,
+ 1.20774536,
+ 1.20112971,
+ 1.19634851,
+ 1.19480008,
+ 1.1857096,
+ 1.18318713,
+ 1.17405333,
+ 1.16892987,
+ 1.16745013,
+ 1.16132851,
+ 1.15215812,
+ 1.14557927,
+ 1.14156822,
+ 1.13755717,
+ 1.13114096,
+ 1.12449305,
+ 1.11847657,
+ 1.11387486,
+ 1.1121394,
+ 1.10738253,
+ 1.09795901,
+ 1.09365132,
+ 1.08954951,
+ 1.08057459,
+ 1.07642196,
+ 1.07160434,
+ 1.06148241,
+ 1.05833734,
+ 1.05441255,
+ 1.04689246,
+ 1.04500497,
+ 1.03974647,
+ 1.03165575,
+ 1.02733745,
+ 1.02333015,
+ 1.0144756,
+ 1.01282263,
+ 1.00808808,
+ 1.00226768,
+ 0.99644728,
+ 0.98969162,
+ 0.98261401,
+ 0.97483769,
+ 0.97222476,
+ 0.96784823,
+ 0.96277541,
+ 0.95501512,
+ 0.95295326,
+ 0.94674714,
+ 0.94169805,
+ 0.93520847,
+ 0.93009578,
+ 0.92877515,
+ 0.920821,
+ 0.9160637,
+ 0.9104363,
+ 0.90397076,
+ 0.89657012,
+ 0.89242437,
+ 0.88709233,
+ 0.88200338,
+ 0.87599567,
+ 0.86808621,
+ 0.86305042,
+ 0.85886353,
+ 0.85237412,
+ 0.84617545,
+ 0.84112952,
+ 0.83590937,
+ 0.83200576,
+ 0.82732865,
+ 0.82194707,
+ 0.81753162,
+ 0.80972306,
+ 0.80542729,
+ 0.80007311,
+ 0.79445803,
+ 0.79211494,
+ 0.78315994,
+ 0.77701137,
+ 0.77122925,
+ 0.76638863,
+ 0.75978672,
+ 0.75462388,
+ 0.7498303,
+ 0.74473127,
+ 0.74118447,
+ 0.73254324,
+ 0.73140598,
+ 0.72593786,
+ 0.7166654,
+ 0.71337163,
+ 0.70919041,
+ 0.70233064,
+ 0.69616788,
+ 0.69233102,
+ 0.68627889,
+ 0.67708603,
+ 0.67564541,
+ 0.67064408,
+ 0.6629805,
+ 0.65865393,
+ 0.65358199,
+ 0.64772332,
+ 0.64464437,
+ 0.63762114,
+ 0.63348236,
+ 0.6264827,
+ 0.62065537,
+ 0.61188221,
+ 0.6071796,
+ 0.6051677,
+ 0.599241,
+ 0.5928228,
+ 0.58338108,
+ 0.58160875,
+ 0.57715365,
+ 0.57063112,
+ 0.56446711,
+ 0.55920927,
+ 0.55385255,
+ 0.54999388,
+ 0.54367554,
+ 0.5358303,
+ 0.53301586,
+ 0.52585198,
+ 0.52060573,
+ 0.51322092,
+ 0.50733003,
+ 0.5030516,
+ 0.49753057,
+ 0.49200955,
+ 0.4855243,
+ 0.48149761,
+ 0.47519204,
+ 0.47002897,
+ 0.46712897,
+ 0.46005354,
+ 0.45538599,
+ 0.45132659,
+ 0.44313863,
+ 0.43763309,
+ 0.43311296,
+ 0.42582927,
+ 0.42232906,
+ 0.41177938,
+ 0.41038879,
+ 0.4027121,
+ 0.39582342,
+ 0.39582342,
+ 0.38970054,
+ 0.38182165,
+ 0.37938195,
+ 0.37199808,
+ 0.36884356,
+ 0.36431578,
+ 0.35519698,
+ 0.34782157,
+ 0.34333366,
+ 0.34100144,
+ 0.3342401,
+ 0.32858661,
+ 0.32321293,
+ 0.31517845,
+ 0.3117616,
+ 0.30502883,
+ 0.29995236,
+ 0.29434322,
+ 0.28795653,
+ 0.28416321,
+ 0.2824532,
+ 0.27490556,
+ 0.26727424,
+ 0.26202518,
+ 0.25894599,
+ 0.25022624,
+ 0.24389515,
+ 0.24104774,
+ 0.23460562,
+ 0.22989726,
+ 0.2251889,
+ 0.21706044,
+ 0.21512314,
+ 0.20623856,
+ 0.20218648,
+ 0.19492967,
+ 0.19035795,
+ 0.18578623,
+ 0.18232408,
+ 0.17714637,
+ 0.17150097,
+ 0.16233336,
+ 0.16057224,
+ 0.15630905,
+ 0.14762757,
+ 0.14351302,
+ 0.13618682,
+ 0.13156338,
+ 0.12740226,
+ 0.11998349,
+ 0.11620707,
+ 0.11338873,
+ 0.10535306,
+ 0.10013434,
+ 0.09591327,
+ 0.0885905,
+ 0.08616908,
+ 0.07776068,
+ 0.07311657,
+ 0.06675701,
+ 0.06285586,
+ 0.05731361,
+ 0.05228419,
+ 0.0486314,
+ 0.0411264,
+ 0.0345629,
+ 0.02995463,
+ 0.02682486,
+ 0.02603607,
+ 0.01475672,
+ 0.01002046,
+ 0.00501023,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.11705115
+ }
+ },
+ "index_mcp_roll": {
+ "motor_index": 6,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "zero_angles": {
+ "travel_midpoint_rad": 0.25155263
+ }
+ },
+ "middle_mcp_roll": {
+ "motor_index": 7,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "ring_mcp_roll": {
+ "motor_index": 8,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "pinky_mcp_roll": {
+ "motor_index": 9,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "thumb_cmc_yaw": {
+ "motor_index": 10,
+ "angle_rad": [
+ 1.61019336,
+ 1.609479,
+ 1.60876464,
+ 1.60602942,
+ 1.59676562,
+ 1.58908845,
+ 1.58908845,
+ 1.58648729,
+ 1.57819494,
+ 1.57417305,
+ 1.56279763,
+ 1.55958679,
+ 1.55329869,
+ 1.54209295,
+ 1.53861486,
+ 1.53513677,
+ 1.52658355,
+ 1.52344575,
+ 1.51041,
+ 1.50433115,
+ 1.50004359,
+ 1.48825978,
+ 1.48431677,
+ 1.47848541,
+ 1.47012452,
+ 1.4646082,
+ 1.4590919,
+ 1.45736777,
+ 1.44629177,
+ 1.44294101,
+ 1.43493721,
+ 1.42945685,
+ 1.42096105,
+ 1.41391031,
+ 1.40940061,
+ 1.40101975,
+ 1.39307254,
+ 1.38522597,
+ 1.38208296,
+ 1.37481213,
+ 1.36478281,
+ 1.36148926,
+ 1.35693453,
+ 1.34913338,
+ 1.34339417,
+ 1.33827758,
+ 1.33290824,
+ 1.32613899,
+ 1.31474504,
+ 1.31211038,
+ 1.30683347,
+ 1.30121748,
+ 1.29120385,
+ 1.28490101,
+ 1.27921674,
+ 1.27146917,
+ 1.26862485,
+ 1.25763799,
+ 1.25200713,
+ 1.24637627,
+ 1.24252302,
+ 1.23785302,
+ 1.23035344,
+ 1.22285387,
+ 1.21776369,
+ 1.2100009,
+ 1.20567075,
+ 1.19755614,
+ 1.19072874,
+ 1.18365858,
+ 1.17512909,
+ 1.16978059,
+ 1.16427982,
+ 1.15877905,
+ 1.15433034,
+ 1.15071252,
+ 1.14041104,
+ 1.13453889,
+ 1.13088489,
+ 1.12223319,
+ 1.11280005,
+ 1.10795938,
+ 1.10613106,
+ 1.10010755,
+ 1.08894891,
+ 1.08215956,
+ 1.0738008,
+ 1.06752715,
+ 1.06228407,
+ 1.05746044,
+ 1.05134256,
+ 1.04491578,
+ 1.04143446,
+ 1.0305869,
+ 1.02778325,
+ 1.02137524,
+ 1.01496721,
+ 1.00921725,
+ 1.00176994,
+ 0.99432264,
+ 0.98883589,
+ 0.98093848,
+ 0.97470674,
+ 0.96723574,
+ 0.95945166,
+ 0.95223254,
+ 0.94472003,
+ 0.94472003,
+ 0.93524874,
+ 0.92568046,
+ 0.92098428,
+ 0.91608854,
+ 0.90710361,
+ 0.90257226,
+ 0.89804091,
+ 0.88561022,
+ 0.88198081,
+ 0.87835141,
+ 0.874722,
+ 0.86573784,
+ 0.85700325,
+ 0.84826866,
+ 0.84034307,
+ 0.8315807,
+ 0.83026903,
+ 0.82458837,
+ 0.81688725,
+ 0.80974186,
+ 0.80588391,
+ 0.80196977,
+ 0.79073433,
+ 0.78769851,
+ 0.78470302,
+ 0.78217251,
+ 0.77077243,
+ 0.76703703,
+ 0.75622764,
+ 0.74620914,
+ 0.74095136,
+ 0.73569358,
+ 0.72950691,
+ 0.72298309,
+ 0.7175736,
+ 0.71216411,
+ 0.7034718,
+ 0.69943122,
+ 0.69364519,
+ 0.68689922,
+ 0.67687864,
+ 0.67687864,
+ 0.66585867,
+ 0.65693198,
+ 0.65374198,
+ 0.65065275,
+ 0.64216929,
+ 0.63476661,
+ 0.6293957,
+ 0.62420184,
+ 0.61676979,
+ 0.60747501,
+ 0.60203312,
+ 0.5984578,
+ 0.59676789,
+ 0.58187676,
+ 0.57245029,
+ 0.57127095,
+ 0.5585049,
+ 0.55519748,
+ 0.55189007,
+ 0.54858265,
+ 0.53642874,
+ 0.53097796,
+ 0.52552716,
+ 0.51958969,
+ 0.51227626,
+ 0.51050485,
+ 0.499835,
+ 0.4972713,
+ 0.48646294,
+ 0.48070742,
+ 0.47813775,
+ 0.46337217,
+ 0.45826919,
+ 0.45635067,
+ 0.45225768,
+ 0.43766336,
+ 0.43327087,
+ 0.42887838,
+ 0.41401641,
+ 0.40983521,
+ 0.40735611,
+ 0.40487701,
+ 0.39179283,
+ 0.38714611,
+ 0.38249939,
+ 0.37750767,
+ 0.36912294,
+ 0.36303612,
+ 0.35694929,
+ 0.35288438,
+ 0.34059181,
+ 0.33445908,
+ 0.32964109,
+ 0.32227319,
+ 0.31792626,
+ 0.31357934,
+ 0.30488618,
+ 0.30152219,
+ 0.29465862,
+ 0.28468736,
+ 0.27585461,
+ 0.2721373,
+ 0.26841999,
+ 0.26557761,
+ 0.25385377,
+ 0.24802763,
+ 0.240395,
+ 0.23016016,
+ 0.22679823,
+ 0.22154884,
+ 0.21629946,
+ 0.20517945,
+ 0.20517945,
+ 0.19433572,
+ 0.18576417,
+ 0.18137634,
+ 0.17767704,
+ 0.17397775,
+ 0.16428046,
+ 0.15783369,
+ 0.15272041,
+ 0.14452836,
+ 0.13379484,
+ 0.13062383,
+ 0.12567885,
+ 0.12335904,
+ 0.11315275,
+ 0.10678229,
+ 0.10041182,
+ 0.09025698,
+ 0.08754302,
+ 0.07786926,
+ 0.07438112,
+ 0.06441734,
+ 0.05808225,
+ 0.05174715,
+ 0.04475488,
+ 0.04111833,
+ 0.03585813,
+ 0.03037038,
+ 0.02190099,
+ 0.01806032,
+ 0.01233154,
+ 0.01028732,
+ 0.00514367,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.35052345
+ }
+ },
+ "thumb_mcp": {
+ "motor_index": 15,
+ "angle_rad": [
+ 1.20296658,
+ 1.19988335,
+ 1.19680012,
+ 1.19371689,
+ 1.19113593,
+ 1.18298017,
+ 1.17450151,
+ 1.16936763,
+ 1.16822276,
+ 1.157277,
+ 1.15275431,
+ 1.15063983,
+ 1.14618193,
+ 1.13894417,
+ 1.13543942,
+ 1.1295069,
+ 1.12396998,
+ 1.11855098,
+ 1.11425095,
+ 1.10841405,
+ 1.10335633,
+ 1.0971587,
+ 1.09592544,
+ 1.08729759,
+ 1.08044286,
+ 1.07723955,
+ 1.06914199,
+ 1.06632156,
+ 1.06302479,
+ 1.05787889,
+ 1.05184132,
+ 1.04617186,
+ 1.04173582,
+ 1.03572482,
+ 1.03229545,
+ 1.02652221,
+ 1.01966095,
+ 1.01843821,
+ 1.01218189,
+ 1.0055557,
+ 1.00092323,
+ 0.99513209,
+ 0.99015824,
+ 0.98445511,
+ 0.98074645,
+ 0.97703779,
+ 0.97066265,
+ 0.96878727,
+ 0.96226269,
+ 0.95592481,
+ 0.95193916,
+ 0.9487052,
+ 0.94158188,
+ 0.93857214,
+ 0.93303191,
+ 0.92996444,
+ 0.92272543,
+ 0.91620009,
+ 0.91264727,
+ 0.90665071,
+ 0.90317421,
+ 0.90143942,
+ 0.89307099,
+ 0.88926186,
+ 0.88102508,
+ 0.87825976,
+ 0.87383951,
+ 0.86941926,
+ 0.8634617,
+ 0.86152773,
+ 0.85260577,
+ 0.84589967,
+ 0.84515381,
+ 0.83899779,
+ 0.83271608,
+ 0.82960707,
+ 0.82715771,
+ 0.82019259,
+ 0.81717232,
+ 0.8102038,
+ 0.80818342,
+ 0.80373609,
+ 0.79928875,
+ 0.79080453,
+ 0.79056743,
+ 0.78754702,
+ 0.77935488,
+ 0.77495275,
+ 0.76911331,
+ 0.76657405,
+ 0.76200433,
+ 0.75501212,
+ 0.75262311,
+ 0.74522362,
+ 0.74048702,
+ 0.73847939,
+ 0.73435272,
+ 0.72686609,
+ 0.72391717,
+ 0.71822786,
+ 0.71383496,
+ 0.70944207,
+ 0.70608124,
+ 0.70166638,
+ 0.69725152,
+ 0.69060695,
+ 0.68812388,
+ 0.68318414,
+ 0.67950194,
+ 0.67581973,
+ 0.66648843,
+ 0.66307674,
+ 0.65924805,
+ 0.65476145,
+ 0.65156747,
+ 0.64255994,
+ 0.63867524,
+ 0.63491275,
+ 0.62944559,
+ 0.62577094,
+ 0.62209629,
+ 0.62089198,
+ 0.61161384,
+ 0.60569098,
+ 0.60365903,
+ 0.60162708,
+ 0.59565157,
+ 0.59217534,
+ 0.58645847,
+ 0.58100957,
+ 0.57622733,
+ 0.5721189,
+ 0.56640707,
+ 0.5649504,
+ 0.56188726,
+ 0.55452924,
+ 0.54848365,
+ 0.54447343,
+ 0.54046321,
+ 0.53575175,
+ 0.53062072,
+ 0.52808975,
+ 0.52343817,
+ 0.51775786,
+ 0.50952566,
+ 0.50764636,
+ 0.50566507,
+ 0.49577207,
+ 0.49122499,
+ 0.48984732,
+ 0.48710069,
+ 0.48215567,
+ 0.47991995,
+ 0.47471188,
+ 0.47045963,
+ 0.46233319,
+ 0.45670625,
+ 0.45503942,
+ 0.45375508,
+ 0.44751831,
+ 0.44197673,
+ 0.43740422,
+ 0.43117542,
+ 0.42574539,
+ 0.42148285,
+ 0.41589926,
+ 0.41202527,
+ 0.40575396,
+ 0.4037094,
+ 0.39932007,
+ 0.39493075,
+ 0.39023809,
+ 0.38729762,
+ 0.38187922,
+ 0.37646082,
+ 0.37323185,
+ 0.36893715,
+ 0.36084979,
+ 0.35953849,
+ 0.35399133,
+ 0.34840037,
+ 0.34466709,
+ 0.3390896,
+ 0.33616303,
+ 0.33186814,
+ 0.32229455,
+ 0.32005277,
+ 0.31489825,
+ 0.30469102,
+ 0.30469102,
+ 0.30205312,
+ 0.2968318,
+ 0.29132251,
+ 0.28558578,
+ 0.28157513,
+ 0.27756449,
+ 0.27355385,
+ 0.26827367,
+ 0.26343532,
+ 0.25859699,
+ 0.25345058,
+ 0.24790408,
+ 0.24469398,
+ 0.23951,
+ 0.23417657,
+ 0.22838828,
+ 0.22259999,
+ 0.2173563,
+ 0.21199652,
+ 0.20778548,
+ 0.20268672,
+ 0.20089431,
+ 0.19490868,
+ 0.19000322,
+ 0.18387349,
+ 0.18108822,
+ 0.17733178,
+ 0.17357533,
+ 0.16365201,
+ 0.15826593,
+ 0.15312435,
+ 0.14685777,
+ 0.14513202,
+ 0.14129973,
+ 0.13746744,
+ 0.13023511,
+ 0.12803618,
+ 0.1214489,
+ 0.11678603,
+ 0.11118761,
+ 0.10731363,
+ 0.10303229,
+ 0.09423264,
+ 0.08905648,
+ 0.07996417,
+ 0.0740673,
+ 0.07368072,
+ 0.06519556,
+ 0.05864868,
+ 0.0559548,
+ 0.05273309,
+ 0.04310541,
+ 0.04143561,
+ 0.03431265,
+ 0.03147068,
+ 0.02793246,
+ 0.01843538,
+ 0.01574043,
+ 0.0124356,
+ 0.00833589,
+ 0.00562337,
+ 0.00283427,
+ 0.0021257,
+ 0.00141713,
+ 0.00070857,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.17127076
+ }
+ },
+ "index_pip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.56052579
+ }
+ },
+ "middle_pip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "ring_pip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "pinky_pip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "thumb_ip": {
+ "motor_index": 15,
+ "angle_rad": [
+ 2.2135084,
+ 2.20602805,
+ 2.1985477,
+ 2.19106735,
+ 2.1856262,
+ 2.16855236,
+ 2.15082479,
+ 2.14063967,
+ 2.1384511,
+ 2.11646775,
+ 2.10768278,
+ 2.10322503,
+ 2.09434389,
+ 2.08021013,
+ 2.07350244,
+ 2.06179572,
+ 2.05122339,
+ 2.04070967,
+ 2.03244357,
+ 2.02105181,
+ 2.01169347,
+ 1.99986781,
+ 1.9974481,
+ 1.98126104,
+ 1.96842816,
+ 1.96246975,
+ 1.94714476,
+ 1.94198717,
+ 1.93593897,
+ 1.92622541,
+ 1.91479932,
+ 1.90480612,
+ 1.89669352,
+ 1.88577788,
+ 1.87957191,
+ 1.86910343,
+ 1.85652624,
+ 1.85425898,
+ 1.84261965,
+ 1.83051657,
+ 1.82265426,
+ 1.81176728,
+ 1.80283148,
+ 1.79246381,
+ 1.7857485,
+ 1.7790332,
+ 1.76789603,
+ 1.76425594,
+ 1.75237804,
+ 1.74106636,
+ 1.73374614,
+ 1.72791527,
+ 1.71528905,
+ 1.70998636,
+ 1.70007134,
+ 1.69412538,
+ 1.68154592,
+ 1.66982744,
+ 1.66334674,
+ 1.65266722,
+ 1.64642728,
+ 1.64326765,
+ 1.62829154,
+ 1.62144283,
+ 1.60675012,
+ 1.60180937,
+ 1.59398791,
+ 1.58616645,
+ 1.57560323,
+ 1.57200763,
+ 1.55587173,
+ 1.54354806,
+ 1.54219487,
+ 1.53104118,
+ 1.52053028,
+ 1.51449361,
+ 1.50952852,
+ 1.49764005,
+ 1.49275651,
+ 1.47991691,
+ 1.47598773,
+ 1.46820487,
+ 1.46042199,
+ 1.44507466,
+ 1.44465545,
+ 1.43928507,
+ 1.42466936,
+ 1.41680632,
+ 1.40665376,
+ 1.40198224,
+ 1.39381473,
+ 1.38143985,
+ 1.37718469,
+ 1.36388621,
+ 1.35545764,
+ 1.35183074,
+ 1.34436028,
+ 1.33102874,
+ 1.3256844,
+ 1.31551851,
+ 1.30772566,
+ 1.29993282,
+ 1.29356674,
+ 1.28566109,
+ 1.27775543,
+ 1.26601024,
+ 1.26154316,
+ 1.25281311,
+ 1.24603343,
+ 1.23925375,
+ 1.2222758,
+ 1.21633886,
+ 1.20949486,
+ 1.20111628,
+ 1.19542847,
+ 1.17895463,
+ 1.17212854,
+ 1.165342,
+ 1.15523538,
+ 1.14883212,
+ 1.14242887,
+ 1.13993778,
+ 1.12266313,
+ 1.11219288,
+ 1.10848353,
+ 1.10477417,
+ 1.09391043,
+ 1.08774022,
+ 1.0769532,
+ 1.06677753,
+ 1.05828713,
+ 1.05063901,
+ 1.04005868,
+ 1.03742462,
+ 1.03169661,
+ 1.01837701,
+ 1.00717503,
+ 0.99985588,
+ 0.99253674,
+ 0.98381176,
+ 0.97430298,
+ 0.96970103,
+ 0.96112834,
+ 0.95054702,
+ 0.93544658,
+ 0.93206791,
+ 0.92845708,
+ 0.91037775,
+ 0.90195914,
+ 0.89936724,
+ 0.89422872,
+ 0.88505109,
+ 0.88089554,
+ 0.8710544,
+ 0.86380226,
+ 0.84831979,
+ 0.83800809,
+ 0.83509628,
+ 0.83264991,
+ 0.82094935,
+ 0.81065615,
+ 0.80243197,
+ 0.79085663,
+ 0.78066435,
+ 0.77291599,
+ 0.76265597,
+ 0.75527789,
+ 0.74367768,
+ 0.73981124,
+ 0.7316425,
+ 0.72347377,
+ 0.71490772,
+ 0.70952523,
+ 0.6993736,
+ 0.68922198,
+ 0.68342478,
+ 0.67576179,
+ 0.66024666,
+ 0.65785048,
+ 0.64790093,
+ 0.63731279,
+ 0.63005424,
+ 0.61984156,
+ 0.61442747,
+ 0.60632219,
+ 0.58842836,
+ 0.58462032,
+ 0.57481353,
+ 0.55569826,
+ 0.55566355,
+ 0.55073126,
+ 0.54086704,
+ 0.53052667,
+ 0.51982184,
+ 0.51233096,
+ 0.50484008,
+ 0.4973492,
+ 0.48749919,
+ 0.47844543,
+ 0.46939166,
+ 0.45969728,
+ 0.44937658,
+ 0.44342514,
+ 0.43364644,
+ 0.42369785,
+ 0.41291634,
+ 0.40213482,
+ 0.39234162,
+ 0.38249667,
+ 0.37457016,
+ 0.36468712,
+ 0.36189757,
+ 0.35043497,
+ 0.34114395,
+ 0.33010149,
+ 0.32493744,
+ 0.31801799,
+ 0.31109854,
+ 0.29288127,
+ 0.28308035,
+ 0.27361526,
+ 0.26186219,
+ 0.25877565,
+ 0.25183557,
+ 0.24489549,
+ 0.23148166,
+ 0.22751372,
+ 0.21534319,
+ 0.20676606,
+ 0.1963871,
+ 0.18915942,
+ 0.18162946,
+ 0.16566528,
+ 0.15619126,
+ 0.13919362,
+ 0.12886559,
+ 0.12803762,
+ 0.11388131,
+ 0.10097942,
+ 0.09628199,
+ 0.0910122,
+ 0.07431946,
+ 0.07131092,
+ 0.05805958,
+ 0.05216546,
+ 0.04564091,
+ 0.02918606,
+ 0.02473593,
+ 0.01840374,
+ 0.01237501,
+ 0.00809848,
+ 0.00394273,
+ 0.00295704,
+ 0.00197136,
+ 0.00098568,
+ 0.0
+ ],
+ "passive": true
+ },
+ "index_dip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true
+ },
+ "middle_dip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "ring_dip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "pinky_dip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ }
+ },
+ "quality": {
+ "passed": true,
+ "validation_mae_rad": null,
+ "validation_p95_rad": null
+ }
+}
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json
new file mode 100644
index 0000000..84951b7
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_G20_LEFT_001_calibration.json
@@ -0,0 +1,5575 @@
+{
+ "schema_version": 3,
+ "model": "G20",
+ "side": "left",
+ "serial_number": "G20_LEFT_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": [
+ 0.82302235,
+ 0.82060388,
+ 0.81818543,
+ 0.81576696,
+ 0.81220713,
+ 0.80974383,
+ 0.80967812,
+ 0.80587024,
+ 0.80386004,
+ 0.80038526,
+ 0.79607154,
+ 0.79150025,
+ 0.78602276,
+ 0.78257286,
+ 0.78015088,
+ 0.77537133,
+ 0.77318001,
+ 0.77101047,
+ 0.77023981,
+ 0.76630565,
+ 0.76434103,
+ 0.76132507,
+ 0.7583091,
+ 0.75727862,
+ 0.75582837,
+ 0.75478015,
+ 0.74788933,
+ 0.74051641,
+ 0.73549233,
+ 0.7332327,
+ 0.72844606,
+ 0.724959,
+ 0.72133662,
+ 0.71996852,
+ 0.71821724,
+ 0.71578254,
+ 0.71094791,
+ 0.70887071,
+ 0.70780331,
+ 0.70457846,
+ 0.69931206,
+ 0.69827003,
+ 0.69468686,
+ 0.69196429,
+ 0.68863524,
+ 0.68530618,
+ 0.68260118,
+ 0.67973887,
+ 0.67386228,
+ 0.66934167,
+ 0.66851153,
+ 0.66434503,
+ 0.66046152,
+ 0.65765588,
+ 0.65725282,
+ 0.6539747,
+ 0.65032532,
+ 0.64909298,
+ 0.64334022,
+ 0.64182598,
+ 0.63802381,
+ 0.633536,
+ 0.63057809,
+ 0.62751188,
+ 0.62492844,
+ 0.62098257,
+ 0.61700031,
+ 0.61234065,
+ 0.60782687,
+ 0.60453853,
+ 0.60179746,
+ 0.60024696,
+ 0.59869646,
+ 0.59494516,
+ 0.59060251,
+ 0.58759318,
+ 0.58458383,
+ 0.58083673,
+ 0.57630686,
+ 0.57423457,
+ 0.57325665,
+ 0.56855196,
+ 0.56129045,
+ 0.55861808,
+ 0.55628972,
+ 0.55160377,
+ 0.54764718,
+ 0.54590494,
+ 0.542532,
+ 0.54046142,
+ 0.53565587,
+ 0.53385538,
+ 0.52896333,
+ 0.5249773,
+ 0.5226907,
+ 0.5197317,
+ 0.5167727,
+ 0.51222845,
+ 0.50759944,
+ 0.50480349,
+ 0.49969221,
+ 0.49556919,
+ 0.49269674,
+ 0.48963219,
+ 0.4892475,
+ 0.48718098,
+ 0.4816307,
+ 0.4783412,
+ 0.47545994,
+ 0.47229515,
+ 0.46786235,
+ 0.46500252,
+ 0.46199477,
+ 0.45898702,
+ 0.45559827,
+ 0.45066068,
+ 0.44526729,
+ 0.44379462,
+ 0.44138564,
+ 0.43780941,
+ 0.4348763,
+ 0.4305244,
+ 0.4271571,
+ 0.42351902,
+ 0.41866575,
+ 0.41678315,
+ 0.41490056,
+ 0.41309776,
+ 0.40744476,
+ 0.4045128,
+ 0.40158086,
+ 0.39807799,
+ 0.3945751,
+ 0.38969402,
+ 0.38512039,
+ 0.38155429,
+ 0.3811649,
+ 0.37533996,
+ 0.36977887,
+ 0.36773195,
+ 0.36503684,
+ 0.36164777,
+ 0.35692532,
+ 0.35533744,
+ 0.35271272,
+ 0.34896597,
+ 0.34432864,
+ 0.34227361,
+ 0.33997452,
+ 0.33568681,
+ 0.33139912,
+ 0.32678222,
+ 0.32231735,
+ 0.32018636,
+ 0.31841894,
+ 0.31458215,
+ 0.30948897,
+ 0.30772086,
+ 0.30720064,
+ 0.30275094,
+ 0.29729935,
+ 0.29392742,
+ 0.29277606,
+ 0.28966932,
+ 0.28357544,
+ 0.27831173,
+ 0.2723217,
+ 0.27112666,
+ 0.26862617,
+ 0.26612567,
+ 0.26288759,
+ 0.25964951,
+ 0.25623716,
+ 0.2511699,
+ 0.24746535,
+ 0.24580483,
+ 0.24193261,
+ 0.23854752,
+ 0.23417788,
+ 0.23306413,
+ 0.23013754,
+ 0.2264336,
+ 0.22303888,
+ 0.21873816,
+ 0.21495132,
+ 0.21364332,
+ 0.21214788,
+ 0.20573327,
+ 0.20169218,
+ 0.1993981,
+ 0.19843173,
+ 0.19486335,
+ 0.19118024,
+ 0.18790098,
+ 0.18345544,
+ 0.17815252,
+ 0.17580763,
+ 0.17102805,
+ 0.16850931,
+ 0.16519503,
+ 0.16427697,
+ 0.16061526,
+ 0.15695354,
+ 0.15354325,
+ 0.14885993,
+ 0.14689033,
+ 0.14091916,
+ 0.13953717,
+ 0.13745552,
+ 0.13537387,
+ 0.13286682,
+ 0.12781594,
+ 0.12637689,
+ 0.12479894,
+ 0.12065956,
+ 0.11566304,
+ 0.11270784,
+ 0.11224862,
+ 0.10727259,
+ 0.10327179,
+ 0.09762735,
+ 0.09570641,
+ 0.09378548,
+ 0.0920126,
+ 0.09023971,
+ 0.08563854,
+ 0.08374028,
+ 0.07903792,
+ 0.07459252,
+ 0.07284677,
+ 0.07004034,
+ 0.06712008,
+ 0.06370456,
+ 0.06159659,
+ 0.05988838,
+ 0.05652321,
+ 0.05376173,
+ 0.04976646,
+ 0.04696177,
+ 0.04219429,
+ 0.03904031,
+ 0.03494834,
+ 0.0322814,
+ 0.03058464,
+ 0.02923512,
+ 0.02541048,
+ 0.02175283,
+ 0.02042089,
+ 0.01833525,
+ 0.01559807,
+ 0.01432811,
+ 0.01171046,
+ 0.00879682,
+ 0.00584101,
+ 0.0029205,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -0.16004248
+ }
+ },
+ "index_mcp_pitch": {
+ "motor_index": 1,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.52588402
+ }
+ },
+ "middle_mcp_pitch": {
+ "motor_index": 2,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "ring_mcp_pitch": {
+ "motor_index": 3,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "pinky_mcp_pitch": {
+ "motor_index": 4,
+ "angle_rad": [
+ 1.22215668,
+ 1.21678574,
+ 1.2114148,
+ 1.20604387,
+ 1.19728903,
+ 1.19252993,
+ 1.18478751,
+ 1.18092692,
+ 1.17717552,
+ 1.17050399,
+ 1.16656404,
+ 1.16477383,
+ 1.15838986,
+ 1.15526583,
+ 1.14971887,
+ 1.14477028,
+ 1.13517431,
+ 1.13245974,
+ 1.13048598,
+ 1.12383754,
+ 1.12008762,
+ 1.11568722,
+ 1.11128683,
+ 1.10695592,
+ 1.09960948,
+ 1.09551507,
+ 1.08802815,
+ 1.08326563,
+ 1.07851305,
+ 1.07376046,
+ 1.06926532,
+ 1.06499099,
+ 1.06163576,
+ 1.05049573,
+ 1.04899085,
+ 1.04447467,
+ 1.03995847,
+ 1.03613975,
+ 1.03240913,
+ 1.02596492,
+ 1.0219852,
+ 1.01800549,
+ 1.01576723,
+ 1.00780125,
+ 1.00287256,
+ 1.00000609,
+ 0.99751847,
+ 0.98870612,
+ 0.98370491,
+ 0.98293342,
+ 0.97974759,
+ 0.97217472,
+ 0.96606336,
+ 0.95941124,
+ 0.95413992,
+ 0.95048157,
+ 0.94709885,
+ 0.94091345,
+ 0.93666821,
+ 0.93377407,
+ 0.93087994,
+ 0.92415117,
+ 0.92069347,
+ 0.91592859,
+ 0.91291712,
+ 0.9089269,
+ 0.89951098,
+ 0.89616814,
+ 0.89298201,
+ 0.88828187,
+ 0.88338631,
+ 0.87984793,
+ 0.87542212,
+ 0.86919579,
+ 0.86296946,
+ 0.85833825,
+ 0.85387627,
+ 0.84904334,
+ 0.84644588,
+ 0.84323985,
+ 0.84003381,
+ 0.83733635,
+ 0.82890928,
+ 0.82582588,
+ 0.81918185,
+ 0.81754584,
+ 0.80956499,
+ 0.80348242,
+ 0.80199322,
+ 0.80050402,
+ 0.79475279,
+ 0.78668648,
+ 0.78280718,
+ 0.7781452,
+ 0.77231679,
+ 0.76874062,
+ 0.76516445,
+ 0.75792422,
+ 0.7563282,
+ 0.75302815,
+ 0.74805191,
+ 0.74436769,
+ 0.74003159,
+ 0.73569549,
+ 0.72779859,
+ 0.72483382,
+ 0.72153102,
+ 0.71687261,
+ 0.7122142,
+ 0.70730778,
+ 0.70378647,
+ 0.70026515,
+ 0.69550596,
+ 0.69010769,
+ 0.68383255,
+ 0.67650525,
+ 0.67113377,
+ 0.66889387,
+ 0.66665396,
+ 0.66359424,
+ 0.65358078,
+ 0.64875915,
+ 0.64612718,
+ 0.64231218,
+ 0.63674964,
+ 0.63337648,
+ 0.62924277,
+ 0.62567727,
+ 0.62211176,
+ 0.61761564,
+ 0.61578877,
+ 0.60862136,
+ 0.60270968,
+ 0.59739056,
+ 0.59548245,
+ 0.58802547,
+ 0.58368184,
+ 0.57933821,
+ 0.5773867,
+ 0.57102676,
+ 0.56711723,
+ 0.56375876,
+ 0.55660445,
+ 0.551665,
+ 0.54660875,
+ 0.54223999,
+ 0.53903266,
+ 0.53582533,
+ 0.53030544,
+ 0.52417298,
+ 0.51827169,
+ 0.51539936,
+ 0.51227133,
+ 0.50704167,
+ 0.49788183,
+ 0.49595503,
+ 0.49284135,
+ 0.48972766,
+ 0.48269571,
+ 0.47934596,
+ 0.47423684,
+ 0.46556902,
+ 0.46305698,
+ 0.45994344,
+ 0.45353318,
+ 0.45051997,
+ 0.44750678,
+ 0.44419742,
+ 0.44088806,
+ 0.43206158,
+ 0.42729138,
+ 0.42114963,
+ 0.41537795,
+ 0.41076585,
+ 0.40573647,
+ 0.40172215,
+ 0.39770781,
+ 0.39424548,
+ 0.38754499,
+ 0.38182015,
+ 0.37689432,
+ 0.37432966,
+ 0.371765,
+ 0.36070572,
+ 0.35823944,
+ 0.35577317,
+ 0.35330689,
+ 0.3478979,
+ 0.3387189,
+ 0.33491346,
+ 0.32661137,
+ 0.32414253,
+ 0.31965062,
+ 0.31514234,
+ 0.30881468,
+ 0.30430902,
+ 0.30228264,
+ 0.29591219,
+ 0.29195983,
+ 0.28727635,
+ 0.28123941,
+ 0.27493563,
+ 0.26932344,
+ 0.26372948,
+ 0.26035725,
+ 0.25698501,
+ 0.25162823,
+ 0.24357237,
+ 0.23707484,
+ 0.23403693,
+ 0.230999,
+ 0.22564645,
+ 0.21912181,
+ 0.2147456,
+ 0.21036939,
+ 0.20599318,
+ 0.20176296,
+ 0.19498323,
+ 0.18948286,
+ 0.1839825,
+ 0.1789357,
+ 0.17516407,
+ 0.17139245,
+ 0.16727192,
+ 0.16193752,
+ 0.15660312,
+ 0.15125408,
+ 0.14617687,
+ 0.14099713,
+ 0.13492306,
+ 0.13081707,
+ 0.11905739,
+ 0.11889832,
+ 0.11589516,
+ 0.1076592,
+ 0.10218759,
+ 0.0995405,
+ 0.09350731,
+ 0.0868943,
+ 0.0802813,
+ 0.07535847,
+ 0.06575536,
+ 0.06437134,
+ 0.06072331,
+ 0.05707527,
+ 0.05172024,
+ 0.04446149,
+ 0.04193604,
+ 0.0394106,
+ 0.0298271,
+ 0.02473641,
+ 0.02245102,
+ 0.02016562,
+ 0.01819779,
+ 0.0090989,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_mcp_pitch"
+ },
+ "thumb_cmc_roll": {
+ "motor_index": 5,
+ "angle_rad": [
+ 1.38358796,
+ 1.38035968,
+ 1.37713142,
+ 1.37358351,
+ 1.36859255,
+ 1.36388489,
+ 1.35829066,
+ 1.35300447,
+ 1.34366968,
+ 1.34032739,
+ 1.33753495,
+ 1.33174753,
+ 1.32596012,
+ 1.3215263,
+ 1.31387133,
+ 1.31033448,
+ 1.30209113,
+ 1.29779988,
+ 1.29106649,
+ 1.28588635,
+ 1.2807062,
+ 1.27739207,
+ 1.26853986,
+ 1.26258886,
+ 1.25871301,
+ 1.2517839,
+ 1.24605731,
+ 1.24033072,
+ 1.23358431,
+ 1.22984007,
+ 1.22609583,
+ 1.21995779,
+ 1.21374731,
+ 1.20774536,
+ 1.20112971,
+ 1.19634851,
+ 1.19480008,
+ 1.1857096,
+ 1.18318713,
+ 1.17405333,
+ 1.16892987,
+ 1.16745013,
+ 1.16132851,
+ 1.15215812,
+ 1.14557927,
+ 1.14156822,
+ 1.13755717,
+ 1.13114096,
+ 1.12449305,
+ 1.11847657,
+ 1.11387486,
+ 1.1121394,
+ 1.10738253,
+ 1.09795901,
+ 1.09365132,
+ 1.08954951,
+ 1.08057459,
+ 1.07642196,
+ 1.07160434,
+ 1.06148241,
+ 1.05833734,
+ 1.05441255,
+ 1.04689246,
+ 1.04500497,
+ 1.03974647,
+ 1.03165575,
+ 1.02733745,
+ 1.02333015,
+ 1.0144756,
+ 1.01282263,
+ 1.00808808,
+ 1.00226768,
+ 0.99644728,
+ 0.98969162,
+ 0.98261401,
+ 0.97483769,
+ 0.97222476,
+ 0.96784823,
+ 0.96277541,
+ 0.95501512,
+ 0.95295326,
+ 0.94674714,
+ 0.94169805,
+ 0.93520847,
+ 0.93009578,
+ 0.92877515,
+ 0.920821,
+ 0.9160637,
+ 0.9104363,
+ 0.90397076,
+ 0.89657012,
+ 0.89242437,
+ 0.88709233,
+ 0.88200338,
+ 0.87599567,
+ 0.86808621,
+ 0.86305042,
+ 0.85886353,
+ 0.85237412,
+ 0.84617545,
+ 0.84112952,
+ 0.83590937,
+ 0.83200576,
+ 0.82732865,
+ 0.82194707,
+ 0.81753162,
+ 0.80972306,
+ 0.80542729,
+ 0.80007311,
+ 0.79445803,
+ 0.79211494,
+ 0.78315994,
+ 0.77701137,
+ 0.77122925,
+ 0.76638863,
+ 0.75978672,
+ 0.75462388,
+ 0.7498303,
+ 0.74473127,
+ 0.74118447,
+ 0.73254324,
+ 0.73140598,
+ 0.72593786,
+ 0.7166654,
+ 0.71337163,
+ 0.70919041,
+ 0.70233064,
+ 0.69616788,
+ 0.69233102,
+ 0.68627889,
+ 0.67708603,
+ 0.67564541,
+ 0.67064408,
+ 0.6629805,
+ 0.65865393,
+ 0.65358199,
+ 0.64772332,
+ 0.64464437,
+ 0.63762114,
+ 0.63348236,
+ 0.6264827,
+ 0.62065537,
+ 0.61188221,
+ 0.6071796,
+ 0.6051677,
+ 0.599241,
+ 0.5928228,
+ 0.58338108,
+ 0.58160875,
+ 0.57715365,
+ 0.57063112,
+ 0.56446711,
+ 0.55920927,
+ 0.55385255,
+ 0.54999388,
+ 0.54367554,
+ 0.5358303,
+ 0.53301586,
+ 0.52585198,
+ 0.52060573,
+ 0.51322092,
+ 0.50733003,
+ 0.5030516,
+ 0.49753057,
+ 0.49200955,
+ 0.4855243,
+ 0.48149761,
+ 0.47519204,
+ 0.47002897,
+ 0.46712897,
+ 0.46005354,
+ 0.45538599,
+ 0.45132659,
+ 0.44313863,
+ 0.43763309,
+ 0.43311296,
+ 0.42582927,
+ 0.42232906,
+ 0.41177938,
+ 0.41038879,
+ 0.4027121,
+ 0.39582342,
+ 0.39582342,
+ 0.38970054,
+ 0.38182165,
+ 0.37938195,
+ 0.37199808,
+ 0.36884356,
+ 0.36431578,
+ 0.35519698,
+ 0.34782157,
+ 0.34333366,
+ 0.34100144,
+ 0.3342401,
+ 0.32858661,
+ 0.32321293,
+ 0.31517845,
+ 0.3117616,
+ 0.30502883,
+ 0.29995236,
+ 0.29434322,
+ 0.28795653,
+ 0.28416321,
+ 0.2824532,
+ 0.27490556,
+ 0.26727424,
+ 0.26202518,
+ 0.25894599,
+ 0.25022624,
+ 0.24389515,
+ 0.24104774,
+ 0.23460562,
+ 0.22989726,
+ 0.2251889,
+ 0.21706044,
+ 0.21512314,
+ 0.20623856,
+ 0.20218648,
+ 0.19492967,
+ 0.19035795,
+ 0.18578623,
+ 0.18232408,
+ 0.17714637,
+ 0.17150097,
+ 0.16233336,
+ 0.16057224,
+ 0.15630905,
+ 0.14762757,
+ 0.14351302,
+ 0.13618682,
+ 0.13156338,
+ 0.12740226,
+ 0.11998349,
+ 0.11620707,
+ 0.11338873,
+ 0.10535306,
+ 0.10013434,
+ 0.09591327,
+ 0.0885905,
+ 0.08616908,
+ 0.07776068,
+ 0.07311657,
+ 0.06675701,
+ 0.06285586,
+ 0.05731361,
+ 0.05228419,
+ 0.0486314,
+ 0.0411264,
+ 0.0345629,
+ 0.02995463,
+ 0.02682486,
+ 0.02603607,
+ 0.01475672,
+ 0.01002046,
+ 0.00501023,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.11705115
+ }
+ },
+ "index_mcp_roll": {
+ "motor_index": 6,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "zero_angles": {
+ "travel_midpoint_rad": 0.25155263
+ }
+ },
+ "middle_mcp_roll": {
+ "motor_index": 7,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "ring_mcp_roll": {
+ "motor_index": 8,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "pinky_mcp_roll": {
+ "motor_index": 9,
+ "angle_rad": [
+ 0.25155263,
+ 0.25071324,
+ 0.24987384,
+ 0.24903445,
+ 0.24819506,
+ 0.24735567,
+ 0.24651628,
+ 0.24532485,
+ 0.2440972,
+ 0.24326376,
+ 0.24084553,
+ 0.23921783,
+ 0.23842357,
+ 0.23218527,
+ 0.23072416,
+ 0.22915753,
+ 0.22759089,
+ 0.22623288,
+ 0.22487487,
+ 0.2208818,
+ 0.21942082,
+ 0.21795983,
+ 0.21649886,
+ 0.21503787,
+ 0.21369167,
+ 0.21162417,
+ 0.20955666,
+ 0.20672937,
+ 0.2048676,
+ 0.20294299,
+ 0.19975939,
+ 0.19722895,
+ 0.19469851,
+ 0.19374003,
+ 0.19146587,
+ 0.1891917,
+ 0.18691754,
+ 0.18396007,
+ 0.18307745,
+ 0.18017901,
+ 0.17752217,
+ 0.17666266,
+ 0.17555344,
+ 0.17444422,
+ 0.17199529,
+ 0.16954637,
+ 0.16709746,
+ 0.16620672,
+ 0.16531598,
+ 0.16233614,
+ 0.15935631,
+ 0.15740549,
+ 0.15545467,
+ 0.15157625,
+ 0.14769782,
+ 0.14617783,
+ 0.14465783,
+ 0.14313783,
+ 0.14161785,
+ 0.14091926,
+ 0.13997695,
+ 0.13789088,
+ 0.13613081,
+ 0.13437072,
+ 0.13261065,
+ 0.13085056,
+ 0.12911376,
+ 0.12737697,
+ 0.12564017,
+ 0.12373407,
+ 0.1193394,
+ 0.11381832,
+ 0.11229218,
+ 0.11076604,
+ 0.10973507,
+ 0.1087041,
+ 0.10767313,
+ 0.10664217,
+ 0.10299832,
+ 0.09935447,
+ 0.09813936,
+ 0.09632845,
+ 0.09451754,
+ 0.09360103,
+ 0.0905457,
+ 0.08749038,
+ 0.08587347,
+ 0.08425656,
+ 0.08263965,
+ 0.08102274,
+ 0.07940583,
+ 0.07812247,
+ 0.07662802,
+ 0.07320968,
+ 0.0695244,
+ 0.06503865,
+ 0.06330164,
+ 0.06156463,
+ 0.05982761,
+ 0.05809061,
+ 0.05478927,
+ 0.05341394,
+ 0.05155311,
+ 0.05059758,
+ 0.04964206,
+ 0.04754879,
+ 0.04545552,
+ 0.04267669,
+ 0.03989788,
+ 0.03754746,
+ 0.03683812,
+ 0.03279293,
+ 0.03096176,
+ 0.02913058,
+ 0.02594358,
+ 0.01939726,
+ 0.01803632,
+ 0.01667537,
+ 0.01531444,
+ 0.01395349,
+ 0.01259255,
+ 0.01190695,
+ 0.01122133,
+ 0.00298102,
+ 0.00224555,
+ 0.00151007,
+ 0.00077459,
+ 3.912e-05,
+ -0.00067716,
+ -0.00139344,
+ -0.00210973,
+ -0.00785653,
+ -0.0090505,
+ -0.01132787,
+ -0.01360524,
+ -0.0163737,
+ -0.01819829,
+ -0.01880499,
+ -0.02095016,
+ -0.02309533,
+ -0.0252405,
+ -0.02805535,
+ -0.0302646,
+ -0.03322981,
+ -0.03764324,
+ -0.03874981,
+ -0.03985638,
+ -0.04096295,
+ -0.04207042,
+ -0.04317788,
+ -0.04534144,
+ -0.04750499,
+ -0.04966856,
+ -0.05160414,
+ -0.05353974,
+ -0.05670596,
+ -0.06041309,
+ -0.06412022,
+ -0.06694474,
+ -0.06838902,
+ -0.0698333,
+ -0.07109717,
+ -0.07364263,
+ -0.07556278,
+ -0.07805808,
+ -0.08153945,
+ -0.08300762,
+ -0.08542929,
+ -0.0863828,
+ -0.08733631,
+ -0.08840386,
+ -0.08947143,
+ -0.09116774,
+ -0.09303021,
+ -0.09489265,
+ -0.09816901,
+ -0.10177868,
+ -0.10300274,
+ -0.10392688,
+ -0.10485103,
+ -0.10724848,
+ -0.10964592,
+ -0.11204337,
+ -0.11444082,
+ -0.12157413,
+ -0.12325085,
+ -0.12492758,
+ -0.12537302,
+ -0.12581845,
+ -0.12626388,
+ -0.1267093,
+ -0.1280691,
+ -0.12942889,
+ -0.13078869,
+ -0.13483756,
+ -0.13888645,
+ -0.14198632,
+ -0.14420532,
+ -0.14642432,
+ -0.14864332,
+ -0.15021593,
+ -0.15178853,
+ -0.15336114,
+ -0.15504737,
+ -0.15673361,
+ -0.1576134,
+ -0.16022504,
+ -0.16420432,
+ -0.1656193,
+ -0.16703425,
+ -0.16844923,
+ -0.16986419,
+ -0.17171106,
+ -0.17265435,
+ -0.17359763,
+ -0.17654348,
+ -0.18063258,
+ -0.18300529,
+ -0.18563107,
+ -0.18769971,
+ -0.18976835,
+ -0.19183699,
+ -0.19295017,
+ -0.19516102,
+ -0.19737188,
+ -0.19976875,
+ -0.20267854,
+ -0.20500858,
+ -0.20657083,
+ -0.2087091,
+ -0.21084739,
+ -0.21298568,
+ -0.21401349,
+ -0.2150413,
+ -0.2160691,
+ -0.21709692,
+ -0.21934878,
+ -0.22160065,
+ -0.22386901,
+ -0.22620752,
+ -0.22854603,
+ -0.22926128,
+ -0.23149046,
+ -0.23371963,
+ -0.2368323,
+ -0.23775353,
+ -0.23867477,
+ -0.23950329,
+ -0.23969987,
+ -0.2401925,
+ -0.24068513,
+ -0.24117776,
+ -0.24167039,
+ -0.2447473,
+ -0.24814996,
+ -0.25155263
+ ],
+ "zero_command_u8": 127,
+ "source_joint": "index_mcp_roll"
+ },
+ "thumb_cmc_yaw": {
+ "motor_index": 10,
+ "angle_rad": [
+ 1.61019336,
+ 1.609479,
+ 1.60876464,
+ 1.60602942,
+ 1.59676562,
+ 1.58908845,
+ 1.58908845,
+ 1.58648729,
+ 1.57819494,
+ 1.57417305,
+ 1.56279763,
+ 1.55958679,
+ 1.55329869,
+ 1.54209295,
+ 1.53861486,
+ 1.53513677,
+ 1.52658355,
+ 1.52344575,
+ 1.51041,
+ 1.50433115,
+ 1.50004359,
+ 1.48825978,
+ 1.48431677,
+ 1.47848541,
+ 1.47012452,
+ 1.4646082,
+ 1.4590919,
+ 1.45736777,
+ 1.44629177,
+ 1.44294101,
+ 1.43493721,
+ 1.42945685,
+ 1.42096105,
+ 1.41391031,
+ 1.40940061,
+ 1.40101975,
+ 1.39307254,
+ 1.38522597,
+ 1.38208296,
+ 1.37481213,
+ 1.36478281,
+ 1.36148926,
+ 1.35693453,
+ 1.34913338,
+ 1.34339417,
+ 1.33827758,
+ 1.33290824,
+ 1.32613899,
+ 1.31474504,
+ 1.31211038,
+ 1.30683347,
+ 1.30121748,
+ 1.29120385,
+ 1.28490101,
+ 1.27921674,
+ 1.27146917,
+ 1.26862485,
+ 1.25763799,
+ 1.25200713,
+ 1.24637627,
+ 1.24252302,
+ 1.23785302,
+ 1.23035344,
+ 1.22285387,
+ 1.21776369,
+ 1.2100009,
+ 1.20567075,
+ 1.19755614,
+ 1.19072874,
+ 1.18365858,
+ 1.17512909,
+ 1.16978059,
+ 1.16427982,
+ 1.15877905,
+ 1.15433034,
+ 1.15071252,
+ 1.14041104,
+ 1.13453889,
+ 1.13088489,
+ 1.12223319,
+ 1.11280005,
+ 1.10795938,
+ 1.10613106,
+ 1.10010755,
+ 1.08894891,
+ 1.08215956,
+ 1.0738008,
+ 1.06752715,
+ 1.06228407,
+ 1.05746044,
+ 1.05134256,
+ 1.04491578,
+ 1.04143446,
+ 1.0305869,
+ 1.02778325,
+ 1.02137524,
+ 1.01496721,
+ 1.00921725,
+ 1.00176994,
+ 0.99432264,
+ 0.98883589,
+ 0.98093848,
+ 0.97470674,
+ 0.96723574,
+ 0.95945166,
+ 0.95223254,
+ 0.94472003,
+ 0.94472003,
+ 0.93524874,
+ 0.92568046,
+ 0.92098428,
+ 0.91608854,
+ 0.90710361,
+ 0.90257226,
+ 0.89804091,
+ 0.88561022,
+ 0.88198081,
+ 0.87835141,
+ 0.874722,
+ 0.86573784,
+ 0.85700325,
+ 0.84826866,
+ 0.84034307,
+ 0.8315807,
+ 0.83026903,
+ 0.82458837,
+ 0.81688725,
+ 0.80974186,
+ 0.80588391,
+ 0.80196977,
+ 0.79073433,
+ 0.78769851,
+ 0.78470302,
+ 0.78217251,
+ 0.77077243,
+ 0.76703703,
+ 0.75622764,
+ 0.74620914,
+ 0.74095136,
+ 0.73569358,
+ 0.72950691,
+ 0.72298309,
+ 0.7175736,
+ 0.71216411,
+ 0.7034718,
+ 0.69943122,
+ 0.69364519,
+ 0.68689922,
+ 0.67687864,
+ 0.67687864,
+ 0.66585867,
+ 0.65693198,
+ 0.65374198,
+ 0.65065275,
+ 0.64216929,
+ 0.63476661,
+ 0.6293957,
+ 0.62420184,
+ 0.61676979,
+ 0.60747501,
+ 0.60203312,
+ 0.5984578,
+ 0.59676789,
+ 0.58187676,
+ 0.57245029,
+ 0.57127095,
+ 0.5585049,
+ 0.55519748,
+ 0.55189007,
+ 0.54858265,
+ 0.53642874,
+ 0.53097796,
+ 0.52552716,
+ 0.51958969,
+ 0.51227626,
+ 0.51050485,
+ 0.499835,
+ 0.4972713,
+ 0.48646294,
+ 0.48070742,
+ 0.47813775,
+ 0.46337217,
+ 0.45826919,
+ 0.45635067,
+ 0.45225768,
+ 0.43766336,
+ 0.43327087,
+ 0.42887838,
+ 0.41401641,
+ 0.40983521,
+ 0.40735611,
+ 0.40487701,
+ 0.39179283,
+ 0.38714611,
+ 0.38249939,
+ 0.37750767,
+ 0.36912294,
+ 0.36303612,
+ 0.35694929,
+ 0.35288438,
+ 0.34059181,
+ 0.33445908,
+ 0.32964109,
+ 0.32227319,
+ 0.31792626,
+ 0.31357934,
+ 0.30488618,
+ 0.30152219,
+ 0.29465862,
+ 0.28468736,
+ 0.27585461,
+ 0.2721373,
+ 0.26841999,
+ 0.26557761,
+ 0.25385377,
+ 0.24802763,
+ 0.240395,
+ 0.23016016,
+ 0.22679823,
+ 0.22154884,
+ 0.21629946,
+ 0.20517945,
+ 0.20517945,
+ 0.19433572,
+ 0.18576417,
+ 0.18137634,
+ 0.17767704,
+ 0.17397775,
+ 0.16428046,
+ 0.15783369,
+ 0.15272041,
+ 0.14452836,
+ 0.13379484,
+ 0.13062383,
+ 0.12567885,
+ 0.12335904,
+ 0.11315275,
+ 0.10678229,
+ 0.10041182,
+ 0.09025698,
+ 0.08754302,
+ 0.07786926,
+ 0.07438112,
+ 0.06441734,
+ 0.05808225,
+ 0.05174715,
+ 0.04475488,
+ 0.04111833,
+ 0.03585813,
+ 0.03037038,
+ 0.02190099,
+ 0.01806032,
+ 0.01233154,
+ 0.01028732,
+ 0.00514367,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.35052345
+ }
+ },
+ "thumb_mcp": {
+ "motor_index": 15,
+ "angle_rad": [
+ 1.20296658,
+ 1.19988335,
+ 1.19680012,
+ 1.19371689,
+ 1.19113593,
+ 1.18298017,
+ 1.17450151,
+ 1.16936763,
+ 1.16822276,
+ 1.157277,
+ 1.15275431,
+ 1.15063983,
+ 1.14618193,
+ 1.13894417,
+ 1.13543942,
+ 1.1295069,
+ 1.12396998,
+ 1.11855098,
+ 1.11425095,
+ 1.10841405,
+ 1.10335633,
+ 1.0971587,
+ 1.09592544,
+ 1.08729759,
+ 1.08044286,
+ 1.07723955,
+ 1.06914199,
+ 1.06632156,
+ 1.06302479,
+ 1.05787889,
+ 1.05184132,
+ 1.04617186,
+ 1.04173582,
+ 1.03572482,
+ 1.03229545,
+ 1.02652221,
+ 1.01966095,
+ 1.01843821,
+ 1.01218189,
+ 1.0055557,
+ 1.00092323,
+ 0.99513209,
+ 0.99015824,
+ 0.98445511,
+ 0.98074645,
+ 0.97703779,
+ 0.97066265,
+ 0.96878727,
+ 0.96226269,
+ 0.95592481,
+ 0.95193916,
+ 0.9487052,
+ 0.94158188,
+ 0.93857214,
+ 0.93303191,
+ 0.92996444,
+ 0.92272543,
+ 0.91620009,
+ 0.91264727,
+ 0.90665071,
+ 0.90317421,
+ 0.90143942,
+ 0.89307099,
+ 0.88926186,
+ 0.88102508,
+ 0.87825976,
+ 0.87383951,
+ 0.86941926,
+ 0.8634617,
+ 0.86152773,
+ 0.85260577,
+ 0.84589967,
+ 0.84515381,
+ 0.83899779,
+ 0.83271608,
+ 0.82960707,
+ 0.82715771,
+ 0.82019259,
+ 0.81717232,
+ 0.8102038,
+ 0.80818342,
+ 0.80373609,
+ 0.79928875,
+ 0.79080453,
+ 0.79056743,
+ 0.78754702,
+ 0.77935488,
+ 0.77495275,
+ 0.76911331,
+ 0.76657405,
+ 0.76200433,
+ 0.75501212,
+ 0.75262311,
+ 0.74522362,
+ 0.74048702,
+ 0.73847939,
+ 0.73435272,
+ 0.72686609,
+ 0.72391717,
+ 0.71822786,
+ 0.71383496,
+ 0.70944207,
+ 0.70608124,
+ 0.70166638,
+ 0.69725152,
+ 0.69060695,
+ 0.68812388,
+ 0.68318414,
+ 0.67950194,
+ 0.67581973,
+ 0.66648843,
+ 0.66307674,
+ 0.65924805,
+ 0.65476145,
+ 0.65156747,
+ 0.64255994,
+ 0.63867524,
+ 0.63491275,
+ 0.62944559,
+ 0.62577094,
+ 0.62209629,
+ 0.62089198,
+ 0.61161384,
+ 0.60569098,
+ 0.60365903,
+ 0.60162708,
+ 0.59565157,
+ 0.59217534,
+ 0.58645847,
+ 0.58100957,
+ 0.57622733,
+ 0.5721189,
+ 0.56640707,
+ 0.5649504,
+ 0.56188726,
+ 0.55452924,
+ 0.54848365,
+ 0.54447343,
+ 0.54046321,
+ 0.53575175,
+ 0.53062072,
+ 0.52808975,
+ 0.52343817,
+ 0.51775786,
+ 0.50952566,
+ 0.50764636,
+ 0.50566507,
+ 0.49577207,
+ 0.49122499,
+ 0.48984732,
+ 0.48710069,
+ 0.48215567,
+ 0.47991995,
+ 0.47471188,
+ 0.47045963,
+ 0.46233319,
+ 0.45670625,
+ 0.45503942,
+ 0.45375508,
+ 0.44751831,
+ 0.44197673,
+ 0.43740422,
+ 0.43117542,
+ 0.42574539,
+ 0.42148285,
+ 0.41589926,
+ 0.41202527,
+ 0.40575396,
+ 0.4037094,
+ 0.39932007,
+ 0.39493075,
+ 0.39023809,
+ 0.38729762,
+ 0.38187922,
+ 0.37646082,
+ 0.37323185,
+ 0.36893715,
+ 0.36084979,
+ 0.35953849,
+ 0.35399133,
+ 0.34840037,
+ 0.34466709,
+ 0.3390896,
+ 0.33616303,
+ 0.33186814,
+ 0.32229455,
+ 0.32005277,
+ 0.31489825,
+ 0.30469102,
+ 0.30469102,
+ 0.30205312,
+ 0.2968318,
+ 0.29132251,
+ 0.28558578,
+ 0.28157513,
+ 0.27756449,
+ 0.27355385,
+ 0.26827367,
+ 0.26343532,
+ 0.25859699,
+ 0.25345058,
+ 0.24790408,
+ 0.24469398,
+ 0.23951,
+ 0.23417657,
+ 0.22838828,
+ 0.22259999,
+ 0.2173563,
+ 0.21199652,
+ 0.20778548,
+ 0.20268672,
+ 0.20089431,
+ 0.19490868,
+ 0.19000322,
+ 0.18387349,
+ 0.18108822,
+ 0.17733178,
+ 0.17357533,
+ 0.16365201,
+ 0.15826593,
+ 0.15312435,
+ 0.14685777,
+ 0.14513202,
+ 0.14129973,
+ 0.13746744,
+ 0.13023511,
+ 0.12803618,
+ 0.1214489,
+ 0.11678603,
+ 0.11118761,
+ 0.10731363,
+ 0.10303229,
+ 0.09423264,
+ 0.08905648,
+ 0.07996417,
+ 0.0740673,
+ 0.07368072,
+ 0.06519556,
+ 0.05864868,
+ 0.0559548,
+ 0.05273309,
+ 0.04310541,
+ 0.04143561,
+ 0.03431265,
+ 0.03147068,
+ 0.02793246,
+ 0.01843538,
+ 0.01574043,
+ 0.0124356,
+ 0.00833589,
+ 0.00562337,
+ 0.00283427,
+ 0.0021257,
+ 0.00141713,
+ 0.00070857,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": 0.17127076
+ }
+ },
+ "index_pip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "zero_angles": {
+ "table_projected_zero_rad": -1.56052579
+ }
+ },
+ "middle_pip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "ring_pip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "pinky_pip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.7412882,
+ 1.73687096,
+ 1.73245371,
+ 1.72803647,
+ 1.72361922,
+ 1.72099844,
+ 1.71035428,
+ 1.70221784,
+ 1.69830612,
+ 1.69439439,
+ 1.68880279,
+ 1.67949943,
+ 1.67144678,
+ 1.66339412,
+ 1.65764164,
+ 1.65002757,
+ 1.6424135,
+ 1.63693013,
+ 1.62945539,
+ 1.62527636,
+ 1.61605872,
+ 1.6118256,
+ 1.60608426,
+ 1.59878288,
+ 1.5944231,
+ 1.58733521,
+ 1.58024731,
+ 1.57463055,
+ 1.56872792,
+ 1.55680373,
+ 1.55236319,
+ 1.54179965,
+ 1.53821951,
+ 1.53463938,
+ 1.53077919,
+ 1.52360637,
+ 1.52011056,
+ 1.5159038,
+ 1.50738803,
+ 1.49836338,
+ 1.49436125,
+ 1.48882194,
+ 1.48328264,
+ 1.47928446,
+ 1.47145348,
+ 1.46307904,
+ 1.46170663,
+ 1.45249021,
+ 1.4467618,
+ 1.44509313,
+ 1.43354084,
+ 1.42947143,
+ 1.42261224,
+ 1.41837816,
+ 1.40750148,
+ 1.40136776,
+ 1.39766307,
+ 1.39166862,
+ 1.38567418,
+ 1.38293285,
+ 1.37635368,
+ 1.3701775,
+ 1.36191872,
+ 1.35632913,
+ 1.34809046,
+ 1.34430909,
+ 1.33915174,
+ 1.33399439,
+ 1.32954265,
+ 1.32123587,
+ 1.3162044,
+ 1.30879052,
+ 1.30458097,
+ 1.30135096,
+ 1.29408557,
+ 1.28702932,
+ 1.2822592,
+ 1.27427833,
+ 1.26820479,
+ 1.26055282,
+ 1.25723541,
+ 1.24912529,
+ 1.24410344,
+ 1.23908159,
+ 1.23498591,
+ 1.2284514,
+ 1.22191691,
+ 1.21480814,
+ 1.21026991,
+ 1.20335634,
+ 1.19803169,
+ 1.19270703,
+ 1.18738238,
+ 1.18159641,
+ 1.17786451,
+ 1.1741326,
+ 1.16018011,
+ 1.15795557,
+ 1.15338397,
+ 1.14616586,
+ 1.13894777,
+ 1.13430309,
+ 1.12482664,
+ 1.11639773,
+ 1.11182267,
+ 1.10708358,
+ 1.09888102,
+ 1.09419146,
+ 1.0895019,
+ 1.08481235,
+ 1.07402785,
+ 1.06785135,
+ 1.06167485,
+ 1.05593324,
+ 1.04927224,
+ 1.04317898,
+ 1.03708574,
+ 1.03299698,
+ 1.02827124,
+ 1.0235455,
+ 1.01712124,
+ 1.00801236,
+ 0.99889205,
+ 0.99568306,
+ 0.9917808,
+ 0.98173587,
+ 0.97581579,
+ 0.9688067,
+ 0.96608094,
+ 0.95520735,
+ 0.9468159,
+ 0.94158816,
+ 0.93560862,
+ 0.92797151,
+ 0.92457097,
+ 0.91471019,
+ 0.90794129,
+ 0.90117239,
+ 0.89560262,
+ 0.8857505,
+ 0.88044918,
+ 0.87514786,
+ 0.87180643,
+ 0.86263679,
+ 0.85859043,
+ 0.85454407,
+ 0.84420122,
+ 0.83629145,
+ 0.8316308,
+ 0.82697015,
+ 0.8166174,
+ 0.81282747,
+ 0.80076218,
+ 0.79204229,
+ 0.78156727,
+ 0.77752526,
+ 0.77348325,
+ 0.76842917,
+ 0.75704987,
+ 0.75045778,
+ 0.74111448,
+ 0.73401816,
+ 0.72692183,
+ 0.72483325,
+ 0.71350393,
+ 0.70634818,
+ 0.69919244,
+ 0.69233464,
+ 0.68608145,
+ 0.67982826,
+ 0.67208649,
+ 0.66092747,
+ 0.65483329,
+ 0.64814719,
+ 0.63895071,
+ 0.63315683,
+ 0.62544151,
+ 0.61167145,
+ 0.60280953,
+ 0.60173245,
+ 0.58688566,
+ 0.57937831,
+ 0.57456549,
+ 0.56975268,
+ 0.55977469,
+ 0.55544879,
+ 0.5506557,
+ 0.54079002,
+ 0.53571437,
+ 0.52617842,
+ 0.51968769,
+ 0.51319695,
+ 0.51197726,
+ 0.4974404,
+ 0.49416996,
+ 0.48292732,
+ 0.47393633,
+ 0.4669752,
+ 0.46536651,
+ 0.45624279,
+ 0.44711908,
+ 0.43642583,
+ 0.42785212,
+ 0.4192784,
+ 0.41495403,
+ 0.40454894,
+ 0.40065971,
+ 0.39412474,
+ 0.38415594,
+ 0.37503845,
+ 0.37087894,
+ 0.36208068,
+ 0.35087872,
+ 0.34218229,
+ 0.33392254,
+ 0.32729144,
+ 0.32066034,
+ 0.31674189,
+ 0.30587342,
+ 0.29579597,
+ 0.28271667,
+ 0.28006044,
+ 0.26764904,
+ 0.26431131,
+ 0.25571089,
+ 0.24711048,
+ 0.23587359,
+ 0.22927492,
+ 0.21434408,
+ 0.21168746,
+ 0.20556309,
+ 0.19943871,
+ 0.18421763,
+ 0.17723933,
+ 0.16507572,
+ 0.15833047,
+ 0.15106511,
+ 0.14379976,
+ 0.13178959,
+ 0.12646984,
+ 0.11955677,
+ 0.10618611,
+ 0.10618611,
+ 0.09299772,
+ 0.08151031,
+ 0.07002289,
+ 0.06431945,
+ 0.05861601,
+ 0.04879548,
+ 0.03897495,
+ 0.03226495,
+ 0.02555496,
+ 0.01649965,
+ 0.00970507,
+ 0.00485254,
+ 0.0
+ ],
+ "zero_command_u8": 255,
+ "source_joint": "index_pip"
+ },
+ "thumb_ip": {
+ "motor_index": 15,
+ "angle_rad": [
+ 2.2135084,
+ 2.20602805,
+ 2.1985477,
+ 2.19106735,
+ 2.1856262,
+ 2.16855236,
+ 2.15082479,
+ 2.14063967,
+ 2.1384511,
+ 2.11646775,
+ 2.10768278,
+ 2.10322503,
+ 2.09434389,
+ 2.08021013,
+ 2.07350244,
+ 2.06179572,
+ 2.05122339,
+ 2.04070967,
+ 2.03244357,
+ 2.02105181,
+ 2.01169347,
+ 1.99986781,
+ 1.9974481,
+ 1.98126104,
+ 1.96842816,
+ 1.96246975,
+ 1.94714476,
+ 1.94198717,
+ 1.93593897,
+ 1.92622541,
+ 1.91479932,
+ 1.90480612,
+ 1.89669352,
+ 1.88577788,
+ 1.87957191,
+ 1.86910343,
+ 1.85652624,
+ 1.85425898,
+ 1.84261965,
+ 1.83051657,
+ 1.82265426,
+ 1.81176728,
+ 1.80283148,
+ 1.79246381,
+ 1.7857485,
+ 1.7790332,
+ 1.76789603,
+ 1.76425594,
+ 1.75237804,
+ 1.74106636,
+ 1.73374614,
+ 1.72791527,
+ 1.71528905,
+ 1.70998636,
+ 1.70007134,
+ 1.69412538,
+ 1.68154592,
+ 1.66982744,
+ 1.66334674,
+ 1.65266722,
+ 1.64642728,
+ 1.64326765,
+ 1.62829154,
+ 1.62144283,
+ 1.60675012,
+ 1.60180937,
+ 1.59398791,
+ 1.58616645,
+ 1.57560323,
+ 1.57200763,
+ 1.55587173,
+ 1.54354806,
+ 1.54219487,
+ 1.53104118,
+ 1.52053028,
+ 1.51449361,
+ 1.50952852,
+ 1.49764005,
+ 1.49275651,
+ 1.47991691,
+ 1.47598773,
+ 1.46820487,
+ 1.46042199,
+ 1.44507466,
+ 1.44465545,
+ 1.43928507,
+ 1.42466936,
+ 1.41680632,
+ 1.40665376,
+ 1.40198224,
+ 1.39381473,
+ 1.38143985,
+ 1.37718469,
+ 1.36388621,
+ 1.35545764,
+ 1.35183074,
+ 1.34436028,
+ 1.33102874,
+ 1.3256844,
+ 1.31551851,
+ 1.30772566,
+ 1.29993282,
+ 1.29356674,
+ 1.28566109,
+ 1.27775543,
+ 1.26601024,
+ 1.26154316,
+ 1.25281311,
+ 1.24603343,
+ 1.23925375,
+ 1.2222758,
+ 1.21633886,
+ 1.20949486,
+ 1.20111628,
+ 1.19542847,
+ 1.17895463,
+ 1.17212854,
+ 1.165342,
+ 1.15523538,
+ 1.14883212,
+ 1.14242887,
+ 1.13993778,
+ 1.12266313,
+ 1.11219288,
+ 1.10848353,
+ 1.10477417,
+ 1.09391043,
+ 1.08774022,
+ 1.0769532,
+ 1.06677753,
+ 1.05828713,
+ 1.05063901,
+ 1.04005868,
+ 1.03742462,
+ 1.03169661,
+ 1.01837701,
+ 1.00717503,
+ 0.99985588,
+ 0.99253674,
+ 0.98381176,
+ 0.97430298,
+ 0.96970103,
+ 0.96112834,
+ 0.95054702,
+ 0.93544658,
+ 0.93206791,
+ 0.92845708,
+ 0.91037775,
+ 0.90195914,
+ 0.89936724,
+ 0.89422872,
+ 0.88505109,
+ 0.88089554,
+ 0.8710544,
+ 0.86380226,
+ 0.84831979,
+ 0.83800809,
+ 0.83509628,
+ 0.83264991,
+ 0.82094935,
+ 0.81065615,
+ 0.80243197,
+ 0.79085663,
+ 0.78066435,
+ 0.77291599,
+ 0.76265597,
+ 0.75527789,
+ 0.74367768,
+ 0.73981124,
+ 0.7316425,
+ 0.72347377,
+ 0.71490772,
+ 0.70952523,
+ 0.6993736,
+ 0.68922198,
+ 0.68342478,
+ 0.67576179,
+ 0.66024666,
+ 0.65785048,
+ 0.64790093,
+ 0.63731279,
+ 0.63005424,
+ 0.61984156,
+ 0.61442747,
+ 0.60632219,
+ 0.58842836,
+ 0.58462032,
+ 0.57481353,
+ 0.55569826,
+ 0.55566355,
+ 0.55073126,
+ 0.54086704,
+ 0.53052667,
+ 0.51982184,
+ 0.51233096,
+ 0.50484008,
+ 0.4973492,
+ 0.48749919,
+ 0.47844543,
+ 0.46939166,
+ 0.45969728,
+ 0.44937658,
+ 0.44342514,
+ 0.43364644,
+ 0.42369785,
+ 0.41291634,
+ 0.40213482,
+ 0.39234162,
+ 0.38249667,
+ 0.37457016,
+ 0.36468712,
+ 0.36189757,
+ 0.35043497,
+ 0.34114395,
+ 0.33010149,
+ 0.32493744,
+ 0.31801799,
+ 0.31109854,
+ 0.29288127,
+ 0.28308035,
+ 0.27361526,
+ 0.26186219,
+ 0.25877565,
+ 0.25183557,
+ 0.24489549,
+ 0.23148166,
+ 0.22751372,
+ 0.21534319,
+ 0.20676606,
+ 0.1963871,
+ 0.18915942,
+ 0.18162946,
+ 0.16566528,
+ 0.15619126,
+ 0.13919362,
+ 0.12886559,
+ 0.12803762,
+ 0.11388131,
+ 0.10097942,
+ 0.09628199,
+ 0.0910122,
+ 0.07431946,
+ 0.07131092,
+ 0.05805958,
+ 0.05216546,
+ 0.04564091,
+ 0.02918606,
+ 0.02473593,
+ 0.01840374,
+ 0.01237501,
+ 0.00809848,
+ 0.00394273,
+ 0.00295704,
+ 0.00197136,
+ 0.00098568,
+ 0.0
+ ],
+ "passive": true
+ },
+ "index_dip": {
+ "motor_index": 16,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true
+ },
+ "middle_dip": {
+ "motor_index": 17,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "ring_dip": {
+ "motor_index": 18,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ },
+ "pinky_dip": {
+ "motor_index": 19,
+ "angle_rad": [
+ 1.49304833,
+ 1.49011024,
+ 1.48717217,
+ 1.48423408,
+ 1.481296,
+ 1.48066834,
+ 1.47590584,
+ 1.47590584,
+ 1.47017558,
+ 1.46444532,
+ 1.45745339,
+ 1.45514607,
+ 1.44982408,
+ 1.44450211,
+ 1.43123033,
+ 1.42240594,
+ 1.41358154,
+ 1.40162107,
+ 1.39859284,
+ 1.39829314,
+ 1.38764507,
+ 1.38764507,
+ 1.38764507,
+ 1.37444649,
+ 1.3631029,
+ 1.35859124,
+ 1.35407959,
+ 1.35076148,
+ 1.3464262,
+ 1.33902643,
+ 1.33162696,
+ 1.31228013,
+ 1.30532769,
+ 1.29837524,
+ 1.29440832,
+ 1.29173394,
+ 1.28241243,
+ 1.27832602,
+ 1.26606047,
+ 1.2574799,
+ 1.25440551,
+ 1.24925268,
+ 1.24409985,
+ 1.23775788,
+ 1.23159472,
+ 1.22723177,
+ 1.22723177,
+ 1.2126383,
+ 1.20210536,
+ 1.19656317,
+ 1.19167083,
+ 1.18781785,
+ 1.17573567,
+ 1.17182231,
+ 1.16655291,
+ 1.1583958,
+ 1.14317192,
+ 1.1407965,
+ 1.13842108,
+ 1.13604565,
+ 1.12837717,
+ 1.12124051,
+ 1.10741209,
+ 1.10128962,
+ 1.09668746,
+ 1.09336333,
+ 1.08646317,
+ 1.07956299,
+ 1.07785771,
+ 1.0732678,
+ 1.06755427,
+ 1.0583713,
+ 1.05493592,
+ 1.04952588,
+ 1.04406966,
+ 1.03532115,
+ 1.02612117,
+ 1.02022489,
+ 1.01587013,
+ 1.00633566,
+ 1.00341647,
+ 0.99125167,
+ 0.98874925,
+ 0.98624684,
+ 0.98624684,
+ 0.98136577,
+ 0.9764847,
+ 0.97043678,
+ 0.96394852,
+ 0.95135884,
+ 0.94590235,
+ 0.94044587,
+ 0.93498938,
+ 0.93305245,
+ 0.92937017,
+ 0.92568788,
+ 0.90841513,
+ 0.90417593,
+ 0.90224627,
+ 0.89584486,
+ 0.88944345,
+ 0.8848939,
+ 0.87208401,
+ 0.86975383,
+ 0.86742365,
+ 0.86241163,
+ 0.84909047,
+ 0.8448059,
+ 0.84052132,
+ 0.83623673,
+ 0.8296758,
+ 0.82083027,
+ 0.81198472,
+ 0.80886424,
+ 0.80135688,
+ 0.79705584,
+ 0.7927548,
+ 0.79118745,
+ 0.78473534,
+ 0.77828321,
+ 0.77229685,
+ 0.76320272,
+ 0.75674076,
+ 0.75593749,
+ 0.74910389,
+ 0.73972677,
+ 0.73972677,
+ 0.73972677,
+ 0.73446556,
+ 0.71434546,
+ 0.70365934,
+ 0.69811484,
+ 0.69335624,
+ 0.69085496,
+ 0.68676877,
+ 0.68007916,
+ 0.67507526,
+ 0.67007136,
+ 0.65376707,
+ 0.64863427,
+ 0.64485165,
+ 0.64106904,
+ 0.63605515,
+ 0.62618907,
+ 0.62380399,
+ 0.62141889,
+ 0.61059854,
+ 0.60458449,
+ 0.60109047,
+ 0.59759646,
+ 0.5870366,
+ 0.58330537,
+ 0.57054145,
+ 0.56543447,
+ 0.55554614,
+ 0.55430238,
+ 0.55305861,
+ 0.54878215,
+ 0.53694548,
+ 0.53022278,
+ 0.52436578,
+ 0.51888912,
+ 0.51341245,
+ 0.51116235,
+ 0.50072048,
+ 0.49484897,
+ 0.48897747,
+ 0.48221239,
+ 0.47710345,
+ 0.47199452,
+ 0.46568318,
+ 0.45505861,
+ 0.4495181,
+ 0.44551585,
+ 0.4400203,
+ 0.43645102,
+ 0.42784079,
+ 0.41671387,
+ 0.40877772,
+ 0.40795317,
+ 0.39780505,
+ 0.39070812,
+ 0.3862703,
+ 0.38183249,
+ 0.37635739,
+ 0.37090717,
+ 0.36493164,
+ 0.35899938,
+ 0.35620494,
+ 0.3465247,
+ 0.34205855,
+ 0.33759241,
+ 0.33759241,
+ 0.3287065,
+ 0.32418724,
+ 0.3168732,
+ 0.30899868,
+ 0.30389042,
+ 0.30240128,
+ 0.29634832,
+ 0.29029535,
+ 0.28562109,
+ 0.27957547,
+ 0.27352984,
+ 0.26947346,
+ 0.26324125,
+ 0.25879012,
+ 0.25313186,
+ 0.24671714,
+ 0.2410404,
+ 0.23722782,
+ 0.23100155,
+ 0.22621972,
+ 0.2188754,
+ 0.21206361,
+ 0.20797694,
+ 0.20389025,
+ 0.20238438,
+ 0.19602542,
+ 0.18917156,
+ 0.18086833,
+ 0.17908964,
+ 0.1701932,
+ 0.1685023,
+ 0.16237918,
+ 0.15625606,
+ 0.14919595,
+ 0.14428022,
+ 0.13529894,
+ 0.13332205,
+ 0.12974297,
+ 0.12616388,
+ 0.11565929,
+ 0.11135956,
+ 0.10430019,
+ 0.09990192,
+ 0.0952604,
+ 0.09061888,
+ 0.08202266,
+ 0.07986514,
+ 0.07553063,
+ 0.06602626,
+ 0.06602626,
+ 0.05739116,
+ 0.05031769,
+ 0.04324423,
+ 0.04034155,
+ 0.03743887,
+ 0.03028322,
+ 0.02312758,
+ 0.01941092,
+ 0.01569424,
+ 0.00888957,
+ 0.00513936,
+ 0.00256968,
+ 0.0
+ ],
+ "passive": true,
+ "source_joint": "index_dip"
+ }
+ },
+ "quality": {
+ "passed": true,
+ "validation_mae_rad": null,
+ "validation_p95_rad": null
+ }
+}
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml
index 29837a8..eb3dad9 100644
--- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linker_hand_g20_left.xml
@@ -45,27 +45,29 @@
+
+
-
+
-
+
-
+
-
+
+
-
+
-
+
-
+
-
+
@@ -75,21 +77,21 @@
-
+
-
+
-
+
-
+
-
+
-
+
@@ -98,21 +100,21 @@
-
+
-
+
-
+
-
+
-
+
-
+
@@ -121,21 +123,21 @@
-
+
-
+
-
+
-
+
-
+
-
+
@@ -144,21 +146,21 @@
-
+
-
+
-
+
-
+
-
+
-
+
@@ -203,26 +205,26 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left.urdf
index e65aebe..cf0fb50 100644
--- a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left.urdf
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left.urdf
@@ -1,9 +1,22 @@
-
-
-
+
+
+
@@ -89,7 +102,7 @@
type="revolute">
+ rpy="0.038967242085774706 0.0 0.0" />
@@ -147,7 +160,7 @@
type="revolute">
+ rpy="0.7716384658122452 0.004737330500130627 -0.004869469585122805" />
@@ -205,7 +218,7 @@
type="revolute">
+ rpy="0.0 -0.8570787193527406 1.9199" />
@@ -263,7 +276,7 @@
type="revolute">
+ rpy="0.0 0.045187805937976694 0.0" />
@@ -391,8 +404,8 @@
@@ -441,7 +454,7 @@
type="revolute">
+ rpy="0.0 0.04491230679489666 0.0" />
@@ -499,7 +512,7 @@
type="revolute">
+ rpy="0.0 0.010270536794896534 0.0" />
@@ -627,8 +640,8 @@
@@ -677,7 +690,7 @@
type="revolute">
+ rpy="0.0 0.04491230679489666 0.0" />
@@ -735,7 +748,7 @@
type="revolute">
+ rpy="0.0 0.010270536794896534 0.0" />
@@ -863,8 +876,8 @@
@@ -913,7 +926,7 @@
type="revolute">
+ rpy="0.0 0.04491230679489666 0.0" />
@@ -971,7 +984,7 @@
type="revolute">
+ rpy="0.0 0.010270536794896534 0.0" />
@@ -1099,8 +1112,8 @@
@@ -1149,7 +1162,7 @@
type="revolute">
+ rpy="0.0 0.04491230679489666 0.0" />
@@ -1207,7 +1220,7 @@
type="revolute">
+ rpy="0.0 0.010270536794896534 0.0" />
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v2.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v2.urdf
new file mode 100644
index 0000000..1f2d16d
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v2.urdf
@@ -0,0 +1,1303 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v3.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v3.urdf
new file mode 100644
index 0000000..53f0811
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_calibrated_20260805_165056_v3.urdf
@@ -0,0 +1,1305 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_171909.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_171909.urdf
new file mode 100644
index 0000000..dcae5ca
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_171909.urdf
@@ -0,0 +1,1328 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_184152.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_184152.urdf
new file mode 100644
index 0000000..acff31c
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_roll_table_calibrated_20260731_184152.urdf
@@ -0,0 +1,1328 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_trajectory_table_zero_20260730_162856.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_trajectory_table_zero_20260730_162856.urdf
new file mode 100644
index 0000000..fcb02aa
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_cmc_pitch_trajectory_table_zero_20260730_162856.urdf
@@ -0,0 +1,1330 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_114742.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_114742.urdf
new file mode 100644
index 0000000..93bf81c
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_114742.urdf
@@ -0,0 +1,688 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_154156.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_154156.urdf
new file mode 100644
index 0000000..a17d9bb
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_154156.urdf
@@ -0,0 +1,689 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(1).urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(1).urdf
new file mode 100644
index 0000000..7e71a10
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(1).urdf
@@ -0,0 +1,688 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(3).urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(3).urdf
new file mode 100644
index 0000000..96f310a
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(3).urdf
@@ -0,0 +1,706 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(4).urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(4).urdf
new file mode 100644
index 0000000..a526faa
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056(4).urdf
@@ -0,0 +1,712 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056.urdf
new file mode 100644
index 0000000..9b42937
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_20260805_165056.urdf
@@ -0,0 +1,688 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_20260806.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_20260806.urdf
new file mode 100644
index 0000000..48bb680
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_20260806.urdf
@@ -0,0 +1,658 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_strict_20260806.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_strict_20260806.urdf
new file mode 100644
index 0000000..cf0fb50
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_strict_20260806.urdf
@@ -0,0 +1,1298 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yaw_pitch_tune_20260806.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yaw_pitch_tune_20260806.urdf
new file mode 100644
index 0000000..1d27bf3
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yaw_pitch_tune_20260806.urdf
@@ -0,0 +1,662 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yawfix_20260806.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yawfix_20260806.urdf
new file mode 100644
index 0000000..06b4389
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/linkerhand_g20_left_zero_calibrated_from_calibration4_yawfix_20260806.urdf
@@ -0,0 +1,660 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml
new file mode 100644
index 0000000..a92b0a6
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linker_hand_l20v101_left.xml
@@ -0,0 +1,228 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf
new file mode 100644
index 0000000..f3a55cb
--- /dev/null
+++ b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/linkerhand_L20v10.1_left.urdf
@@ -0,0 +1,1429 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/hand_base_link.STL b/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/L20_V10.1/linker_hand_l20v101_left/meshes/hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..706606c4bedb09b20bb9ccaae2c229d7113aa81b
GIT binary patch
literal 3504384
zcmb@vd00=+|Nnnv3sFd$5|K)lLWQ1lCZR}?JzI!Uq$DjWWzD{mwC_bBgqC^EWZ&29
zyX+-9*?s4{uIqFC9`pYD_xj8Ay5Dcl$C-UOb0$gp|M$Psts6)Kug#z?>mzY!BtwyX
zQ;D;25A@|xHA+~QOdQ>NpnxaUi0n=#eOztO-?3Flk{S=bDL*_#ttHWE;ZqF`KXx9&Ej$MhSN{OW1eg|~KVF^m`+C|(BIiUIm(VXa|
z&X8|BU4S!Jv{gd|62Ub)N$=$j=&4%_C)%zlkq@;F##a&+3Iue)CzPa6tu^wpzTw!a
zXRsP7kQkD(lN4>YM_Y5}@fdr@6v>xt=Hn|3a|8mq#FW1r*HzZr6@xd8T;>>UnM5v{
z_Cvbgx1*y8iR5LIerSZo76fxdlD2y;moEiJ;8)k~41fwG0-X~{ZliuE_*y)Fs{HW%
z^4@%+F6GPd_`LCXw6tQ(f@gB3A~6VV@T90s&nxO}tIF=`A<>
z8ih}tV?w+8*er=G@74o7dicL>a3zb93pz&N&9$XM>x9HH<0P`+jSX7&{4#$kljkTjkPLVfed-
zg+M?TEPqLw=I6!6_tnH&(XJ?GeL9)*p(jGCtB_tr8Y#%^g?v1!&}{zyPyFtQt_@Lo
zQBPkl_G^MB{zrQX3M4iyOe3c!^hO=2QXciSW7)uhmbmD3KY@U*K_k+M%VAsOaa18@
zzaGmDJZy=rXJ{j+K!SZwCDV%fqK?)|c{Cn7iY?b}i;Gqp2n2K$+)E>)wfdqMbA^cW
z9K|&4+T!I#H7ck;qBJ3uoQ$>CzdZ3>AfRi`k~CuS)DCHGR)~$%
zgOxcO;Ok#@sGtIg3a?ahEX@J!|GJ$Mqkp)uL3QnM-!5qa0bL`8rjgGY4ygRILiG9I
z#-?c*;})G3S3m_4O&_O_?iCIwc+5&p^j|QPT~?Xmmv1Kv1auv(N+mryIiN|r&zGce
z{zI9GnJLbxe?p)FiD#Qqh^5K_oo%R$2BDU&Ea+fI9M|x%KtNZQRjI^|k5ONmDa3aJ
zSC$>n5x05lu7(OEexMW*!duj;>B^{f{Mite{<0JPdqO0jtK1=#oZo4Oz62`7#LGii
zWUo%RU|FsjDgyC6nVgu|7pcxGqw}=wgW2XnGu%xlPaw*H>+_cs((_~=H0p^$4BRxB
zy^idJ59+*BLj@APZ<0wsgFeVxb1Wy?RS#lAhM8f#@gf0T)h|=X?s>h@Lvw}5=`e`Z
z9P5O;S?W-;KPlvUp$$45=Z>Ju>2ET*qq0T6Cb)AV{OKTOdcPwsKC4Zk0tpyTlJ=**
zr0l6Tu3GIT5YXiukwi`=+oBYe5+h-jtgh<22rpRZOZOa0BwD$)Xq|&Qg03?@eC(Rp
z2VML!h7*U2Uemo^-q@4JfC?mFJW2Ys|21_?n2slCb`S{Y`m`X43|99=7DOqJAscGw
zTC?eR%@7j`6-dCcktE&p8k%@#2CmriPz?#_`cRfc9Cp|vhlxtPy3p<&b^kUUYZ*RJ
zLj@ABj!9C`sCV?zj~Te^%W{E$t^+NTNp7|S%8``zG5_>OYSelLeptCo4HZbhwjxQN
z-hZTR!e-#L)0+webd`E16S+%2G~~aYfv);WJ1?G&HGLYZp#llm<|QdT`ztj_osR!L
ziYH)X-_yiC{k#!WAOU9|lGHtR
z3d@?&0B5_77YOLu;gwGIf3ij{*OVA3Eeu&VM|b>nLxw=WwINKOB)P>p({ol)c?YdA^zGb>B&(JBtB+?oh|B6Pw2n2&>G
zi~6u#98SM4_PdaPD`Z|vT5eHaJ`sy&w_GRm)X)XT6-j#fcZoXlc`SCjxlR~AAOTm%
zl9Z{rL_Mx_Ft%^U;0O39E1eibKtA(kZEeKo6*?DvzIW|
zLKht8CFw@-2=&}Y(RldTUcz_|3AlG6Njj%SsHdAP!dBOP1p>O@?1PU6Z#K&j7Qwi)
zzqc?ifrPm46SC}pd?ef-mt@Zu2vr<)J<)hrqy7jgFc-vh)a~y{tMVgo?_4ZH0=oR(
zr;tz{d)7N8hR#`Ux@Jry4nFcw4HZbhUR#pl&Fbm0mR`6;O0WzG=xX&RmDoS%jvCe~
zF?Pv1Y)to|xZ~>86e^H_W0xeo^0Q+eUhVPnDWx(bpey!A8oB1#9l1PLV$4ez!*sP9
z;)4^;Nm7874RvKv__cIfAfU^V
zmta>OyY!C|V?}*0>RlFv-6!2eP=N$2CrN5C{3q@DXDV)Eb3!1X>)h{D^7T%4r1?{c
z@zLQY&G
z-qY!T9A@r^|BYHB^jENt((~F$PWQG&4>O1J7^~mylk2Sf@O|_36ewN
zI1+nN-xm|qi)+KM=H7Ke3`o>3Pa;j`*`iaaN{qMN2C7engkiLJlR!WhTboWYP65XzJ-2jfMy@Aid{Q24S)#nile!6V-M;Eb8)O+3}#Y3>8T1*UBK3_bgGxE`@N6
zo57sz-^h7IwOtbW4s6gUnZ5r_&V~uX!f5C}S
z!@OB@=X$yQ=T`_4&^2j)Ite|{4Fyt#DD?GXv!6YXC#S~=?E|)n{!7!z-R{;X`Q39)
z6qNL24cmkyAr
zA0Ij2n8|Q7fc^Zm&PjY9t~(mFLCLE=yDZhEeWP&0#baftKq8s%er5i&MlBmEW!_F@
zA{X5X#kITR1p>N`g(Q)U_pDL7Mha26t{Vy%9)L%cU6WILrV@`3E2Mh(8lkvkvOmuX
zJx_RzAT3FouB2CJxCLOptJh_yK*BjAiL?pjF_M%R=Fbe|jHyBR)wDeV0bSx#CE3)f
zZL>V_KL6I3d`ctlE}Ns9GiuS)f)wKEVS&2Nt3mK-`TVNgNu<+#3_hIR3PS}FWkt!P
z>2NFb=e5$J91N>bebf{@^v53|<9YjcmH(F|&}64oLKgN#}32I-$eM>-baYB@U+pW4qy(t@;TB
zbh$K2BX{O^LE*Y@IpI9n6!o3b54Ra_i=pDXB9%BUH%HA^)c(&?E&l9{rglX5X1%o#
z0}@;2rIOW$%u%BNrH9Llk3!QA55|SV~(LI@gV{7b~^Hw0BYv%53^5Jerw5f$sORT<5Vz?u)!CrMkv_tEUW-El-0
zOAHlAi0vbTWYF%q!*Tl!jRgX_U^z+Bq2AkRul??LNof-d6-dDL&))*%tf3)UGx6s2
zYM}(73)VNj*S9!^hMV|edoL=~D@eeePm;>RL+JXcq4@Ta5dr~SuoXyBzZ*U2*QOD8
zP(yd2eLw>C^OE$rb0KYEW6kC^>Bjby6ch6UZIQ=o7xW}}KUv?e9g5W&g7%EwPpqf4
zMaQ4I@DkL`-A(hSShMNSnM%`__8B`!)Sh|O3{xm|Kqbq>hJ2&~KX~Swz!(@_ec(8vF$#YWh-`W(-e~S^M`CDZFO1ia)j(Vfc
zJO&j=oYg2G4V;Y;TJFSSI4rcL^E_A6p&FqA0bSx#c{`gT!%aQqMXh33`Hl=S^+y*p
z1UsP_=QD}@md@z&ght=#Q3)QfTP!(3Z(TmmO%v)E8Mclg{z&=maCW(
zNehNi-2=x^an&M$fG(ILlH?JkMf(`Jpsy~Ag}j2qkc&BFa?6fLzNy4;o3lwBVHK-h
z@g!CtpbO@kB#rq|r*;b8C#T&E5>gJ+l$DxBcDh=i(0V21UNhqf)7vb!OABLAfrJGg
zYY+FaL@BaT=4K|}P({0sLp!`Z>hNhIQt
zHPS8`ggU-SA_LUc=*;FpXixtXa?iXw8d#{*UDdMba`Avx*kH5=g9;>`wn!#NwpgR;
zc?!{dt*Mr-U0z#VmdZ=zO7z=Ne@3a_Fzzf#J;=~QkTr4BcuxOS6e^JTY?DqrOuD1X{)0L3@u3@Q_E-z6O5z0qx@Hf|AeJkv(beM$@vPHu
zHd?DO{@pQ)LIo1-1G9)9U(r7>`mdd1H|FTs7|+kkrBH#yZ#j#6^sz*-ot0Mm<=7~e
z99J(dIGZXE(6#SF7Fq9TiQZjPh%uwavZZfoWa5}jp#q7V>KtNTXO6x%RfrxYTfvKi`#pH@EpjmYH!!eqER?5YUzGmPd4lbV1rBN-x?V*_XxE
zY>|z+?4`SB>?Xf|nxeq>PAK(J5jlFPJzCJ*8MV$WB8LteqnxG6Q$0H6%Y5E$mEC3)
zQm6!W+e4P`H${&t1|s-NlH_x1CL6e`K=xjoDa3$;;pyGvU)PSPO`-BsZoj-)W)78e
zv~vUkx?q|lsjI_y=Imc2ziIW5LIn~lR^$_%Dl=5QS&5O+atb>WbY9M(xdH)QVqR4z
z1hS*`1LRq!3u*MP{p6K~0m>gV7{%1>BLm(WqNDc*3HiqNEWgfUe(gi$6JeVv%uz_(
zHQ7s|IvboU6$i!Gs@>1I?-9J9|{C??RkEHL_6uC8=aIG%XQw+lBfyza=~_?7lk{i
zus`N=(ZA2Bub~&dKY6Fni$bEog(T97k2ot=DC38|Q4KZB^T2I=P6z~a!5)>L*cw$!
zkHvf7e?iA7R3PET_kiN&_ChNIlyn5N|3ar#VZ79%Rv@4Y_NbC{`Nmf|=>*2tO5RYY
zK*EHd*NFPu1MOR@*gx_U5bGPTgswK2bZX3?0*Oof1l={v
z-y6JD`d!Dr&DrfpJ$!hrp+GxbjOjfM;o&;{EHKaJ~9sXp*zI3E1TfI$TkaDL6_?aw8;XuKW1
zf5}!LpbNGY{@x(JG4;P}hbxV28B`zv*9rV9hvD%P9MIgZb9G{DhFlSe9*s`<{Su);GK&GB*i|Ve_pgNCyGRdJW`gp4bNtg48
z$=9|>dadjs2W+`XR!9AnEt`8|=Np-%#LW~XH-3jS$7GOi)~0A=>vssg5#YPE=Ka_p
zix={74Nc+Q1l%2tn4UvY%uUhsmC7FSs&k9gWNm@m(mn*k--YoGUghzcbU^c*-*IAv
zMQ7Ul;&%Dvst^nnNNgclB)gjl+Bs4oq_c{x}^`u(T+-|*fjf}f9q1at-W%p$QDjZowag?Kv9
zhPt#HNX=J7V5mUCa7zw}s4_q;+9|~1M%MKCxWTk>f=EDDU;S)Sm1%(HcT|XuQY>rM
zVE`HA{}*L>?k2>g9V#lSL4&Ro5H0I=NWHffy?4X`^BmYzTE@@y0Ux
z1ri#Yc&$9DkL=BqTGDD>6l>gj658YEArR2j=|n!++|2-aS1B>B{f%I!8XiZ7ug;O7
z0*Nk{^2osuL$q_75@THZNOn5s0t$ZMClJszp>;l4P+^EP2Pnj%iD7J)qk+6*#UdFh
zkf{2bOSX?~k1Q`JL``@YOTB6&FEI!g25h@NU5*k6=nC4NOA_r&kg>l)oQ?=)W!~{J-n>AD3M9l<
zn?E&}IoQO@d0Q3=1avt($RV|FIv|Z6N{l}7fvm_qQ_ghpmZ1U(*h}!WLH9s5Ff>!{
ze{`lmK$rNgDC6&97QK2Q(bEuXd%Y9iV_&I@rdEnIpP&8c=F47|R?<7Z3uRctA#t!x
z0eQbj7d^kOv=1_EI%_gEgX#^e5D4gk^_ah#(4E0%UrnQ5%*te_K*A?1pZqA`Z%;~;
zx;xQiGJ9}tDxEX;gFrwRtj9ct_7pZVXfhogT_-~Y5>qPjh?%U9T>dNb@4d#c%gaxz
z`>kz(Apu>m9`iR?-N&;B*G{SzYd6PGfkbL;E_q~Ph!UPDW!^+Rf*rW5kIMO~1rpE&
z>oGqe6h4wwsr1m-{p~PRAo00nE~&L_kA9mfJ=~E?uI#dlom>`cC=k#E>oGs~+H5HE
zukI^1>Su_d0*Ux;ImFA^1idy=VvLP)Vjg!gNYJ?1@}i4!|NGE43dp^Kpc
zi8&tGNW87ltIE+3kmp!pP!+>
zI*Tn?dz?0XA1cEd4rc?fR`Qbrjk~e|I=0M)Wyw&1gg9rIbf*Iw#thh4R}Bma=z_J9
zuhq0WGD}+n)@ObLEGS?uV%sf`$bH(OJvWv1QE#u$j@Z4S)0TA;2flFu2c4A`8h
zuc^;uD-0D#eDTjEE)Voj%l}3LcBB=1Shb1v`s*qX&;@IyBo$58VRtrfqVD%yFjOD`
zM`}rG7~7bc4cV_=H-4f(Ko_i)eAi%K6PDbfSluMi3qu7GaQ?uF7WFit=o4byyafWf
zV6Bv-&KK+H&8DAFRsB>96-dB&5bv+fJ*5@%bL7eE#|s2>!CEOvX+=-y$@4k#*;C^&
zR3HK8bNs6m?ThqAP(yrUgR?+Dmss1i&C0{%kPv6DH>^j~57Fhcbb~*J
z^C+0ReK%#3)OdYV{X}WCE&n7?xAfCAVEr@<6-dDH=imHn@}Vy)K2qNWlLP{~wtnDq
zxEwvyK1GSqzQA1(NDrNKVYBw?2n2NbdgYSthub2n8fE0H81lFA&hR?rttoeQkp--QcSiso}X2+UmMJ8&qK=oKAq}
z4mLyr+7OSJJOIr1^%v>yZ)X>Xak>qEGWQ0AfPK|?E&&FP6w^~?#5#@4~u27
z3$)dd>Ko|2T_G{FYKyL9zCb|(i-?O>8}#C1HG0L*WmvnnMhzN2;{-Yo%NlFul1AIl
zBRHzT^-i0?dx+$yi`;rB=dXqrXVI2=f$U%247uN_0y6fbHmWsz#!syNe|71C{T_0?
zkq*jkuf%9^DTi)6G?!idGDC(6B>t~feo)rYQk|Ox>(YDx>vO|PAfQV(tdJboq=TmE
zDls(cEZLYX{aA;CUNTf5@qgp)TfT1Rw?>rtGHY^`27c=<5YQ#&RkFow_B`=C-M80T
zh6*HL9`c=u%2+n~*>Ymi<&2Q;&;`qh-;uI8mOWrP>Wl#wg%X5>SRO;%k5V1lpXn^r
z6KV;p8DHgt%tPeNC2d5)-4U#z{Ck}JJ=oIe
zjhJgfV<844j$AJx2PW#EnFo~^4Houf=TJlDcvvK$3$`?V(y4Yfvu-hwj^0~Ap#q8E
zg@?)CCaqBuJr5q^bD%$)G<_7+@e&E>68n-}jiQ;>lsdF#u$j=8K%(P&9g>S`Y2>b_Xk
z<)Eqh@)CxiQa_Tn)Q+uDZSw!N+QQ|&Y}Nhi^l5Vop(a9Nd_o~{^U*;=3zZmyKln1+
zvTIaxMrVP5F4%7P-cswX?BWPVHfZ*Ep?yFiam*g#a$6fsJE+8XwZww;T0Ma6l1B;z
zbiwv7NmDv4QMr`b2?%F4!ya@4QyW
zvF28zDgwPC)J^IbX{S}MS{@UQ;NFB?@H2AH$
zeWOwh6-cafA!P5G#;EPN>6|!ug7?%_Es&uv5eVq=?M;Y#gT^S?N+F(V#j=z?K4`~?
zr)sD`Vufir(Rkks9dnz=i8zB;R$93pHMnv~AfPMSv7997a6+XJW{+doAl)r!pJgiw
z6-aosK1$~H*GBzKM{%NGVH6wvIg+d!F;XC)3${o8ZAN}H3tjREwFuFtP=N$&kNnL~
zY8>-A_J(wK#_Fl-D@p$kUsR^&79-rUlKg4$U3Diu0>Qe#cR5pdExEslkXaLjS^|k(
zUl^%P{jO@dHk_y9cVHYVZyQMFKU*mf&;@G@-;+5X$2=EyQTL0V<=CpGk}UgLr^4>*
zkksZFndkLE<@_fe1xm+Alk#_}G`xz(AenJY4j-fbU@(se3Lpw{1_c)FjkINuY
z^DYobK$q9LN)lr5Srs1?%VV5d7sqDZZms??Ymgc$kPyqm&O4Ur#8s>N_d29{;Z#X_
zhrLr(25m!0J1fb&l=rFuEw&&b4<+j*aV%^Jzx%3mhYBi?*!ZK8^ay{isyN7VT`D^k
z$8z<1tI+@#p*#c^$Z1I`ofOMZski0%1M4lI-d9L3K=TyFl|jnUFZPR4Y*JvQtA)AYtoONlgB}S2dZl
zjmP*B5yyre4^*3Hz83Ndx?nEw6Q*f=XM4{f^)zcAG$mI}er^7u8kL-lMjWN2Fy*r<
z$3G2;>G;+!j`;;gs$c646%A|0mUkB}&RW4vk|O5N_+
z^S2$L)(%^XCg_zDm7aurdY7O}N6N{?Ie%3_n+~9zoy*Bu`L8N1_YjZKGC!6@y-riF
z(_SMekVtKzCYj&rRkxeub0YcLV)n816ZOfnn*{>8V2<#U96E9Au5XNb(yb67uOKlv
zMNQH}zp0XN4v(=E$FZAzr>Wb`pCS;@1@ldk?!Jy?;RdtS%e{68DTk>&8F-YWTxf{K
zlu{mJ{)fd(=kaOvv(P*Q6-eYYIYL%nZ-jJ{PH&s#`oRz457ndTaKw{y91EkBJ
z=4jFq<-UwoCu7;^5GVEP5yb)lU8B7YklznmAiD~M@ZJ>5qQ{R^KV3r+R3HK8LA-A#
zvFsV?q~4lQE)dWK=Usfx&?k)+beYGjGN;IJW&!6VW|IoZmlQ4ZX6AkVR7O6RzjK_J_q&Xioc3q&
zzedVXfy9=EC8T(5LsY+CDf5LBXVc2ag>3Yf!2$tYyLufa4JQ3leWYca@E?1HhV}4e
z?%}cw6-d16R7#BY{Zh>>Q`(@;l60!N9mLM%^%Dr_8oBfcIa}~cwa8Do>&1IvGIdu6
zv&P5z$WVdA{XIvBY2RO}no=c3|AJ(CuJL?k{G_`K6-caiC?$vQeN!#?UBn6dA75yR
z-Bi~1o2d*HNDRuXAaA5kDvLeYoN#%2g5K{R!0h<F7^X(_qlp%SXFtfZs
zYYqpndvPb!?LSho=1iTcrt@;7vq4SFm%LRKSFS*o%^6u~`c_rmM;Xrz{{+zUYa^L`
z$u>1qAhB@0njq6!)zg`4I59Z&I4#%^$P)Hh2n2ME_&~|e$+apAS7lUl8xTz87m@6?
zkvoA3B(RH`47gCEdcJfcC-zy_Q)}bttSI?}3KG!Ob08lX9@nb8Lbq{ZXJQSt51q-}
z=2oeo0*M(WYBImBMpZU-GbegvrP3Ylq0FMWJ%R*uwK`A8JKtKB?E)pnk!DY+#q$X)
zcyt=wV5}zhj{i`_jtxRNx`bSP@lCaINeI$uNXf34FRBez%8abv?B&$|;x0HWGW`UrHSBHAPxEUT6Yu+o$Bl
z2!~HWnLIo0Us>(>UZv!-C)l5$07(S#<;X~OX
z>lXq6U5+m+$TU9AcfIb%iCxcEQ(euejJCW_p#q89#uX%yuhph5nZt=S=qU}8JXz~o
zCjQdKG%l9JrcOv@~^=W64Fx(Sw2u!MR{!!X>*go?7-XB3@VUVb@?zkcD@<9
z)@U3jVlGtCoW+jpU}$rJfG$|F{4H{lnqE9JklEa9CX_iO#-BezJij(Y{_iL77#@*_
z=#@>b>~VD?fq*Vp{*t7X?#o_Gt)l78&1AS!0LR*>UB#q5ZjLr>s^T$hl4h|{A-C!9
z)Xp+gAOXjAzC(X&7F(Eihc<}O7YOLOGwd+gq1y=M7bxT4iGQ=0MkA%I>&sAq1e~Mr
zJpk;>@~7RUtB-361a!@tT}HYb|E(%NsEkp0oY3~ZOTQn}l%WC%I6LFtv8?xHoAvI~
z-cGL(B%q7FBBZ(QXVtJ=WsK5zHj5>zAJQ?8-yo)@s6%{0)E1-8JF<h2gz4Ib}{M!
z{bYGj1r&;^O?q<6Ff~*l0axMtTt+*8
zwg*?yLB|gZ1axWMV`O~tN0qUgGOGDj`Lo!+S7-~%!)mBN03a
zRO!VkJ$2hx0c^ZU1s!c
z;vAOgUqnxp&!A9&1l-Z%W7OCHwrYMBZEqYe5YV+_eFd=?)d-EOQpVZ~`{uAS15#)c
z%@q_XkbpaSd?majfDO67g{Hns5D4gMu&az1&D2EkkCnUC<4??C>iTtbS>ARE6-dAx
zJ${~HRsfS0E~Tfcas>jqe)l>`@=LYQdxOzD#^2yDw%6^s`pAow6e^H_J9_+lNu58N
zDEZR!H3tO(y5JiDe(TV@R63+%C~LfF0fI9~{bE8wx7Dir+_nodPX689s$v?lD410)
zP8SqNxM&j6ujZ{Pve_=4j^d!pbfsqi8>+usAfT(>Kuyk!c&A#mUFk(v)uq#fx)An8
zI*p(L2{UyC>9eCw_3KpO@T7;+L*?yWH8^oG@{DhzaiMNx>
z$&ZE~Rl2!ZJVxfc?R1>~0@iR^D;W~dC9ZL%^SfTQPj1RA`ZQoL-{GtVmMs4oaA+@f
zl{H}(wHh#}KmyKi_zLog4V&Ibi+Q#9B$PRH!5YeE;by&9{_&P|
z?EL$-Y;x5jfq*X9()bMmzCGD9Us?~g*Pq~2sm4YJs&^m6wsXwOSWX4ZWjtY93;dU
zvb?JYoAr&qzw=ou5YPpCaDIL_-kL3VWy7xDT`Tm|kbo;PevhzUcb3)Ep51RXQXrrU
zjw}46)8TF`ai;_G_8TdTIFNuVGJX?6e{0sJu_G(2(Gm#gf+H#))gD{1)lMpQs#=Re
z1rl&Y#{XJ@K{uvlFSC9da)hxKy5Km^Z!!OA$!hH|`_L{&m;pcn?hWvL2FZ$z>)^zK
zMl=uz=z{YVNs@IencYVxM!x(LW-^d~D}70Nc-w-tv>nJ?*IX86OV9=9U3{#a*_Bm<
zIJ2{3uL(0UNWhgopS?Ei%CasDWXG>(39~-vf-_D&7wu%u=5KIjdP}o~nI$A(@5*<)
zPIh4p_6}qb^=}0Ny5P*2pH6t*h3(xsklncZR+u3}0``^sR{8KQ>};eHJNaH;hQ9?}
za6T_doi>@X@f$F^9;q*^4Ilw`rua=dR^}{pp3F{U_7(`}f-4zGnyF>ZY~yA2WPfjA
z#R3Vqi^tDXAM3&vl_U1@=pccBF1RA&J9opnFnv>*)qff!th^urcOxZfSc@*~_7cSI
z_;?Bgbis8Ze}CS;D;rnn$gsyqVFd{ZxU0&~@4gCWbE{X%iN_65+1di2>Ii2<28WRJZ83SO(6lesfw5qo&lNA4ImNg$vr&nkyp+i!r1
zi{Ef!>W&5M;ihakI(xO_sa?BC`vaX(QPVBxhFd;4YHoq5E^k8fJ@d(gP8R5n!zNDD
z%#UV?*Jath!%0I=_$R@uQ_Yc&(HjCGwkY(io35tFK%a(
zkJqeGU$&kTCBAdn5r=c~xmhIw0bQXQX=GSxZ!~zfvbsBVGMMG~9g=w_tJGIj^*cwrwgUT=g<@9y9+G}6P_YqvFWT>tzE
zs6Yai6Yr^$7O*uvvgKsWWEE5(QTsQKn69)y*Jf|wF_JZwI(m9_M;X^yY9Hf2x(b(QM;i7rFb2jVh=>0_GckuhuY{o%C>(4}82U5YVNa
zSwc=2Y9ZUCbROf^f@n7Ak}O+oFIPbY60nbvB-6do>_ALEdCU2R2olicy5b1YJk$ia
zjmY3JetwN&H$Gzd#jnK(DklO;$&BuQRqaOQ2*1Stc1>Umo1$qcJFlw|o(dACj-{k=
z-e1*}zPUU`;G7tCv6rRX_fM@rK-ZfVrKE+~Kh;Kk4;u5`AnkiQAH{
zsAW@EPGnx1!#9=jP=Unr&V;Bo{!^|0rNnq0YcFTp48xzc>*Fu2ibX-CVJUwviA6
z{x19_ej@%xKlxDgP~7~Az7PWvQ-_z3rC)VX;DeF;sovW=$OAhM!#5K}0=i(1@KNpM
z5<2kpV%j_=82^sSAv>>I@Y6aj=x1Ucxjw)g*?b&=V6Eh{j3a~&w!KKxzKzGQ4SvqZ
zCSfluQTSR{p*`}GnOzF$va^)FNS%sdyMqLb%}+;9$)yW^=h3|RGX(;=VC&-VAg8XT
z12mV?Io3fKDv%J~_viLopH8)f6Bv(2qvmO}*+;&>iCK9hc_7{?r2zWVPj@Bf=q
z!&!LWwwXkKa~ISt;1!Qyrn`%tRZn0i`@9ec=&}gSAV%H0qKxy(y!}VlELw}kvxN!I
zDO4blQJ+O7H{^Gwj!|NKyuOQG8|=lR4pj>TbRC?SMLO>4iYyK*F{&OPL?uIP@z1di
z%xO|K`TW`tSvIIe0XwtF<1j;1aHa-D9?mCMat+Zzs+=Sra&;AI(cKA;bG2kp86TBP
zbbcA4Gkwd|zgS>?pkhu6ZheUogLN8oud5pWWZAfDIYgu1omOwz)
z>1$b}v~hbBFiau*4E3q&hAY(KiywQsHwAswLLJUZc?VCqDo*ARy
zsS5FATb0_hSCIO)Z7hQdB(84GArp(*qm0Q4QJv+gIvAIwLhs@P0=kyo$|IWs+oOIH
z72Gm
zQ61Ee`$RLSKmz78&)x4!RY}X`hf{fAN|7uC6k^Sh0Qur4ykv0}-Rh{TE*qUd9{;dLfdS9a
z{PYB(-NPCU=eG@4Iwg^2H_XwV9HrGRx)+Lzi+9n$DI?UKl6Dd64_(mnh+0IC>>{I1
zn4{F_*Qor;PSPgd65Zu@WAhtN{zhVFgV{8%%14d;Qpkv{9nj}y@Aw@ADFkmdL7n^Z
zyBhetdhOqJK*@^~VsGdo?1HD!&!eWPp#ljD=TvfegE4X+@s1P522pr;2*!{CT^#FH1@D_qLU+gs-g1iQ#u*LzaRErRrfzBKRqNGzq7{l@wsk7
z3`jgUltChP>Y~r5-triymqg*!+QaE07e9f3F1^-SWcA**=+y!xcgGmS;EU}nXv4)3
zYN$YB%lJ$()VnRJzNxhHS*|g7d#)M1a5G#Wpv&N9COMqb26a27^wfF_!?Ex3)wJxS
zqZ-x>SYu$x^0T$2;n=)QJe_sMQ%DCS?#3q*n${6{ge$q5CP(6cEur+p?U@1rU9i6K
zbc~L{rNg^WD}L58?N$zXJ6Idt-B68=IcAYWdwtX{ry3O;%_194w?*d3N^Q4Kjl^&F
z`p^xzht*Jl#L_-##O#kL>Q}COH?d)T6t*w+;HPVP2n2Mw8l@5E2BxS>wh|*IEevaH
z-av1aPgg?)5_^9qkyY#XUt>6<#8_w)j;k-Pr4If>1OmFmRy%1>D1LV$l{Wo1Kn)d0
z^ysmRc#XA0CoU;5PCpC5%R_SMi%wnw0bQ`i;5(4IA^4D9A#K;)ROm|}(G@3tfBl1g)K4o;nnuk;bVwU6CnZ1iNE;?i^5JC!)f}!
zP=SChu_hYLj=~G$JZR7ovG;)lEGPaKz`Vlo#*o$2C`BZo3$_ADx@ZuNt1hjj)w!-h
z`+x*2Cw?mIb|{`yvy1i|BNEUh_Pf!%Z$Hs5i{{Mfs)hVou*3yAR$L$q$VI}(Y4{vmirKtA0!
zf1BWfv_?uUv3p{StVb#_zB>ow{8z>Fcu5h03MA5ZXOVII-s=86lofqeb`XBHyM!+F
z&lL#hn&O#7zBqP5=HrwYPbvcNuEyu-i@R0mmtQKWjWkDdon255{?~f%%rZv}rnn7r-;=Pm@Reb}ohkYfr{&Pqmpi6wJ@IyYhy6!ps
z*rb7cDQG8Y+o1;v3E)rCKbbt6WQG3uxC>9q?_zbIjl+K4pyqmFIv^3v|0?3;qvmJ}
zPZNI=*DV0IExJhWcNYohf@$Kn!wmDqkIvkoKC@cLfjqBjk~*VnAx`K=RT5d3-W6T&
z9{4{`<;ho$TfLsrMFEXvn7fd;zC4kPnPr9SZ#na)I&jkm9~}IG_V@paprTirKpx~+
zquP|g{}ba{l@Ct$eo6CBKNl28Xbjjv-1*(OAKoanB+bkR$A!J5E_LElK^M$*{+Iqf
zdgEO~Khs8~l29Iy_&R7iF&@|p#r$_WrR?pE%UXY9b{a_n0ooIt}f|T;8
zY3q-3$R*m(qmhuiFyDUPOedWxJE9z8Cr-4o3&0-^o}=adKM_?U9cLv*zKa6H4iikZS?~U6UPi
zN!0`+6k@B~hIn;MDE3&BL|e)`g+2rJK9J_$I}Z=VFI7qOZo71$_kqNOeY?qkI$g9k
zS-DxYdDH@Y{%s2VI{%nJK$q%t0g2VrL;CrHIPs+*1kd)#pe8GBAgD~*o=+|>)<-32
z&cZM8ZyF5e0M%m>dLdxPLtiF%%(k3UCc&rEB27Zen!ZmOgTv&eKG`pv@W2dUIde?4f4qT
zg=XkW={6L8CWDOqW`*uoZ9{{;rIRa1t&lHO&RO0A^V0^F1VY>dC9)b!a#6Iz=LnN;Dh@?gRo1kCg3rW}?J*3%j2I^Q;L{dE4
zq4W@cbkn<-EO^xtX^c`*{)MUVlZWS?*E&UA&z{9I!_><4V-*QxbVm
zYJ-yeR&Zj%i2yu*$yMrMl1Orcb`a)ohr&1PMh744AnjxOptPZ7sI^}bIr63_f4iuh
zd$qHii~D^!M|=2RBv66G;tolqazGE1o_vB6d41<&o&EfKnf*rv0=m98Nh6zUEYQ*a
zh{SVYSaod!wX`%*e=bcSk*B*NujncS=ZSD$%5MrOi@|J^84dromb|hkBb!Fms9H_l
zgl_tlk&eS^RF!Ymp_YRWk!yoA(ebnE_*0d%TZpY96KQSDKw-`RM|};eLgKir9lGCO
z3@6%agyRdB*U_p5_QG5Q&QZ3E-bXZkv_es8Y#g3-|NM~SoDPnCbiKqW@Q7(D1z
zAFACl!_mY35LvQclkf2_NA=%JiFU{b)y)IZ=y~-)GI@G4WEdRB3H=T+`0hqqy6@BR
z3aCKhNq#B$5&ucmW@Q8?EGwh&^0@x=Lxq(J642Fd^g&`C-W;vkq!8?QH2xOepK4ZL
zuYd|9UU-(0jEpa;?scJ@sG1sszr3-g?;AHNvmASfj2N$p_LEiUOkf#Fc>Y#3pDjZ$
zeUdcAHwKUR-i_vt)Fn`X#LKB=a`wa5EZkcNT#y2NKtpm60QvHL4d{%C}3k
zc`mrF%+AapPLmHLdNaOY1U{;a{Vg@1=aZbl`go
zmfVc!(=jzgw6Oz$Uc7XKcr!N-%RZf38{E5M~$woA(
z>@rwFB|8Sxs(e2xf5*LVWek38WJ+5cX`*&c+)I|2wM37l614v)ulcF=LB5T_WsdFX?_c%8Q$b>kbc9ro|EOBU-?8x<1U|;#SGMixdO6v#PUiLG-CcGwCYO{Ni}PXdUiU8j!oD@a*TD*y$4F){_|)I&Rf!f
zE*Na8h6*HZ1Q(NUz7kT05l(n-i@^`vJ5xHZxj;bIV}9fN`=38mFHM#22hYR?<15We
zXzcxF>ao)j$elqp=&I&r1XuBJl;BUL7lOyMFQm#Xs+-(w)6K
z2?TV((TC@5aWLMYcZhCw*ANIelEJ5yq&XeuW1oy-`XjuBkPb+|F;S8#!scRW#aVjx
z@ihW}3%b_T?;yuC`k+humE2u(DG)miK2A3kW)i4C0*=)Dez9{vTIo9ahy6w*4)bU@Ha&ii#p8D!FHkiQUDqu#T-D
zD2*McUeU?TC>DjNv{Jm9+JY?`V~n*w+=la{e_rX?
z?vd96(v;k^_BRY#Rv4VpcKUvc}a7diZb;kV_z8!N;^zb0%E&8hHPluABh
z2p`nqv(A^kR4hoeyR<^MW;9`Whm8AuqPZVmdHSRN;Miq_Kvly6al*Y(Bj&fmnDzC&
zI)vYu{#o}C=NVd%_;q-N2#DJ9?FZ)d8e}?
zdz9yaM7a|yg#O2s`RT@Kj(6Te`Mb*>^!hC}CSgLrP=Um?+
zoPA2MfwNQ(H0_k_OS6onwRLu&rv*LDNDPhNDjE+g$NH|nNV(Ev7#}@tkY2{dRUuHN
zxhIHyzSWpdj6t-#62>P557MVTD``Os5?iir5xwSBWvjA{5$AqDFt4zJA~k<6tPrR=
zymqsw@|PnUyVW30?hWIu6a4htJ?}(Z>0}{}RAKjzWhf&Vj=?6=wv0$VeXE21y>~ff
zbjA@*9izU|{Ho7-2fezpwL+i@M{0`svMY?=+2f~=I8)Gqxx$=0Exb#dXjqPoeP;BD
zN7BOi$I)GNe(jY&3li#_;RHn)k8$g&A3V83Ay9>1leD+?cNqU}KT!X2;*dZK5;()5
z(SULlb+ns4V%IW-Ko!orXcqoFl2<5GO|Ry;U73*~q0W|iJc;DPn^eh5
zU3+*c@1MF@Z#(pY;x)jUMh^m=4PP3{M@9wdqleuPXh8yNog#p3q?MoUL3%6yIE6r!
z>Y4DG5y}^~o~pMjv0k7B39NOB#}X6DuT-0=SN`-R9|=_bO<$>VZR}Z>bmO~rPCzLC
zb30h?R?1eO1qt*fm`vM)LV2eP!TNzWhrEzL)t5>;gmYPYX33sSX36jf
z=I7Dml|NUOZQ2yVF8A0jCZDlqrB8&g+;VB6VTrQra-i|8)?!ZxAKG-LUNEzx87)Yt
zX>_U|$`gGf^nyMK-bkRzWn`M@u%-+flWyc{yGtk!>>i2`RNIF0?L>66-|L0{g)01pqwlCL
z;e5R8r?21pLirL#0?S99qORe*-^qTu)iEpOdk|IleMNUi4+-aA7WdWrzb>7J7KH$x
z6QvOs&h4A@)KdrNz95lMdj|Wnw8Fc+hVJ~ki$b6Z
zy*qSL?@=UQexjQ0P;jl{_d!Day0gC@$i1UB=?~Y|QoOae@`IibYFBy?=Udn5JD;^=
zXh8yffOLA`I<2Lq#p-t#+bRUA(04++!oE%A?c!r~$KeajXhCA_=Ts5cq%_5@9!9Nw
z;}eQYesF^Rv3yB}1gcb@OqaAUUaZh?z1LIUe6%3pwKY@x8Bu_3J~*7xus<-F+mB4q
zi+x_^h2B&2st$aqfh^|FdtP{{-Rw$O&r+*%Oa){jap3R
z5wmvaDdrGwv>@T#ajPh3@5m-zG~V-?RVMSZ*LUd2Im^sQpz6oKO=9o{XI5~HaqmY3
z{{UWeSDHTZ;b1dbkVyU~Nemn3$ZAzGi23BRyy%{;kAF~%A%UtRO*aagTxWK5yfNS1
zUMiTk&5qF%XC61BPZxc?s%P7#-xO~9*BX5=MMp;q5`nLi#Iya?SwAPk>s&Q7fKR%f
zs+XK;YXt{>t**uD;|0za8=G^dNg+u
zpMN!5?=xix!#Y8qeuD||;?QwtHZ9pG$Igipc*Qyg^#k4w8CsA~bG7Nhc;0H!L49>v
zoI;@LXP@;VVUIIwFvXa+Z}OSQM=j6OCtS~AXhA|P$Nevp_<*|E`r(@w%~%e6=9oje
zQ7$Nm4_zOxTbjHxqXmh$Rolea*;QDdIsufc@Df41K1D>hvB07bsKT~DKIGHEe4pcd
zz0&2+X0#wNRqPV0pO$0cAN(nech!P<(B>F@+q7tfKoz!7@p$%;Ds2}D
z^y1QJFesFNwGGv~9&}U)RH>^Ohi`=Q&7V5yf3M6iqXh}oBV2fOI2S{D>ZbDl<|Bcs
zk@i_)QYRD3{xXtE?zCnEx5|8^_jJlv)|&CF5!(W-pT8c-Qv&Yj?Mt0hS_u;P)n_uT
zUj8@tnQ%v+)@8LqpbFbG?Y~+(imwUySMObDtI~FnP`?L1v>wfSzq_tK^y#M%sKORX
zdpTc>;R`!n&`<^qa{3Yuox;CuTBE;uzDglbg*_4NZkrUs%Uz$PyEn@J51kA;;|9gde6<96arN2a$?wxIgg<#S
zTd!Qai$b6Z=Zw_vRte#cZ0G3b-qct28X$pR7Ib6Q;vgPZDqhd7cgKwXg({q7(tWQ#
z1NkWLcztqyEJF(t>JA8};sN|=l{CHft_X!d70%A+cFLs_c=%+BCip&9nTsNUyUBJm1gg-VY%*Cy7%$Uk
zh+g__X=P;;3G|E84FZcJd8(|bC(LZ15U9d+T-q~nFp@8;YOnwF?xL*lB7y#WlPUPj
zM=gH3A3xUS5PMf_otRy}A-jF+KI?C@PPC!lGw-q#OacCD-#}jB!48E$RVyN965;c}AU66H;Qg-;5u3+mN+-Wu#I0<48C+>6zHV6W>(|fz1nb$mb79{yx4Z92D6QN#e53V&fI|7EV%qjB53hO
zd-AX{ub$$~(SpRg<^Kpqrzowa8K)rnES{vDKHQM6^Kn%ORQ*lqdC#UZadQl!S6GnN
z_?|2Olhc5s1&L)7<3)5v9aeCxK`ggjtU0c3#UEr=@kYGe^TVip2iO>%`)JU6@_L
z$CRrh#dd0w-Nx{Zmu4yis-hOhiMI1xnEY;>n`nAyyT*zR=XD!y)6jxM>rLxK*&s?|
zosovC*EQ{&R}cRB{3(S%71lb%X{eB^m7Ly}znpSeLkkj&BEP3?b!HD&8>eed*IKQ4
zI`-uG?S3l+s_@yEOv?&qYT*eJ_>oIxHQXnG@4R}_;(FX3t@h^$yh*DH8d{LRTBqBM
zZ>MV~W{u{3eP<{Hs?@UpZNBZ)0>~rv{rF4`El6Ok)A#wMt(wi*0le*lGYWw!JcmFY
z`i1{!D|`oW&pPKdv><`CPW{#3#oGSHt@*`U6*v;8!V^PuOWL%VT6}aH-lI?@jus^F
zy`ej02aV9CjBw;9mNJDv6`nDoo2I69)3#Nq#XSQwjus@aU!kv}CS5Ftf7Fw;@2RoR
zFsj+>yaZ7$zdT!a+~}`DuRgVS_39~Y!%K6tAfd!7Gud=5%RX=Qli5LEH6&0qI3ZEA
zE?w;@$S3lbPhif(kUE2_V(Iz^ruwooBZHRXDusCBw5vp#L~
zJ|U0VYAXxeH2`ZkM;?q-2vlLLJvxcxnyb}Wa!Nar*k2i=FrGBl2%Up;`^;=oR%tu#1}b%h
z1jd%8=vs
zlyYF+)z;1%*D^o3bxTXk7{$?ogqlXhOebw$>*w0lV}1&ODtyyue~En&efX6{`r@}i
z%Jaa}nb>;h%gb$|dD7t!J$i7c(n^rP)1Y(%rd0?#{AeVr;i$GmRAHHD-_mg_-8Q;9
z+m{)o)GiWuUX|`b8gzi2f6`pra!P%IsKRGMH=YcO)`NVj%L*Ffc!m?tjAEOn-G*}-
zTY6K3v2s-gD0PJdo>!%PWE8KvxXmR!>eCp7Ko!;-tu(Z8wzL>yEei$?R3b=XY)Ca%
zNkwU=c+Xn0h+kVJ4J5E1qa6_KW?FL2RhL_9c2EdZVU18v{o#`3r28QGc=aC*El6O`
zN4pK%$LqB$?c}&_C6(Gm6`q5oG`2gKYqblJE@5*tv>>7OiAC!c&=_7>?5j>rjsuY&Uy%sl)3vFS@1gpX^g-@Gs|Muddt$Ga?N;O
zB{l~VY8tKPezuGq94h0d^j8Q}sWHR)+$^D&jt`NSF8`&(I79-+5{fHR?XtG|L=oPz
zB$Ip2&{xB47glO#8`eK%ttc|EAsbk_9qaaDjVN`u0Sju;j{0`<{m0t)B@TRhY%Pfv
zBogPvi3x8Tu}W6Psm3Im$J)m24%|kn1ge}auNJjOH)0Xx4Wf04A6m<#=KR<@D~T2)
zdLLUOS~@jhmZBYrux
z@2?ZRzG&4
z^+DrARijcXG#kfx+Mk=_C0dZ!Uv7i=_N*?e=4}v#98y1Xv
zJHk?BaXC5oW_OvHv0V)6UxC$J)P{9U*eOPBt-z}Kw_&d-QtTD?imXlnqwQ|HoMJwC
z#!4>uJy0P~mHl_J=rP!y-ELyE#8-pL=m~wA$QFNE$eVt<#9g~`?CWPAhVg_kZIdbR
zds*%1$c{21v$B!~61z*Lij=42*~@}PFIwTv2TQ3YwWV*-)(U|tEE9cs#a7jAmbpvk
zij5?muf!bUDN4GBQ}>I}ZK~|iSI+xeq6G;&cS&<b>Z
z5?}K4mOUpa1gg~YoW;(imfG&5-mtk6)f)nV4Q*cNia`5U5g1
z{$T1BP2TupN$wFK(Sii_mE`?MUFmJDFSdN}o30S3!jsc0_H{jr0JC79?=Aqcfwk7if|<*Q_Q7Dg>(V
z6h58j92=(<8MRrX$
z-(e{mfwme*GsSv1AbM
zm3ulgR0vez{R1XbtFhL+zim@qzJirR3lccvG@1Nn7T~u;Q$DD;wL+i@Z!94H)%b5(
zY_D$oyW373ElA+m6S`I9wu$?V>&!h*?9$PK1kO?ErYYZo+--U
zf&|78r*kZB1@%$Yy2@(H?Ic=|z<5;@SuV*_w;I|(hK{eKL>fmzEyttFUb<~sXX$dc
zoI;=q&q13^D@JB&iv~{OiH>wu2G*m{XT87bIuZDcP7FOfLnBVPfyXu5(c`#v-gf28
zAfBjGi3&DHv}>Kl^UrJ6GPEFpr|al^ZK?Cxi+f}EiC^m!0#y^2uNBvvnzJgq^C(x<
zwqDc9_ZZDTPqwJyRoc;+bNB`d!A~^OGfaB
z+2a^mkieZICR6;b2inKaBl#TXb_#*2Lm%Tr)*(0MRXT~%*tq7Y_V&OCJ|WtRp$hl2
zsKm~-Pqp8tNARiVTo_uAz*Bp)V$$@9wz=6zUb9ejg+P_-^*FIV(4Ad)xSn!#!uze(
z>%lPIY;+lh79{X2Aw{oqeW9J}G=ldke8r3essfVZ#JvyhtZ?WGO5@prH(J;F!}*)r
zC(UR<0?$O!o#cKWwB1dH@iIH-DFmvrSI3FRg*{j|E91WK!4*GgDS1Qr#?ldHRNX3bp(UOj!k5>h
z?=i3-fjcf}W%Sn%tzIUb*7N+O5UBEhzDBstc4zlGMN%4D%)hlKwnO;W0!1xoK?3)L
zkiR|otM-13AK$Q}n?j(f-TF0R=SnxWJZU1O;TvVe51k*#d-NP=K?@SG@?97d^l*YC@g3}LOpS~EbWgrY2iSg?)6h4P?gbgjj*+D
z&I&CxPBjMPTJfv$FFt6lNk5(rl?rEnGs2auAhz*uz%-PDg{UUC(
zHSasfm)q~Eq@x81JaMk`ZehMWtq*rR
z?X9B)2|PbaQ82=-cxxg$ejBNy1?LI)PvmtTSCG#y+lLpeI7mqY37m0|za-C^uOHrr
z$Nf84AyB3I$ev}I^<#y)%9l6GD5Eou$QVtM?$}z^T(5h)tDHNjj6@3(cuNVbtHo-%
zr@5y*5@)LrsKWS@w14-6r~aaFFFEUsjYJC)cuNWGNu6ibOYZI?dju6$2vn(YEqAyy
z&@*QAlZ)OIlxRT$&(P4_J3rd#S4#|#*SdYvkw6v3HKntCjXm^-{RhhU@n3XQ;Z8u6
zc-y0)KIDy`JRSa2M+*|T3z1daXsW)NLn?k_)?D)X{C7ZuKMpf+>f>m%ig
zel>NpAc2vBsfU|dMqhj_Qr-xgXTiHyForbVutKXcc`ka#)Cg%>y~=_XB-9ARodbVZ
zOj9FeW}}A+fhzUpmV{pA^yi}@R>o0SoW^@oAWs{T98oBTJHBKp#RQ~l1KN~V@RM1V>ps8W8iB`DXVGn
zt8)t_x+4fH$yPgv>Zf#Gs&
zeP@M0)s5|0!lC&O^Ya|zOhd)>Z!OXPgv+F#^)<90fp;}fFIwiK#e>ply}GeNpsM@K
zEO9L5hdFGNaZk~_Ht#G&nug13Et_j-L1Jy=Oi^IKAM-msmx#glZ(2Mjgv<6@T4-oN
z0`Enla^w})FWwK8!^^f-2vq5>)5SmGg_sz1oYLTNuPvKn!eq-+tu<8P4NWRxSMj+e
zMhlad+ji2>f`q!O_~)s@dVz7FvTsy(g+P_#fF0uF`r_=_h#Qovqth*xX3=4?K%*WS
zT9Cl~0n{gkzqOQJ5h~Ah=&KN@Qg;rlvkQ|>U59FS{#wOaHcl2NHrTO1&-<+E+pS{n
zMLV`y+-Jv5C5moV)tTS(yOgW!pdi__aJ*J|kRv)jiZBpBk
z-uPdrQgc`W~qS6gDk<>PNXwBfZ<&G=ua!Wy9y
z3XMbM>Hhv&tXQMe6%w6Owu)~46`4ncdz8kQ(P6U5tRdRVSs@C6szR-k#rGIHcCLi6
zJGyvcq^v%?j<%`id~dWM(YtT5nCNTAsxCFsxLWWPi`x;(4+QtokwDeY0o%mg3_JF#
znvq7W&rjG1x|hQ$tDlY*B+gFSA!;wRW8-EUX>1Zt*wf9SywwJkK$VuYLsYzL$E=$f
zY1~?yuX{L5l<`ORTFQ6XBwF3A$1YdB#qfFH^QV>3HTnAfvJ)v5Rt`mjN)R<`II|#m
ziw$m(AY$4%vwekbG5jZ*Aves^e~p|de^1G@;D2GOyrXRrs|F|n@>>ohG^7x*+r4V-Q=?6Z7`RyK(<9DuJq^EwV*>o6>Ag#zrD`1=sK%xXF#L{JR-P
z3ldH2Gep9TQf%%CgJ^GE)mxkI#_LR12~_3Ny_`#@*t7DZ*AdZei*;UVv>Sg*-7*GgY*Av1dbLj5MBqNXe$taamsCN|?}L1O5cM8VFwunx-&;!^G~FSPBmin%~bYik`=Ps$C>dh3}2YG~A}BN3S{_a`u&`
z5+gMQLA*?i!blPFb~MhO=;R@XTy82c8Whq8%Or{GqA^?M6ic~kcqBgOVr>su_-a#$
z79`X(g03g!2K?0*<(z^4a0v;czpxRTdX)6lwkC5
zn<_hdbf=O>QOQw-5i3>Vo&6E_b<|2csFk1v35+aBu}qtvbw5mLSW_BEplVa!e6iiz
znk{W=+yiNQKF)1E5p9S-3lbOsknZ@MkdqltM8p3Os8VACes>6zgT1zDEf&7de>7>E
zxKf}t-O4?Wc?2hm+Si;|q}x2UJ1|*9Ty$b<{pM1xp4ddlM)lik1Fq(qe|Tkz{tJq;
zor_j8znDx>E8mtCUb>ns?4Ko`bT7ur_KPE;PI|CBekxk)UhSB7*a6BUi%J$V
zZ#gmBm-C7EQf|ETAALd#8j~f4WX20W=E|Jf&0tF8au59S1D0WEOA`(8;XVZ(#
zCZf{Yaq>vjlUgv{8i)j{ddYY(vbQVSxnw30f7%4dYU$}($c3-@SU;FUwXRC`@t3Z>
zGPS^ej|j9N5i1hJsn-oy|Ha0wLs|DH$;PE}wA{Hb^N>Il=8(qoR}@n!{^3-tIbZ&309`CC3B}nWQnPPX0Eqiv{xUu(pg$ViY
zQyU|xkc+{mCb0}o=?SEx|*Du-m$qJWWn9+iSnnr@!NTk?Mz$zMlugs1tJ`RL39_WrgIg;Rc+
z?~Y7hFArr3?MX5Aa*9#AO(UGW63yN+Ze=5h79{SZ=ZZOrHY~T4L0JD|IDusJsW^L5vJgfQ_TUv+X~7rl+I
zqTJ|Pnct~hg%E)jBxZKmAfkWyPanh}c;FeO6;iL;DYbs+dv9;;2ns_VbcK)XrMz
zR)x|S9oI;r1&In3lf+P0y4j_cF*;9*bj}&)?k(NcHIisSqVKT;;aIsLJGg2A5p@=p
z@Z3o4YVWE>5-mvJdt)+9^sVpNjR;$6B}kykp=5$+^`#-(QQb&mY5VIQ#`_UZtpqJd
zsPEtq-$&UQl*R_i6%wd=`5<0Aj&WtZwi$12-;@fTn^HabUhgLS(bYup?z{_YE@PC~
z%k}9F7aSi
zZB})y5uu_&@8LQ7_ImP`EmQ(khu3ZsRd&~6JBt{t-TmpEy-t*?-&FEqUU|Y@=1|UQN~0U4fds15+HDn8+9RKcVML$>iKC`;
zaieS{CY{z$8t;!^%6XIS$$dOk0#(=+sO{3cy%Npa^FMv|o;@*LSfy5Eqr`I7p+%aA
zqFbzY6GfM+F03WR|Dhd1U&hG^wNKLRiJcSz
zRca3>J^W=THsSER7VBQh=yy*H3Y7itZPALR
z%+5m#5?JeWC&!RLIriEXt&sH!g+LY72+hKW2guE3)3p%;4(6c+3H1s7*z7O)jSQ_!
zi%kLvRAIf*$hj+07QR(evl;x%{Mj*A9PIVe{2^r%!#QJ>lUZVE+ak;~J-
zXh8zs6}n|JBtm}7)3iBjlN16~4Lvi3W5wdEO{uk%#?rD8((aXy=GbVn87)ZQyGdV=
ziQ#g=$?jUEe$fhns>0ne#JC1!Sl5om%<|smFu8xxFm15yNi$lIz!@j4*Uk%**E2_I
z=NG;3MgmpX$B^HrYN$-y8=>`)v&?8g0_Ui7ljpS%xvIktYB8osSkI@J*vt8S_gP
z+&q$>C~T$UR|>Yo!(JAVqyIEdU$lvy$L)Hr*u6%Pd}0SH9W6-UTR>i%-QV;EA%5~i
z?UCl&>*y=)gDb0cW46*K8hvHT|LrSjKV0B9{o4XRnRK*^xyOjjVs=0?ma%#^LmI!^
zXcal|tA6jCpFFjuuNf^!sA)Xu@J%1P#!ogY?V=E>7O
ziIXQ=+)C+2+XHb)y$ucWjr(Xd(s@ffjuJ>NBrWIn84T5u^S?psH!uE)fw`o4wVI
zanPw^v`28hnTLOFz|n#P_LX$I@uBGK(NyxbRB|LxRVhDNv>MWYg#{Yp;Nylf
z*W`}QE)qS0=vzczCY>4Wm6|h-(wIqUpaqHN%5TCcs9RCeu)N}OdIMV(Sk(n*6E@s-BJ*jY4jz5BlhQ=ao41!w~Isz61W0k
zGC7pln)kSwChdJy0#&^R?-qw@S7-T$j6Tt+LT28qcAAWC>mt#D1bXi2Zjn-DbN4V!
zcI~PXs9IM&OPF)Zv)g}+?~gC1-+OFot;vh+T_jqNK+iq35(jI~AZjH8sFfgrD)pJ?
zWzWs6=dDSH9xf6sNT{m-Nndg(KCnjTcU1ya*xu;w=!~-YrjnZcI#X>|*kW+~i*BcU
z>+0b~X>6o4(1HZMH{@?$`Nh+!g(lzjQwdbziW&8Z1rB)ZYpKa+9bF_^kWk;jK1EMt
zU!z<-@1zo_Qa!>6VzRv9o1*=h7$8pCQ#^(iwOP+~Guh1{$>QV=C-$2>&1<`oA8xx7
zd*p1KKI=RuLh1uGt@^d@W-TgP4C+{f1ut06wpeG0f}XZ)MyuuQYyB+oihQrZJq(|W
zYgD9k>`_;nT1T2Ych3{oCw()Qy0(^Wamo`*&VDoZzqyX-Z?i<98AVyyrpBtw@?F95
z+mmQ*K@H)xdiyR>!nGQU?HJ8oCD;;QOmI|Bv}+mc4BVVXAyB>@i_T5@RT-tdqK20v=b+8i`urKD90
zkTZtw)>e)17g(d1L$!7*Kb|BX{++F@i+w53f<&ct31Z&%2CVJTX_Q88+$7m6I9I#$
z!doFwg*l|PyJZvPuWkpm`R%1Z3lc}?Cy17^0h^R&q~W<}oQxfDO8Yjcv;_%NsU;sZ
zXR`b&X`8lheRqNNjV>0bq5GgmechVko&QjheB-Hog
z?5qeG8lY*LNByM`sKWP=eBmV`WNyFq+OoNu%xFQvV_&9-eqhVWX~uf(yh;(Wa=G@}
zLf%OsP^G@-zr4d`ofrKzajT>mEl5>7O3>OB5%Gj$R+TFv!W+YHGzwvIdJE;Pb3k?tb
zFj{dRQErCjxAmYGT98nm`A8xj5;6a5q6ZSFT5F+|pUIV3=o4e6@ANKM?*BDU>-6Kc
zJ6e#yHbyrzZTrB&%SG|bAd4k+rV!>X-^_Lg36Y>nM@fS->^8{c2EdZ6)3)0)LY=nT23<3XqOb7wW)b4IqO4RiO&P;t*uSIu*)dQ(*Gx(@Pvf6
zS@A^7BVzimB$0c)Axjt+#V`%51=`V=;+gB~(Mo!~sVlL)+IG$m)AH=ux4jD(_Ixxt
zA3K@5plK^v@=INb79<+w>=q77sXM_;|LTM!Xhlm^Z$u%@xMGnop%
zso{}M#AG7Sf`s}!EUcVILW@>%zvLj?pQBMlo#fyDV{m?$z5qe<{QLUUUL9t4eNf%9Ws8p#=%ty+!w56&RPbjEG<&
zqG0b3)?1;YdBR+@7;|tlJoLXSBP-_4}q#Gee*=&K{l*n
zu;E*JJMUTc1SZ>|{XT!N+EHF}>XTZU#Q5;2?z
zv><`?Msw;5$2?|JuKuQ6VeR7HL3~bh2i>YD4;Lbi{pSfHfx87j5#Ju-WCt5|Ne{EJx0Y*8Z8eHy=xgC0}zqRoH&BXJ>@5
zAFdMJ9&oznGHv15E#g;XsyM&73M*kXhhdpwU#EzMuWGTn>y2{k9XVN!HE-AEXDktD
zK?2K1ed2)0GOEpXZMxk-g+SHPH(SN#`A+Ow&{RsJb8&z9*QG3N%3xif1qrMXxP=WC4~O;-q1UAvSfDtcFD9s$N#
zfJs+FS
z{#wqotGTG^laV1-jV;5%qUSS}2eb`d9hwHShLe3W2Kl!P%mSO;L6z
z)!0oH6Br?Vty*f=T2(cp1qtji=>A}e>FdkGl-~nAK9buC|>l@O3RK@LbTZO)!cIXYKH%7r04vUp|i&j(Y90p
zS+o5hX?9=3(1OI$Pn*OhIyY0XsgXuSCzHH+Y>+${wpJlfm3C*7$Vj1FeHcxI$$qoj
zoGNW)Mr>_~&jaf%FeYCd{Z)j0&NN#4nGH2P{42MW4VTuIMozl_-x6ZUv45l;5Tnjz
zPN6goQyQ2Pr0dZ*s6TRHew(LI8Xs%T%Dq{kt<+Z3mS{mjO{47AHMtIz+DgkZl|a?`
z{B2_9m3r)yk1<9)_AHg#-=VFny`Z*43lcc)(wA57G>`sO+sdpMl|a=J|6Stgms-rf
zyy4#scNp#AM^c9|Bb?bM}bW+pDn2KaDT?aR+aCUaQ$w
z)|ppZq6)_nm8jeGo@bMaZRNG)wIy1Rz&@W&FCTsD!KvgIspLqYs@~*mabQGQwr{pE
z8t|bba$8awM=1@oAc1{8?P2j7pWE5Kt#n$V5~xyJV$B~1-Toq?A`#esU^`a(L>s$V
zp0}xX+f(hL1qn5cVv%z_*Vk$*i_cLBRN=TndnUTx&sj=oY@syJf&`X{B8IpW$+1sq
z&BwNN;+Y+?wZicH-#MLtmfj3$M{U%p-7HYksA*6JKh-OC;^6
z%_{eu$tp$c5v3bdWy`wK2?fPNe{x1ex8Fp#5^>y47q(Hq%%v8rQT(EqHbnsYSs^=~
zh(sdrzi<@*)24YzY;?9xB~NLi<_Za1t)V{AZFbJO?X7u4E0sXixGLL3@Jna5adsrN
z#Ep}=XT;9dyaRXQXh8yNoz5GW=6c#Dx8_OhR036ve3Qjzs|M_JnQ%(OZ|6AA^GU6_
zU3({v79`Xscx|sayDpW(is}jpRH+`N=x8_fpI&rihfh!O+_ZcuJZ$TP8L2s2n)uZ=W;`2y~
zwH0W56|o)`&wjfpSDsEBRk((r5{r7c<`me`np@K|M+*|TIzUkoiyzPUe|3cfs<7po
zOvf6p^Jq@b;{&CE79?;zfo`pvyU~LY@$5eYs_-qK-3fcf$@$ezYSV6-Eys^;6!(J~
zFuSpX*nruIqIvmxY}A8+%qKiaT+4A{Tl5iBSKsGPkS*&U&=%9BYG^^CdHp1@YmgHQ
zs4;|y0P=Oyu6)4pelMviWnE-$UK@GY5c8?m0pEUYa`ztRdUs$VZ1n(*@)Ge
z`scdJNei-uH80H)y`2mczUBRM~?q
z*XE!1u%HErldram;~yMYg|QPTji}zVwtX{AtCw|CAb~2Zbt?JWDe~RQm71&nYJs_G
zY?~@Zy|8Eh7MrN#kov^0Q)I@>mD;{Z{RHL&iJXX3QO<17d|n%Kxaa~?<&l~zwSiUF
zC`>0;~8itOz=!!u#uJ5okHY@oS0
z4Dp)1B2UPkf6O)=qFF+Ej?fzvV&(hKXC8q$;^*^1%(c0(KXF
zxAdk@q^$4KKr7)gL?KWWnvySSy#H)|8e@Dr-rIS*m%>806W@n_)=9INI@pcsd@-)Odd$&bYb^Btj8xqU#e~t8p
z{BN%ACt7Qpi10ad-y8qyah?<%!oQgN4U1*?Pjr_>UJ>oMh~kIprz>gT|KdNPkba%9NlaVSm|Y#^OSN0*
zok>Qt_)B_^bkfj*gqlV*A8Xkw)K?z-T~Q%WHRZwhlzFkw6l{=gvU1-*3VLi18i=1wZQN!G3x^MmLBU3BX
zlxRUhP2=679FKM%edLD9DuJq)UR%Z1(=IGSGyJ0NB}?Xpz4DRPjx{A(kYId^*xkmN
zl^AA>A3fK{=X$>Jk=Gqm0#)<;lSTdb`fP93I3kYxla#xgh;~Gv1qrLzU1DOrTI}?T
zAR=a@J9-xQ<|7Z6t0~cf#3wp;w<*Puom^my2F338@QkFA51^7GfvU5ayF}buM<$yX
z#L&yra<>2Rk&A3=(%FV=F=|~A=1M(IU!QytJN%2eT%YA^M-Pjbx9N-dT}xvRi}(8x
zUN67;$SahqkiFUB?S(Sz!nQfg``aE-_&)iKYfWSKGSfs}gUYOZ4Wr-fR3bQM7o{Y}h8Axx
z(|^>EXhCAso>Wohl|4(XX!ro^OFZ&=NF}dAB}W2PSZ@?jXV87GxCcJ6c%zyUEl9kY
zpC%HcDzjrZr&Aiu?%(suCgMp$l|YsHJSOxwmsj_Sk4)BTO0>-CpCS4>mu1(3<}iG+
z^i`C2HSh8%A6cuD`pl7dz9d5o+g*m8wHV`hV$R*XhtGUu2Pc(4mHIpy7G0d5c-lvH
z?@&{s1&NL;vqZB58}_!6;b*8f$s^yF-l)#>Mj?SJwOw`g`;~KVaXVi9tRuHfN)Thb
zo3QxQv1}#z-YD$D|M=eSj7|{$wravoZZ_^<%u<92T_WRjxR4v>>5+)#_J~?!RK&
z@n+{7Irwf@?bXPqfbIc{p#$jCOqJT{R6PaMgjZ-yaQ?6xcJAUhwBS#AoxFSTS=$z8C+EDGjxvUbXT6kxtC>U6qnSL0%
zkcv-fmJ>0z9iRKJBS#AoxFSTiy`^{0^+@j+g(OcHDA9
zB~Uf?Y@S%&$A-mRGWz!4-M4xzr}yK@RY#5%BybgocIn;P;dNkUJO1IeN}vkgM>@f?
zXn@yjBD&mhN<9!FSESC+w&e5|ZBFhMv9;}3
z;;HHEOIn)Hn^k5PX#_A2OcQ$+Rc3Lm3~!X}=m=T5VJpqlvaxrk#yK>PD$F|6T)>X3
z&k`?UY}nk&3s_oQmWbJI!=6MKyK%=yj+Z^QAJf=BQD&T3*zDdaZg+KJ-SOz*roUR=E1n0;tD>_4+Uzk{P?uf|ukd#A!JIHy9Qj9a|$oza-x
zOfh^Jhek}0B6GjCYsVagKo#bedWOG8%T%X-wWFV^SkQt*;n+m6cZxG>(s~r7@ua=K
zyq~pKD>k!%LZAw3fud)RnkYM7)V1fki&{`+(YA`2lbx7X@o`Kg-W&{&nWc7VRtrj5
z(1Jwmohf4Hlv-@TwQmi_VIfG3tEskLw9Ul
zEmMVU>2IumSPhyYZ->WepS=bPBv6Gj4thUAf@MdKg<9z~;{{rfP+Q_(SAu1Yf97i&
zrgl~cRN)+j;(3(~k+bj4)gsJY1X_^5mQUXwTfBT^j*=xrP
z%`&ICKnoK1rjeh4ZV(t{KSO)CD`C#V}3RIT$r4_*iYM$Urr!_Dx5jdckSme
znSOJScKcEdGg^>Pdxm>;!)3?lzqIwGT6!aaDx7Q43Af@Aa_F!Q+TPWk-e^Grdm?&k
z>9&RO$2({N8ycFCK$SX&^Pw0GS=dQsm8WcL1E@}Do3K=QCu_~@dY9Wl?0xk94!
zhHNVjCmH3(d&zO0`VR(vrRy|RR{5Gi=Z7xT{o#wx%e_KS5qAH_eluV=w8FZ^FjkM`Eu|6nt
zyI9>Gs?A3L?F}xG{t9n`w$|e#R73f};Sb>jOJ{!L+`(?ya2ZWkEbv_T1O;Eab0}Xa
zJ_c%`{^UOVpXu?jb%yeZhcC(qs-o)}IHvxl$J_oM!rdlbl&z6ag7(39y3K08Z_S_}
z(Pg-eNJB#7Gy(6VH(2EackYkHQgX6MazMZEAW=QuMob%7%=+)Jf^qv}A!uwdE8AcN
zKT2YOw)1$Zc*gX~xB)?8*eDy3rYQAC`$sHShI^GZeS^eBV{Jrgp@ckCh2NV5d>a-d
zwj3lUsEYQYILG-pT-|$UkfMpTK2$&NVBp#n&BT@?`
z5|$LP+BGd;#TRMS*{5uNKqJgS1qB*NjbTeD$`v*&jJ(d#Me$Y5=Z>eL?>ghp?
zWzx8PZ_E&N2@(sCpcYEVW8Sj+4t1j;LE@>Qa)PQ(pVG47E%agY9ckR2a$%2pJQBl^
zpcYDG;E9woS#@CsmwxlpH>{QN$EYCDyswQ&EtH_`Jl;t@V37LF;2^OEeNcj`nweFx
zkI(DDn$OY*IWFp4r5Tp1#aOPWg%Y%f!`J0cW>hXmA5p{P1XT?mrC~d>8$i1||J~U8
zWQDp9=6St|HX^l9g7(ySL+l-YjoI)Z@#jD}K~+
zidrZ^M;th>t#ek>aZHeC6(%RB>d2ikmNug)q)(Gpqh^0`*W8+jtxvFxNG+70VW(WiuTr?fv%&2MDK7Lkye93c)nl=rd8MJ
z*2=5{!Tjb1YfdeckoyRowonPWVE%5ioS>@YN!iQ`Uk^#ni$EV4&Ap7^+Lf8aC^8eTXhy2y`dTIS%x*I7D`ax`0~k&
zUYZUSn7Zk5f~sQ78GF#R4&?rk>R^aTf6XBzJdvOlN|;!3_Qm?AD&&dOUQKA5sUEHk
z=0;nsIkiwi9`i;`{`GB+srwaEml9M(_rGv|kS$Pd$JA|)sY~;K?o`Y3)LSTY>bB=#)DcYLF0$#GU}XGmZJ|f`k(|=(Oq(UJG1K&
z<#_bb1AR~nCFE)4(>96MJ>V{=9qR^eEm5;06ZD~EQ4&o2qhV>&eyJwEPlVEiRV=B;
zcU8*=(r$P?rzp<8W(Z4d!nO5J=CCbYTfo_ugW!w)KDK(74Sep=5Bm1cW#TbQ;9I3r
z7V3-B_`t7Bc)aZq%QMbmM~>SfhFT*c&$oFvtJL{5TlNhp*W!9KKkfr55^K
z>QAB2otwf3?mjALZF|WGs_M}`gKb*e8Z7_w@lqAd)h1hn(aH9*cnlQrm5^|ASn+BQ
ztgD;Pj`~|bhV^g^)uRuy`Is*&gnD_#T56$0@?%^h3vC7tg(HzDy&J_ti+2egFh@lR
zs*1c>%(};#f_O?gDSON(n(H^%B3yg#Dhm~jIrWEa`{D$ie5S21)##^|S}5@~xrm+b
z+8BP>NTIS&n+mk8JDwv-W6MMH=uIXcGj6B`!^jz^6cwNT<}LMiM1-3Z1llUBS!
zr^NArH=>1E^BZa@K~?gYZ)_RQtqZ0IHK)H-Q41y729>jZ1M0)3%qi%j=|A!OS^qJ@
z4ZQ=55>zELD`Op8ji9Jd8igB9N#I#o{e+X99IL2>5^tQTZmHAm|?R9kPB)-bPLs&Zbw2~53MQbpgvIwp(2nliG{py|qts5U$L1
zg%1C{q`b`CkSk91<(`{I%LuA+xsuMBf-5YEl6>sBS;xE2tPq~w$dXeP^>G&O{V=g{
zfks`zkZ5pmo$}_o5YC@kaB88%GnU3`&vOPti*O_!^s)))l^DYHYg@_)stOCtW{Wt8%Qgdc8Z$*F}BmUA+hZ^t%ZX(XNfFdbg*w;kglU_2;6RgJghv6@%5
zaM@OBukNP4^kYagMuJ)>(YThzyi-No$d3kz5_P5Pxp{j4qieWF8n2oA@ng%UmSRjc9SEMSARG~VrWf0zFo
z^l|wwf~rm=Rj?;GF43e(qosXChE)!OLij9i^g%3?aNkwJW}a#UPZvw=m37BPRnNzS
z@N=!?1XWFYQo@`&H-a$%Qk$6H=Y07C4Anyn6-|?@dz=k#`&E^yzZ8t{#MZ>3ud3Ep
zrMdI+vR#!YVncW-rYJ;{a{w@t*?Qf~wHF%aDusA-1_pWQnsf7}kaSdQhL<4wLE)f;Fl>sBRhw$OI
zEo1~$$@9FEiCLA)gb*HYYssmF5_PL9S;xi3aQPo;|NN=4NmbqPA^f|YoS-UNLh()S
z8<)MEEP9GJu3L%pv>83OHt^6i?l<66qN@O4GB$c%Ody
zN~KHJ=u|D9;0
z=lbaROWgT+=By0EnD4=u({E89^z1PHb}3*_rKx34G3T0ORx3u%7jy&k$+M
zaI=lQasif-Ubn48YM}%@bBj0Qo&W0p3e(C7(~1&Q_3DU*%}cEhM_Nff=0C5cG((~b
zhKi=>x6gQndSXjhF?S-!Q+HX%I?859h)7TiCFbLt+;f~2be$rd1bkoDTv-p}@e<=f
z396zezVVjL6>t2nnDrFR?^}t~LJ4|)8*iq_zNxIX?kR4&XeCk$CFG}y&8B*23|jUS
z=OaNal=zG<27SW$#~+2%GN?16Gyny{ztj*0Op;n^
zljJ}C>yg<07eQ6>QZmS4EPthaAbhX6rQJR^l`YP3{%YHN|K_z5wixiNLtVMoBb`uNZx{Pm?gHb#
z^o0FAcQXH$E->p^Png_pCtDol0=hhDw(S!AUI+IBxVP%Jj99X27gOq-;Y!yYK>guu
zZ{fAL=kHEDc=S;jLBCu0DV;UHgg2geOFk@b|JFV52;&!eZxg7663}8N%S&^C!|kQ<
zZtyBSp70@*cL>}mBdF^1^>kL%&K1_WNyMlIhWv+7AD-PgNuU-=(9t=bXtXfojvvE$
znfDwSK~?fm_~tA_K7DdH@0K=C*w#Ol)vs1b1f6Bzi#lIE=^~N?`B24ISz6H)
zrFnyA?r{3kt4|utab6Z>#KoIz58
zs%YNe>FBRXJSg#r>eEb1-7lPn2eG4J`Ew(b2b=Ol(1D@8^P7_(wVzk
z`=WUF$Ge5M-xe}D^7fjS$Fe_I!i$DufsU5(Hx17x^6dQ=h4X#>(b72wo#Pz(lfjx>
zwt>9MebI;A{z-hw^3%ekT6x^gW?O|Co%RDmp91J(lU?_?)!6!qMtuT56#LolW8m0++_|
zt*-wH9d(G(CM*>qU@^pekB=
zu(bO|^QgvK1TS}IEwxZ$)%1MUzl#MN2kG|)JT98Ip0!c9)qIGIpekA_@t3S=v-yR+
ztA)*l_ZYQMVhO%obG*VFF8q*u4Ba-HPs&*>sQll^2&$5o_M7)(`IFsq1&4a47`0GB
zUZYy3#&X@hWZ|y&8W}-VbT)}6e#_(eo5m5sz%vsVwNQfAV1*(FZ`o{L(xbQ*}X(YP!(;J6pEHd6Zqk?p+cjDPpYVe5_ArSJEJ=icvyLu
zu=$h&qXbpS(`weqcy44dO4!u)YZbLng3jR-ibX7*gX1Vcvpb7Xf~sgf;XY1q5?6Y;
z3MI40sAwLX)>W~Ai@&P;{ZszRkHIsN_-i{Sp>WvyK$;(v=zAJ}OZK%!)v!X^4L>+C
ziO-(rEI8b5q@n~>(e)XH;=(&Kp}%#Kxb)j`NI#-wpYD8BeYQ-2z*C&n_x`3@_G=L&
z+~Dl{j<2emd6JL5kLw9~cmrm&^BURu4*jm=Z`l70m1;>n!Sqv-_-OT3*|+HG2VLX9
zwbzx6gf0h?#Ql03Wj^S4<)K<{)KIWUN)r35)5?5Mf~Fg;u(UH1`m{+Bt0x|p5mZG}
z1Yf}zw%4!InNV?mCv%ZnC_!@;eOzc$(d>Arm=$a;(vmm{?@}8f)`uoI@0Zu8N!k?U
zxD%n`gYM=cwNN5<2xCLyYr}>N>38%Sk8Dz|JQ*s6casxTB@flT+y(wYNE9MLEtCih
z!QdI6U<-!?5xN64#KR78x-n
zpLO=NfmS|4(MM(d)QVwPO5R~9p+r-nqCFhGE&Iz{IS7eQNKgwUzG_O?zuC>9W|H)4
zz)w?+)Ml4M#b~9RpeowK;Va+k-?bO{ZdvnV~IYCw1
z*A}wmbi57m>|pc}JnpIgOPk(&(5z;hS|~wx;<4xaXN7-wi{3m0<3S0k(yLp{>TkCI
z&rQS7$CY)0av1usif+cKg%WfJ8&5io>Z5e9?#-QJ1R0qd)e_U3EgaeimYN3R@
zTq*19s@RY5h>U5*>CPxE$8?Vs*OoF`s}nJG8)K-bg%a}8zC8H8dSTPvJS$mFP!-)P
zRw(owbCpgQDqBolYN5oWE>#QAfaC!C=nGZ^AD#~N$ceenGKT@dnhg*Tym9@eU@7Xef
zs%UO16dUmIsHBI+;`6Y6BDGLrW?TWQ9c2mA=1F;8Quza(SiBOV10rMuRnfA5=dU`R
z1Q#3J0chSsq!voZ^CM-OgYf)@m$-PThe$1y@O@IqmK2-AvFTDNv0QE`+`v2^i+N57
zs-k59_gL_qh8uQ+gzKZ42lm`k$$o4zgzBr4;q+xSb33gE^R$uB<7GL!o>><(pQLuz
z@kAVVIyqBl*l;!LJ+p)r%`kz=jw9f5LK*Y&YXGr+BjCgEGS>fU0}#eZs|EpQ}}|+D9<)R55Cy#LGIB
zZ01j#=|7U<5xFFR`y}-d`nAzkQG%*yis0yVQ55gJKV6t_zfe{OX}$AcIrsvYB|KF1
zLLcK^%;Je&+k|y@TWYC=5~uzxU_AyjfdhupDT_CEXK_3AHbLQMA|t4(V-da|^|3L8
zUXadAe5jhuuk~If6jwIYQVS(o2}P`Gs2Tiu-v^2J3u5_$>SVz@;~Ap_RneTq8=4Nr
z@>Y8Dg%Q)=%krEOnz&Nd*~|!Pw~|KT0a!|!V=1}0YL$$jDw_YehJ30TJd!7iL*0)E
zwDi$D*xVRzLNGCez(vvymfeRaVd$07;`NuOh468Vz1~p^?4l>Z%n~jBvQ!^d?Vky9
z;+cIjq4AALV)?K`0<}=0)3GYn$4MX3eIn6^LyV~~yY6JM+dw%%RW!615BmV2Wxbwa
z)x{>_C*wk9H@pcP)enQ=Jxf{g=O!@qPH#vEEMvA;%%ILoDL;a*nF??1!^Q2UCL*=G
zEGlPdjg3IHU?|Wp;V(ctT@kL8`iRRt+>d&?
zQrLVuT)Ysf5NR!sB2F%Uiufi$}&Xf~sf;
zrO~SnUOyWwW~dBhgn42m%g(L`uAvb?LyNaS?HD3_`!-m-rTQ#T3nd=asF`MYZK!mT
zT82#-wt}I}NYUo<8yP`Ww3WcqxD#3nx5C22)$fdDIk>#ElD%qf1QU-91)3uG)^BS|
zVOPCDqTUq)Sv)9_cS^&e8r6eq`O=R239s&g?X`a5mkzaL1Xa;E;W|U+aoBkxLOjy^
zwLmSDp!EjV!cQ&`T9^+MUqAgMBdCg|0-h1B{s{BBj}zBVyDd-)C1_2<6TgQ$3f=TZ
ziz>@IGJ>k)se9c!T$p%tlz2Dwu0So6psfV%pDRMjKbC~^XIITQ9e>bq2^|gMxh3IN
z`3WRiUo+!$yhG`8F}ZARUQ6gZM;ZaV+zX+;ovaga2*=hu1AB;jDWy6N4N9Bg|
ziu-1qS|}m!)jlQ-@*j_B)fv-@5>$2OMbbjF-KVX>-
zW5dKz8|4I5(Ua@ACX;GZRVN`#th=s>NG+7ul2OL^jK<*dNV+wm>Gv)ExiiAVOX*ES
z=^S$Z|DA%Sr=#g&kZ(Ma3LuHDgqTgyVubdtHWeN{oi~{N#OX7Z`s#QqLM}k@?
zp?9>LMJ_UhPwS=9t{c2Y6V)$Fe11$$P!&B-kNcdOB>~zoVdC7PCL*;^qNJCatvuQg
zoCBrOzRWf(V9N9`@t@stf~x3wdfch*kgIGkF-%;T(?q1IH(fOB>#6!MLT?JliOpT}
zlz~WeK!RE*k&7pDvqsc`S7)VGwDk%JwK~?lTJ)U&p>jU154HGXGG!dzV
z5@%9$OqHwv%{1xOq2SyyWyY*9vEz0*K~?fRU$Ehs|6HseN&A|J)Ite*QeOIP_;UXm
zELW4TTv39mXnDi@xF5|s`mYl-sWY`Etdy6Hu7Nr@Y=KSnS;@Bd99%K_P3lyg5uQ?2112
z{F%*dmn;)<4lLDD3nlCd3RzoMbFjH6tpQw`7{y0?Nfm@PY8gRQ`^^j4kYsb1eWwc&
zliNn}A20U^Ry~Wg)Iy1*H~B2!ods0f?u>-dmFe7YN1@PU)n)BX>pYg=&;pKWIssiZ
zFx`{OO3GS5W^yMaY}{t>x7qnZLxU??YM}&O*H9>CxlZHX!YYKyrEj!!Tw-x-AN$kB
z7R+)w{WHCwFmf7iIj>x}Rr{5Upeh<#
zyo2uSL_RC-w9tRm4=rt-clOxJnsmi>zO*AO!qxLem+j%<8p(&l>X*K`ScwXpnMOfV6mzG*6@iQTlZNB6P#xJEj_r5%i2O8cGEVA`<
zl%T5o_xMZJz_#%AqU58r*=X*odoJAm^;&y>ek%Jlu04$I9SrtqX-rk%3L~y`1LG~b
znA2$|NXNf%lyM@0PoDN%=*IMP)Ix~~9n)FcMb2>HkW{XI7>wa|M;{8&-RsB*sTa0IsusAz&iB$DoME!|_GsX%vY@E27*#`5E%9}1DCN43;K37R6f
zgOxXyZ|`wODC$*9M+vH;B}Sp>a1l>U&c7pcdiqC8EtHVw;D_sD`QnH>LQn&RjuKQQ
zFNuK;Gx?ov`N9Fq6fGUM({YJxmZ30yH-t9u!VbRBNe)611-1D(8CqRb$vuVN0VG
zGJ>jT8-ufn-jn(0rALL#KzZv!33)wVxP3C$J9b#mKl4G>UQrcoiEyXk=M3I;{C?q6
z&_!7*O50l6KH}Xwvm<%c;S6E0O{JDvC_!6od~bV7ByV~&L+IC_N=8r>T~)<1^lzhh
z168V^8@pahEtH_W53YF4o55AvO9j;8dm~=(jtxYo7&ck}{d{
zc3b$eGaF0$q=@N!(lm|G^XWzvwNT=CU>aLx=>cb3?nPqg*y()FNR4o+!v+~aRSS^#
z;o|{QjrSli5Pxylx=&}JCPk$>c(#a@Uv3CDHkU#Nt3vkP%M=Erl)~d5d2EJzb8vDl
zL_!rD$L&5u3z-QZvrxk7bq@R7*9yG5NyM88aooZ>M%Z5Knu>mls!a59nXttQU+&IF
zqI*s(kH0iuSn>6?idrb)b0~++$hCqdc9M_Ok{Ir2x>PWqeM3f2Ra)6T=F!R)MhwbD
zV)(geUK6-M7<{H3PzxoLZL-+VzO5i-o<#Jz63r`CZ4`1kTnVHERndIH8~&cp;(Z2g
z7d#h?lH~^_TyyuZL97kTPRcdE^=KD@wF=
zeRb4AiG$ZFm`iRg=$dY8!?ks9MJlVyLe(`{J$M%Bpqg`xUdr!EWkqM(s(itoEfYvuN
zky!2YT-WFJ7;cp>XsLzPJNhO31<%{3x>EPCJfpL}%m*cC4OS@DPI;!A+F&f7<0lUl
zRaG}iXY~!0d8&CXEOZP_q
z!JC>XK~