{
  "asset_version": "V10",
  "command_topic": "/cb_left_hand_control_cmd",
  "command_units": "SDK 0..255; send sdk_command, not left_ros_radians",
  "sdk_joint_order": [
    "thumb_cmc_roll",
    "thumb_cmc_yaw",
    "index_mcp_roll",
    "middle_mcp_roll",
    "ring_mcp_roll",
    "pinky_mcp_roll",
    "thumb_mcp",
    "index_mcp_pitch",
    "middle_mcp_pitch",
    "ring_mcp_pitch",
    "pinky_mcp_pitch",
    "index_pip",
    "middle_pip",
    "ring_pip",
    "pinky_pip",
    "thumb_ip",
    "index_dip",
    "middle_dip",
    "ring_dip",
    "pinky_dip"
  ],
  "left_ros_order": [
    "thumb_cmc_roll",
    "thumb_cmc_yaw",
    "thumb_mcp",
    "thumb_ip",
    "index_mcp_roll",
    "index_mcp_pitch",
    "index_pip",
    "index_dip",
    "middle_mcp_roll",
    "middle_mcp_pitch",
    "middle_pip",
    "middle_dip",
    "ring_mcp_roll",
    "ring_mcp_pitch",
    "ring_pip",
    "ring_dip",
    "pinky_mcp_roll",
    "pinky_mcp_pitch",
    "pinky_pip",
    "pinky_dip"
  ],
  "pinches": {
    "index": {
      "sdk_command": [
        55,
        181,
        225,
        176,
        212,
        162,
        135,
        164,
        0,
        0,
        0,
        139,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0
      ],
      "left_ros_radians": [
        0.18813577840372547,
        1.4396582597857257,
        1.0277351056058823,
        0.0,
        -0.09370641027822224,
        1.11587286439394,
        0.8020369133142686,
        0.0,
        -0.056923250644910384,
        0.0,
        0.0,
        0.0,
        0.20105220210793762,
        0.0,
        0.0,
        0.0,
        0.17710860883550222,
        0.0,
        0.0,
        0.0
      ]
    },
    "middle": {
      "sdk_command": [
        137,
        166,
        225,
        176,
        212,
        162,
        174,
        0,
        78,
        0,
        0,
        139,
        216,
        0,
        0,
        0,
        0,
        79,
        0,
        0
      ],
      "left_ros_radians": [
        0.468629120751098,
        1.3203495642233727,
        1.3246363583364706,
        0.0,
        -0.09370641027822224,
        0.0,
        0.8020369133142686,
        0.0,
        -0.056923250644910384,
        0.4851377064829213,
        1.3475198126296868,
        0.49499464386611763,
        0.20105220210793762,
        0.0,
        0.0,
        0.0,
        0.17710860883550222,
        0.0,
        0.0,
        0.0
      ]
    },
    "ring": {
      "sdk_command": [
        255,
        172,
        169,
        169,
        162,
        170,
        143,
        0,
        0,
        140,
        0,
        0,
        0,
        172,
        0,
        0,
        0,
        0,
        61,
        0
      ],
      "left_ros_radians": [
        0.87226588169,
        1.3680730424483138,
        1.0886379266788235,
        0.0,
        -0.16919281483119805,
        0.0,
        0.0,
        0.0,
        -0.07162232590335149,
        0.0,
        0.0,
        0.0,
        0.09967196576172593,
        0.8531488605184314,
        1.07031189749349,
        0.3765771849929412,
        0.18856088581503322,
        0.0,
        0.0,
        0.0
      ]
    },
    "pinky": {
      "sdk_command": [
        101,
        255,
        169,
        169,
        162,
        170,
        98,
        0,
        0,
        0,
        166,
        0,
        0,
        0,
        150,
        52,
        0,
        0,
        0,
        107
      ],
      "left_ros_radians": [
        0.3454857021595686,
        2.02824782456,
        0.7460595581435294,
        0.32699495581089144,
        -0.16919281483119805,
        0.0,
        0.0,
        0.0,
        -0.07162232590335149,
        0.0,
        0.0,
        0.0,
        0.09967196576172593,
        0.0,
        0.0,
        0.0,
        0.18856088581503322,
        1.136714936245495,
        0.9274665849352941,
        0.6655254905272548
      ]
    }
  },
  "zero": {
    "sdk_command": [
      0,
      0,
      255,
      197,
      110,
      28,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    "left_ros_radians": [
      0.0,
      0.0,
      0.0,
      0.0,
      -0.053267264981985196,
      0.0,
      0.0,
      0.0,
      -0.012826024869587227,
      0.0,
      0.0,
      0.0,
      -0.00576348003833424,
      0.0,
      0.0,
      0.0,
      -0.014717030571641594,
      0.0,
      0.0,
      0.0
    ]
  }
}