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