mujoco_linkerbot/src/linkerhand-sim/linker_hand_mujoco_ros2/linker_hand_mujoco_ros2/urdf/G20/linker_hand_g20_left/g20_left_passive.json

{
  "schema_version": 1,
  "description": "Passive joint coupling only. Active command mapping uses model limits.",
  "source": "g20_left_G20_LEFT_001_calibration.json",
  "passive_maps": {
    "thumb_ip": {
      "master": "thumb_mcp",
      "master_rad": [
        0.0,
        0.01553005,
        0.06407122,
        0.10155334,
        0.14470473,
        0.18507494,
        0.22132926,
        0.26026025,
        0.30312239,
        0.34100512,
        0.37826581,
        0.41415092,
        0.45612389,
        0.49270108,
        0.52946638,
        0.5671522,
        0.59994884,
        0.63749533,
        0.67671929,
        0.71168604,
        0.75098384,
        0.7866485,
        0.8297802,
        0.86649461,
        0.90330813,
        0.94061543,
        0.98234167,
        1.01512451,
        1.05534677,
        1.09418132,
        1.13387298,
        1.17413846,
        1.21120246
      ],
      "passive_rad": [
        0.0,
        0.01080837,
        0.05831665,
        0.09625089,
        0.13876407,
        0.17575851,
        0.21480746,
        0.25401229,
        0.29759775,
        0.3344964,
        0.36926174,
        0.40464934,
        0.44747128,
        0.48266873,
        0.51986263,
        0.55639621,
        0.59175552,
        0.62895297,
        0.66702236,
        0.7020323,
        0.74138609,
        0.77996834,
        0.82358179,
        0.86647756,
        0.90311664,
        0.94416727,
        0.98723769,
        1.02706272,
        1.07560855,
        1.12636533,
        1.17913277,
        1.23597307,
        1.29594428
      ]
    },
    "index_dip": {
      "master": "index_pip",
      "master_rad": [
        0.0,
        0.05461004,
        0.12784785,
        0.194964,
        0.26581376,
        0.33079487,
        0.39433151,
        0.45550605,
        0.52214817,
        0.5791369,
        0.63661841,
        0.6946952,
        0.74957428,
        0.81301863,
        0.86609307,
        0.92018051,
        0.97000639,
        1.01942537,
        1.06700352,
        1.11705063,
        1.1651728,
        1.21138314,
        1.25921478,
        1.30252663,
        1.35472083,
        1.39973256,
        1.45014201,
        1.49387119,
        1.54453032,
        1.59584937,
        1.64170929,
        1.70084435,
        1.74215779
      ],
      "passive_rad": [
        0.0,
        0.03258489,
        0.080303,
        0.12698935,
        0.17531461,
        0.22111222,
        0.2668989,
        0.31092866,
        0.36027162,
        0.40322634,
        0.44680138,
        0.49187475,
        0.53555449,
        0.58575409,
        0.62981658,
        0.67477615,
        0.71682643,
        0.75917433,
        0.79973289,
        0.84312053,
        0.8864267,
        0.92857722,
        0.97239402,
        1.01333785,
        1.06220683,
        1.10496615,
        1.15316527,
        1.19570366,
        1.24572057,
        1.29625974,
        1.34044942,
        1.39829928,
        1.43579086
      ]
    },
    "middle_dip": {
      "master": "middle_pip",
      "master_rad": [
        0.0,
        0.05461004,
        0.12784785,
        0.194964,
        0.26581376,
        0.33079487,
        0.39433151,
        0.45550605,
        0.52214817,
        0.5791369,
        0.63661841,
        0.6946952,
        0.74957428,
        0.81301863,
        0.86609307,
        0.92018051,
        0.97000639,
        1.01942537,
        1.06700352,
        1.11705063,
        1.1651728,
        1.21138314,
        1.25921478,
        1.30252663,
        1.35472083,
        1.39973256,
        1.45014201,
        1.49387119,
        1.54453032,
        1.59584937,
        1.64170929,
        1.70084435,
        1.74215779
      ],
      "passive_rad": [
        0.0,
        0.03258489,
        0.080303,
        0.12698935,
        0.17531461,
        0.22111222,
        0.2668989,
        0.31092866,
        0.36027162,
        0.40322634,
        0.44680138,
        0.49187475,
        0.53555449,
        0.58575409,
        0.62981658,
        0.67477615,
        0.71682643,
        0.75917433,
        0.79973289,
        0.84312053,
        0.8864267,
        0.92857722,
        0.97239402,
        1.01333785,
        1.06220683,
        1.10496615,
        1.15316527,
        1.19570366,
        1.24572057,
        1.29625974,
        1.34044942,
        1.39829928,
        1.43579086
      ]
    },
    "ring_dip": {
      "master": "ring_pip",
      "master_rad": [
        0.0,
        0.05461004,
        0.12784785,
        0.194964,
        0.26581376,
        0.33079487,
        0.39433151,
        0.45550605,
        0.52214817,
        0.5791369,
        0.63661841,
        0.6946952,
        0.74957428,
        0.81301863,
        0.86609307,
        0.92018051,
        0.97000639,
        1.01942537,
        1.06700352,
        1.11705063,
        1.1651728,
        1.21138314,
        1.25921478,
        1.30252663,
        1.35472083,
        1.39973256,
        1.45014201,
        1.49387119,
        1.54453032,
        1.59584937,
        1.64170929,
        1.70084435,
        1.74215779
      ],
      "passive_rad": [
        0.0,
        0.03258489,
        0.080303,
        0.12698935,
        0.17531461,
        0.22111222,
        0.2668989,
        0.31092866,
        0.36027162,
        0.40322634,
        0.44680138,
        0.49187475,
        0.53555449,
        0.58575409,
        0.62981658,
        0.67477615,
        0.71682643,
        0.75917433,
        0.79973289,
        0.84312053,
        0.8864267,
        0.92857722,
        0.97239402,
        1.01333785,
        1.06220683,
        1.10496615,
        1.15316527,
        1.19570366,
        1.24572057,
        1.29625974,
        1.34044942,
        1.39829928,
        1.43579086
      ]
    },
    "pinky_dip": {
      "master": "pinky_pip",
      "master_rad": [
        0.0,
        0.05461004,
        0.12784785,
        0.194964,
        0.26581376,
        0.33079487,
        0.39433151,
        0.45550605,
        0.52214817,
        0.5791369,
        0.63661841,
        0.6946952,
        0.74957428,
        0.81301863,
        0.86609307,
        0.92018051,
        0.97000639,
        1.01942537,
        1.06700352,
        1.11705063,
        1.1651728,
        1.21138314,
        1.25921478,
        1.30252663,
        1.35472083,
        1.39973256,
        1.45014201,
        1.49387119,
        1.54453032,
        1.59584937,
        1.64170929,
        1.70084435,
        1.74215779
      ],
      "passive_rad": [
        0.0,
        0.03258489,
        0.080303,
        0.12698935,
        0.17531461,
        0.22111222,
        0.2668989,
        0.31092866,
        0.36027162,
        0.40322634,
        0.44680138,
        0.49187475,
        0.53555449,
        0.58575409,
        0.62981658,
        0.67477615,
        0.71682643,
        0.75917433,
        0.79973289,
        0.84312053,
        0.8864267,
        0.92857722,
        0.97239402,
        1.01333785,
        1.06220683,
        1.10496615,
        1.15316527,
        1.19570366,
        1.24572057,
        1.29625974,
        1.34044942,
        1.39829928,
        1.43579086
      ]
    }
  }
}