373 lines
7.1 KiB
JSON
373 lines
7.1 KiB
JSON
{
|
|
"schema_version": 1,
|
|
"description": "Passive joint coupling only. Active command mapping uses model limits.",
|
|
"source": "g20_right_G20.json",
|
|
"passive_maps": {
|
|
"thumb_ip": {
|
|
"master": "thumb_mcp",
|
|
"master_rad": [
|
|
0.0,
|
|
0.03260573,
|
|
0.07567238,
|
|
0.11774147,
|
|
0.15973599,
|
|
0.19821416,
|
|
0.2355052,
|
|
0.27532689,
|
|
0.31285304,
|
|
0.34734792,
|
|
0.38341285,
|
|
0.42347971,
|
|
0.46002366,
|
|
0.49767995,
|
|
0.53420682,
|
|
0.56983162,
|
|
0.60522389,
|
|
0.64765459,
|
|
0.67925356,
|
|
0.7166061,
|
|
0.75573428,
|
|
0.79328941,
|
|
0.83402712,
|
|
0.87222073,
|
|
0.90767706,
|
|
0.9459256,
|
|
0.9903102,
|
|
1.0272872,
|
|
1.0713697,
|
|
1.11388235,
|
|
1.15695779,
|
|
1.19944027,
|
|
1.23568875
|
|
],
|
|
"passive_rad": [
|
|
0.0,
|
|
0.032043,
|
|
0.07220297,
|
|
0.11268819,
|
|
0.15974569,
|
|
0.20669109,
|
|
0.24941673,
|
|
0.29565276,
|
|
0.34010378,
|
|
0.38452694,
|
|
0.43926455,
|
|
0.49926105,
|
|
0.54179503,
|
|
0.58834658,
|
|
0.63093301,
|
|
0.67456791,
|
|
0.71864856,
|
|
0.77150217,
|
|
0.80844074,
|
|
0.85390224,
|
|
0.90056255,
|
|
0.94410258,
|
|
0.99333907,
|
|
1.04206074,
|
|
1.08670499,
|
|
1.13148283,
|
|
1.18591411,
|
|
1.22966628,
|
|
1.28630066,
|
|
1.33879187,
|
|
1.39629929,
|
|
1.45739204,
|
|
1.51372841
|
|
]
|
|
},
|
|
"index_dip": {
|
|
"master": "index_pip",
|
|
"master_rad": [
|
|
0.0,
|
|
0.01379388,
|
|
0.08088496,
|
|
0.1554727,
|
|
0.22610052,
|
|
0.29302301,
|
|
0.36197049,
|
|
0.43167048,
|
|
0.49664568,
|
|
0.55893437,
|
|
0.62426697,
|
|
0.68577267,
|
|
0.74525562,
|
|
0.80462495,
|
|
0.86084476,
|
|
0.91801524,
|
|
0.97022239,
|
|
1.01820979,
|
|
1.07252839,
|
|
1.11986178,
|
|
1.1723398,
|
|
1.2213883,
|
|
1.27257954,
|
|
1.32219497,
|
|
1.36814189,
|
|
1.41884447,
|
|
1.46932507,
|
|
1.51967186,
|
|
1.57230473,
|
|
1.62442332,
|
|
1.68057209,
|
|
1.73962409,
|
|
1.78825963
|
|
],
|
|
"passive_rad": [
|
|
0.0,
|
|
0.00180197,
|
|
0.04574173,
|
|
0.09013691,
|
|
0.13441447,
|
|
0.18083802,
|
|
0.22749367,
|
|
0.27693625,
|
|
0.32278328,
|
|
0.36896853,
|
|
0.41605117,
|
|
0.46361899,
|
|
0.50995811,
|
|
0.55616338,
|
|
0.60154037,
|
|
0.64952731,
|
|
0.68972655,
|
|
0.73385594,
|
|
0.77906372,
|
|
0.82043201,
|
|
0.86688732,
|
|
0.91162912,
|
|
0.95792293,
|
|
1.00406178,
|
|
1.04663648,
|
|
1.09504182,
|
|
1.14213764,
|
|
1.19121974,
|
|
1.24206227,
|
|
1.28990443,
|
|
1.34355227,
|
|
1.3957981,
|
|
1.4318366
|
|
]
|
|
},
|
|
"middle_dip": {
|
|
"master": "middle_pip",
|
|
"master_rad": [
|
|
0.0,
|
|
0.01379388,
|
|
0.08088496,
|
|
0.1554727,
|
|
0.22610052,
|
|
0.29302301,
|
|
0.36197049,
|
|
0.43167048,
|
|
0.49664568,
|
|
0.55893437,
|
|
0.62426697,
|
|
0.68577267,
|
|
0.74525562,
|
|
0.80462495,
|
|
0.86084476,
|
|
0.91801524,
|
|
0.97022239,
|
|
1.01820979,
|
|
1.07252839,
|
|
1.11986178,
|
|
1.1723398,
|
|
1.2213883,
|
|
1.27257954,
|
|
1.32219497,
|
|
1.36814189,
|
|
1.41884447,
|
|
1.46932507,
|
|
1.51967186,
|
|
1.57230473,
|
|
1.62442332,
|
|
1.68057209,
|
|
1.73962409,
|
|
1.78825963
|
|
],
|
|
"passive_rad": [
|
|
0.0,
|
|
0.00180197,
|
|
0.04574173,
|
|
0.09013691,
|
|
0.13441447,
|
|
0.18083802,
|
|
0.22749367,
|
|
0.27693625,
|
|
0.32278328,
|
|
0.36896853,
|
|
0.41605117,
|
|
0.46361899,
|
|
0.50995811,
|
|
0.55616338,
|
|
0.60154037,
|
|
0.64952731,
|
|
0.68972655,
|
|
0.73385594,
|
|
0.77906372,
|
|
0.82043201,
|
|
0.86688732,
|
|
0.91162912,
|
|
0.95792293,
|
|
1.00406178,
|
|
1.04663648,
|
|
1.09504182,
|
|
1.14213764,
|
|
1.19121974,
|
|
1.24206227,
|
|
1.28990443,
|
|
1.34355227,
|
|
1.3957981,
|
|
1.4318366
|
|
]
|
|
},
|
|
"ring_dip": {
|
|
"master": "ring_pip",
|
|
"master_rad": [
|
|
0.0,
|
|
0.01379388,
|
|
0.08088496,
|
|
0.1554727,
|
|
0.22610052,
|
|
0.29302301,
|
|
0.36197049,
|
|
0.43167048,
|
|
0.49664568,
|
|
0.55893437,
|
|
0.62426697,
|
|
0.68577267,
|
|
0.74525562,
|
|
0.80462495,
|
|
0.86084476,
|
|
0.91801524,
|
|
0.97022239,
|
|
1.01820979,
|
|
1.07252839,
|
|
1.11986178,
|
|
1.1723398,
|
|
1.2213883,
|
|
1.27257954,
|
|
1.32219497,
|
|
1.36814189,
|
|
1.41884447,
|
|
1.46932507,
|
|
1.51967186,
|
|
1.57230473,
|
|
1.62442332,
|
|
1.68057209,
|
|
1.73962409,
|
|
1.78825963
|
|
],
|
|
"passive_rad": [
|
|
0.0,
|
|
0.00180197,
|
|
0.04574173,
|
|
0.09013691,
|
|
0.13441447,
|
|
0.18083802,
|
|
0.22749367,
|
|
0.27693625,
|
|
0.32278328,
|
|
0.36896853,
|
|
0.41605117,
|
|
0.46361899,
|
|
0.50995811,
|
|
0.55616338,
|
|
0.60154037,
|
|
0.64952731,
|
|
0.68972655,
|
|
0.73385594,
|
|
0.77906372,
|
|
0.82043201,
|
|
0.86688732,
|
|
0.91162912,
|
|
0.95792293,
|
|
1.00406178,
|
|
1.04663648,
|
|
1.09504182,
|
|
1.14213764,
|
|
1.19121974,
|
|
1.24206227,
|
|
1.28990443,
|
|
1.34355227,
|
|
1.3957981,
|
|
1.4318366
|
|
]
|
|
},
|
|
"pinky_dip": {
|
|
"master": "pinky_pip",
|
|
"master_rad": [
|
|
0.0,
|
|
0.01379388,
|
|
0.08088496,
|
|
0.1554727,
|
|
0.22610052,
|
|
0.29302301,
|
|
0.36197049,
|
|
0.43167048,
|
|
0.49664568,
|
|
0.55893437,
|
|
0.62426697,
|
|
0.68577267,
|
|
0.74525562,
|
|
0.80462495,
|
|
0.86084476,
|
|
0.91801524,
|
|
0.97022239,
|
|
1.01820979,
|
|
1.07252839,
|
|
1.11986178,
|
|
1.1723398,
|
|
1.2213883,
|
|
1.27257954,
|
|
1.32219497,
|
|
1.36814189,
|
|
1.41884447,
|
|
1.46932507,
|
|
1.51967186,
|
|
1.57230473,
|
|
1.62442332,
|
|
1.68057209,
|
|
1.73962409,
|
|
1.78825963
|
|
],
|
|
"passive_rad": [
|
|
0.0,
|
|
0.00180197,
|
|
0.04574173,
|
|
0.09013691,
|
|
0.13441447,
|
|
0.18083802,
|
|
0.22749367,
|
|
0.27693625,
|
|
0.32278328,
|
|
0.36896853,
|
|
0.41605117,
|
|
0.46361899,
|
|
0.50995811,
|
|
0.55616338,
|
|
0.60154037,
|
|
0.64952731,
|
|
0.68972655,
|
|
0.73385594,
|
|
0.77906372,
|
|
0.82043201,
|
|
0.86688732,
|
|
0.91162912,
|
|
0.95792293,
|
|
1.00406178,
|
|
1.04663648,
|
|
1.09504182,
|
|
1.14213764,
|
|
1.19121974,
|
|
1.24206227,
|
|
1.28990443,
|
|
1.34355227,
|
|
1.3957981,
|
|
1.4318366
|
|
]
|
|
}
|
|
}
|
|
}
|