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e617818
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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{
    "h1": [
        {
            "init_state": {
                "h1": {
                    "dof_pos": {
                        "left_hip_yaw": 0.0,
                        "left_hip_roll": 0.0,
                        "left_hip_pitch": -0.4,
                        "left_knee": 0.8,
                        "left_ankle": -0.4,
                        "right_hip_yaw": 0.0,
                        "right_hip_roll": 0.0,
                        "right_hip_pitch": -0.4,
                        "right_knee": 0.8,
                        "right_ankle": -0.4,
                        "torso": 0.0,
                        "left_shoulder_pitch": 0.0,
                        "left_shoulder_roll": 0.0,
                        "left_shoulder_yaw": 0.0,
                        "left_elbow": 0.0,
                        "right_shoulder_pitch": 0.0,
                        "right_shoulder_roll": 0.0,
                        "right_shoulder_yaw": 0.0,
                        "right_elbow": 0.0
                    },
                    "pos": [
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                        0.98
                    ],
                    "rot": [
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                        0.0,
                        0.0
                    ]
                }
            }
        }
    ],
    "h1_simple_hand": [
        {
            "init_state": {
                "h1_simple_hand": {
                    "dof_pos": {
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                        "left_hip_roll": 0.0,
                        "left_hip_pitch": -0.4,
                        "left_knee": 0.8,
                        "left_ankle": -0.4,
                        "right_hip_yaw": 0.0,
                        "right_hip_roll": 0.0,
                        "right_hip_pitch": -0.4,
                        "right_knee": 0.8,
                        "right_ankle": -0.4,
                        "torso": 0.0,
                        "left_shoulder_pitch": 0.0,
                        "left_shoulder_roll": 0.0,
                        "left_shoulder_yaw": 0.0,
                        "left_elbow": 0.0,
                        "left_hand": 0.0,
                        "right_shoulder_pitch": 0.0,
                        "right_shoulder_roll": 0.0,
                        "right_shoulder_yaw": 0.0,
                        "right_elbow": 0.0,
                        "right_hand": 0.0,
                        "L_index_proximal": 0.0,
                        "L_index_intermediate": 0.0,
                        "L_middle_proximal": 0.0,
                        "L_middle_intermediate": 0.0,
                        "L_ring_proximal": 0.0,
                        "L_ring_intermediate": 0.0,
                        "L_pinky_proximal": 0.0,
                        "L_pinky_intermediate": 0.0,
                        "L_thumb_proximal_yaw": 0.0,
                        "L_thumb_proximal_pitch": 0.0,
                        "L_thumb_intermediate": 0.0,
                        "L_thumb_distal": 0.0,
                        "R_index_proximal": 0.0,
                        "R_index_intermediate": 0.0,
                        "R_middle_proximal": 0.0,
                        "R_middle_intermediate": 0.0,
                        "R_ring_proximal": 0.0,
                        "R_ring_intermediate": 0.0,
                        "R_pinky_proximal": 0.0,
                        "R_pinky_intermediate": 0.0,
                        "R_thumb_proximal_yaw": 0.0,
                        "R_thumb_proximal_pitch": 0.0,
                        "R_thumb_intermediate": 0.0,
                        "R_thumb_distal": 0.0
                    },
                    "pos": [
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                        0.0,
                        0.98
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                    "rot": [
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                        0.0,
                        0.0
                    ]
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            }
        }
    ],
    "h1_hand": [
        {
            "init_state": {
                "h1_hand": {
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                        "left_hip_roll": 0.0,
                        "left_hip_pitch": -0.4,
                        "left_knee": 0.8,
                        "left_ankle": -0.4,
                        "right_hip_yaw": 0.0,
                        "right_hip_roll": 0.0,
                        "right_hip_pitch": -0.4,
                        "right_knee": 0.8,
                        "right_ankle": -0.4,
                        "torso": 0.0,
                        "left_shoulder_pitch": 0.0,
                        "left_shoulder_roll": 0.0,
                        "left_shoulder_yaw": 0.0,
                        "left_elbow": 0.0,
                        "left_wrist_yaw": 0.0,
                        "right_shoulder_pitch": 0.0,
                        "right_shoulder_roll": 0.0,
                        "right_shoulder_yaw": 0.0,
                        "right_elbow": 0.0,
                        "right_wrist_yaw": 0.0,
                        "lh_WRJ2": 0.0,
                        "lh_WRJ1": 0.0,
                        "lh_THJ5": 0.0,
                        "lh_THJ4": 0.0,
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                        "lh_MFJ3": 0.0,
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                        "lh_MFJ1": 0.0,
                        "lh_RFJ4": 0.0,
                        "lh_RFJ3": 0.0,
                        "lh_RFJ2": 0.0,
                        "lh_RFJ1": 0.0,
                        "lh_LFJ5": 0.0,
                        "lh_LFJ4": 0.0,
                        "lh_LFJ3": 0.0,
                        "lh_LFJ2": 0.0,
                        "lh_LFJ1": 0.0,
                        "rh_WRJ2": 0.0,
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                        "rh_THJ5": 0.0,
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                        "rh_THJ3": 0.0,
                        "rh_THJ2": 0.0,
                        "rh_THJ1": 0.0,
                        "rh_FFJ4": 0.0,
                        "rh_FFJ3": 0.0,
                        "rh_FFJ2": 0.0,
                        "rh_FFJ1": 0.0,
                        "rh_MFJ4": 0.0,
                        "rh_MFJ3": 0.0,
                        "rh_MFJ2": 0.0,
                        "rh_MFJ1": 0.0,
                        "rh_RFJ4": 0.0,
                        "rh_RFJ3": 0.0,
                        "rh_RFJ2": 0.0,
                        "rh_RFJ1": 0.0,
                        "rh_LFJ5": 0.0,
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                    },
                    "pos": [
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                    ],
                    "rot": [
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                        0.0
                    ]
                }
            }
        }
    ]
}