| { | |
| "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": [ | |
| 0.0, | |
| 0.0, | |
| 0.98 | |
| ], | |
| "rot": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| } | |
| ], | |
| "h1_simple_hand": [ | |
| { | |
| "init_state": { | |
| "h1_simple_hand": { | |
| "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, | |
| "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": [ | |
| 0.0, | |
| 0.0, | |
| 0.98 | |
| ], | |
| "rot": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| } | |
| ], | |
| "h1_hand": [ | |
| { | |
| "init_state": { | |
| "h1_hand": { | |
| "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, | |
| "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, | |
| "lh_THJ3": 0.0, | |
| "lh_THJ2": 0.0, | |
| "lh_THJ1": 0.0, | |
| "lh_FFJ4": 0.0, | |
| "lh_FFJ3": 0.0, | |
| "lh_FFJ2": 0.0, | |
| "lh_FFJ1": 0.0, | |
| "lh_MFJ4": 0.0, | |
| "lh_MFJ3": 0.0, | |
| "lh_MFJ2": 0.0, | |
| "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, | |
| "rh_WRJ1": 0.0, | |
| "rh_THJ5": 0.0, | |
| "rh_THJ4": 0.0, | |
| "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, | |
| "rh_LFJ4": 0.0, | |
| "rh_LFJ3": 0.0, | |
| "rh_LFJ2": 0.0, | |
| "rh_LFJ1": 0.0 | |
| }, | |
| "pos": [ | |
| 0.0, | |
| 0.0, | |
| 0.98 | |
| ], | |
| "rot": [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| } | |
| } | |
| } | |
| ] | |
| } | |