File size: 5,040 Bytes
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"note": "clamp to the training ACTION envelope, then intersect with robot joint limits",
"joints": {
"left_shoulder_pitch_joint": {
"lo": -0.86171,
"hi": 0.52705,
"train_min": -0.81809,
"train_max": 0.48344,
"q01": -0.48059,
"q99": 0.39169
},
"left_shoulder_roll_joint": {
"lo": 0.18,
"hi": 0.42277,
"train_min": 0.19,
"train_max": 0.41277,
"q01": 0.19,
"q99": 0.33705
},
"left_shoulder_yaw_joint": {
"lo": -0.84519,
"hi": 0.53152,
"train_min": -0.81112,
"train_max": 0.49745,
"q01": -0.45315,
"q99": 0.22835
},
"left_elbow_joint": {
"lo": -0.84771,
"hi": 0.89052,
"train_min": -0.78907,
"train_max": 0.83188,
"q01": -0.70234,
"q99": 0.47057
},
"left_wrist_roll_joint": {
"lo": -0.66462,
"hi": 0.01783,
"train_min": -0.64626,
"train_max": -0.00054,
"q01": -0.43632,
"q99": -0.06906
},
"left_wrist_pitch_joint": {
"lo": -0.83384,
"hi": 0.47068,
"train_min": -0.79081,
"train_max": 0.42764,
"q01": -0.57922,
"q99": 0.28157
},
"left_wrist_yaw_joint": {
"lo": -0.19821,
"hi": 0.50648,
"train_min": -0.17585,
"train_max": 0.48411,
"q01": -0.09137,
"q99": 0.35592
},
"left_hand_index_0_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_index_1_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_middle_0_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_middle_1_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_thumb_0_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_thumb_1_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"left_hand_thumb_2_joint": {
"lo": -0.01,
"hi": 0.01,
"train_min": 0.0,
"train_max": 0.0,
"q01": 0.0,
"q99": 0.0
},
"right_shoulder_pitch_joint": {
"lo": -1.65472,
"hi": 0.59628,
"train_min": -1.57128,
"train_max": 0.51285,
"q01": -1.38303,
"q99": 0.28567
},
"right_shoulder_roll_joint": {
"lo": -0.7854,
"hi": -0.17079,
"train_min": -0.76619,
"train_max": -0.19,
"q01": -0.57424,
"q99": -0.19
},
"right_shoulder_yaw_joint": {
"lo": -1.48841,
"hi": 1.78412,
"train_min": -1.37779,
"train_max": 1.67351,
"q01": -0.65583,
"q99": 1.5565
},
"right_elbow_joint": {
"lo": -1.1599,
"hi": 1.79516,
"train_min": -1.0472,
"train_max": 1.68246,
"q01": -0.85724,
"q99": 1.39678
},
"right_wrist_roll_joint": {
"lo": -2.07946,
"hi": 1.3583,
"train_min": -1.97222,
"train_max": 1.25106,
"q01": -1.29244,
"q99": 0.85236
},
"right_wrist_pitch_joint": {
"lo": -1.06928,
"hi": 0.86532,
"train_min": -1.00979,
"train_max": 0.80583,
"q01": -0.67224,
"q99": 0.51751
},
"right_wrist_yaw_joint": {
"lo": -1.082,
"hi": 1.49669,
"train_min": -1.00192,
"train_max": 1.41661,
"q01": -0.75303,
"q99": 0.84862
},
"right_hand_index_0_joint": {
"lo": -0.21886,
"hi": 2.70364,
"train_min": -0.16881,
"train_max": 2.6536,
"q01": -0.00089,
"q99": 1.0
},
"right_hand_index_1_joint": {
"lo": -0.4136,
"hi": 1.57469,
"train_min": -0.33891,
"train_max": 1.5,
"q01": 0.00327,
"q99": 1.49714
},
"right_hand_middle_0_joint": {
"lo": -0.69832,
"hi": 3.0345,
"train_min": -0.64587,
"train_max": 2.98205,
"q01": -0.00095,
"q99": 1.048
},
"right_hand_middle_1_joint": {
"lo": -0.4136,
"hi": 1.57469,
"train_min": -0.33891,
"train_max": 1.5,
"q01": 0.00327,
"q99": 1.49714
},
"right_hand_thumb_0_joint": {
"lo": -1.15084,
"hi": 1.16503,
"train_min": -1.1187,
"train_max": 1.13289,
"q01": -0.14269,
"q99": 0.5
},
"right_hand_thumb_1_joint": {
"lo": -0.76948,
"hi": 0.67262,
"train_min": -0.73446,
"train_max": 0.63759,
"q01": -0.70048,
"q99": 0.0
},
"right_hand_thumb_2_joint": {
"lo": -0.76948,
"hi": 0.67262,
"train_min": -0.73446,
"train_max": 0.63759,
"q01": -0.70048,
"q99": 0.0
}
}
} |