| { |
| "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 |
| } |
| } |
| } |
