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joints.yaml~
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joints.yaml~
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joint_correspondence: {
root_x: None,
spine05_x: None,
spine04_x: TorsoBending,
spine03_x: None,
spine02_x: None,
breast_L_x: None,
breast_R_x: None,
spine01_x: None,
clavicle_L_x: None,
shoulder01_L_x: ShoulderPitchL,
shoulder01_L_y: ShoulderYawL,
shoulder01_L_z: ShoulderRollL,
shoulder02_L_x: None,
upperarm02_L_x: None,
lowerarm01_L_x: ElbowRollL,
lowerarm02_L_x: None,
wrist_L_x: None,
finger1-1_L_x: None,
finger1-2_L_x: None,
finger1-3_L_x: None,
metacarpal1_L_x: None,
finger2-1_L_x: None,
finger2-2_L_x: None,
finger2-3_L_x: None,
metacarpal2_L_x: None,
finger3-1_L_x: None,
finger3-2_L_x: None,
finger3-3_L_x: None,
metacarpal3_L_x: None,
finger4-1_L_x: None,
finger4-2_L_x: None,
finger4-3_L_x: None,
metacarpal4_L_x: None,
finger5-1_L_x: None,
finger5-2_L_x: None,
finger5-3_L_x: None,
clavicle_R_x: None,
shoulder01_R_x: ShoulderPitchR,
shoulder01_R_y: ShoulderYawR,
shoulder01_R_z: ShoulderRollR,
shoulder02_R_x: None,
upperarm02_R_x: None,
lowerarm01_R_x: ElbowRollR,
lowerarm02_R_x: None,
wrist_R_x: None,
finger1-1_R_x: None,
finger1-2_R_x: None,
finger1-3_R_x: None,
metacarpal1_R_x: None,
finger2-1_R_x: None,
finger2-2_R_x: None,
finger2-3_R_x: None,
metacarpal2_R_x: None,
finger3-1_R_x: None,
finger3-2_R_x: None,
finger3-3_R_x: None,
metacarpal3_R_x: None,
finger4-1_R_x: None,
finger4-2_R_x: None,
finger4-3_R_x: None,
metacarpal4_R_x: None,
finger5-1_R_x: None,
finger5-2_R_x: None,
finger5-3_R_x: None,
neck01_x: HeadPitch,
neck01_y: None,
neck01_z: HeadRoll,
neck02_x: None,
neck03_x: None,
head_x: None,
pelvis_L_x: None,
upperleg01_L_x: None,
upperleg02_L_x: HipRollL,
upperleg02_L_z: HipPitchL,
lowerleg01_L_z: KneePitchL,
lowerleg02_L_x: None,
foot_L_x: None,
pelvis_R_x: None,
upperleg01_R_x: None,
upperleg02_R_x: HipRollR,
upperleg02_R_z: HipPitchR,
lowerleg01_R_z: KneePitchR,
lowerleg02_R_x: None,
foot_R_x: None}
topic_name: /human/skeleton/joint_trajectory_action
joint_minValues: {
root_x: None,
spine05_x: "0.0",
spine04_x: None,
spine03_x: None,
spine02_x: None,
breast_L_x: None,
breast_R_x: None,
spine01_x: None,
clavicle_L_x: None,
shoulder01_L_x: "0.0",
shoulder01_L_y: "-0.4",
shoulder01_L_z: "0.0",
shoulder02_L_x: None,
upperarm02_L_x: None,
lowerarm01_L_x: "0.0",
lowerarm02_L_x: None,
wrist_L_x: None,
finger1-1_L_x: None,
finger1-2_L_x: None,
finger1-3_L_x: None,
metacarpal1_L_x: None,
finger2-1_L_x: None,
finger2-2_L_x: None,
finger2-3_L_x: None,
metacarpal2_L_x: None,
finger3-1_L_x: None,
finger3-2_L_x: None,
finger3-3_L_x: None,
metacarpal3_L_x: None,
finger4-1_L_x: None,
finger4-2_L_x: None,
finger4-3_L_x: None,
metacarpal4_L_x: None,
finger5-1_L_x: None,
finger5-2_L_x: None,
finger5-3_L_x: None,
clavicle_R_x: None,
shoulder01_R_x: "0.0",
shoulder01_R_y: "0.0",
shoulder01_R_z: "0.0",
shoulder02_R_x: None,
upperarm02_R_x: None,
lowerarm01_R_x: "0.0",
lowerarm02_R_x: None,
wrist_R_x: None,
finger1-1_R_x: None,
finger1-2_R_x: None,
finger1-3_R_x: None,
metacarpal1_R_x: None,
finger2-1_R_x: None,
finger2-2_R_x: None,
finger2-3_R_x: None,
metacarpal2_R_x: None,
finger3-1_R_x: None,
finger3-2_R_x: None,
finger3-3_R_x: None,
metacarpal3_R_x: None,
finger4-1_R_x: None,
finger4-2_R_x: None,
finger4-3_R_x: None,
metacarpal4_R_x: None,
finger5-1_R_x: None,
finger5-2_R_x: None,
finger5-3_R_x: None,
neck01_x: "0.0",
neck01_y: None,
neck01_z: "0.0",
neck02_x: None,
neck03_x: None,
head_x: None,
pelvis_L_x: None,
upperleg01_L_x: "0.0",
upperleg01_L_z: "0.0",
upperleg02_L_x: None,
lowerleg01_L_z: "0.0",
lowerleg02_L_x: None,
foot_L_x: None,
pelvis_R_x: None,
upperleg01_R_x: "0.0",
upperleg01_R_z: "0.0",
upperleg02_R_x: None,
lowerleg01_R_z: "0.0",
lowerleg02_R_x: None,
foot_R_x: None}
joint_maxValues: {
root_x: None,
spine05_x: "1.0",
spine04_x: None,
spine03_x: None,
spine02_x: None,
breast_L_x: None,
breast_R_x: None,
spine01_x: None,
clavicle_L_x: None,
shoulder01_L_x: "2.0",
shoulder01_L_y: "3.0",
shoulder01_L_z: "1.0",
shoulder02_L_x: None,
upperarm02_L_x: None,
lowerarm01_L_x: "2.0",
lowerarm02_L_x: None,
wrist_L_x: None,
finger1-1_L_x: None,
finger1-2_L_x: None,
finger1-3_L_x: None,
metacarpal1_L_x: None,
finger2-1_L_x: None,
finger2-2_L_x: None,
finger2-3_L_x: None,
metacarpal2_L_x: None,
finger3-1_L_x: None,
finger3-2_L_x: None,
finger3-3_L_x: None,
metacarpal3_L_x: None,
finger4-1_L_x: None,
finger4-2_L_x: None,
finger4-3_L_x: None,
metacarpal4_L_x: None,
finger5-1_L_x: None,
finger5-2_L_x: None,
finger5-3_L_x: None,
clavicle_R_x: None,
shoulder01_R_x: "1.0",
shoulder01_R_y: "2.0",
shoulder01_R_z: "3.0",
shoulder02_R_x: None,
upperarm02_R_x: None,
lowerarm01_R_x: "0.0",
lowerarm02_R_x: None,
wrist_R_x: None,
finger1-1_R_x: None,
finger1-2_R_x: None,
finger1-3_R_x: None,
metacarpal1_R_x: None,
finger2-1_R_x: None,
finger2-2_R_x: None,
finger2-3_R_x: None,
metacarpal2_R_x: None,
finger3-1_R_x: None,
finger3-2_R_x: None,
finger3-3_R_x: None,
metacarpal3_R_x: None,
finger4-1_R_x: None,
finger4-2_R_x: None,
finger4-3_R_x: None,
metacarpal4_R_x: None,
finger5-1_R_x: None,
finger5-2_R_x: None,
finger5-3_R_x: None,
neck01_x: "1.0",
neck01_y: None,
neck01_z: "1.0",
neck02_x: None,
neck03_x: None,
head_x: None,
pelvis_L_x: None,
upperleg01_L_x: "3.0",
upperleg01_L_z: "5.0",
upperleg02_L_x: None,
lowerleg01_L_z: "4.0",
lowerleg02_L_x: None,
foot_L_x: None,
pelvis_R_x: None,
upperleg01_R_x: "3.0",
upperleg01_R_z: "1.0",
upperleg02_R_x: None,
lowerleg01_R_z: "0.0",
lowerleg02_R_x: None,
foot_R_x: None}