rk_bind_config.motion.bonyRobotConfig_ZenoR50.json Maven / Gradle / Ivy

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{"robotId":"Zeno_R50_RKR",
	"ogreModelPath":"./my/path",
	"jointConfigs":[
		{"name": "Waist",
			"jointId": 0,
			"boneRotations":[
				{"boneName": "Spine1",
					"rotationAxis":"ROLL",
					"minPosition": -1.50329990234375,
					"maxPosition": 1.33456215820312
				}
			],
			"normalizedDefaultPosition": 0.52972972972973
		},
		{"name": "Right Arm Up",
			"jointId": 1,
			"boneRotations":[
				{"boneName": "RtClav",
					"rotationAxis":"YAW",
					"minPosition": -0.530756904296875,
					"maxPosition": 0.900957288411458
				}
			],
			"normalizedDefaultPosition": 0.0964285714285714
		},
		{"name": "Right Arm Turn",
			"jointId": 2,
			"boneRotations":[
				{"boneName": "RtClav",
					"rotationAxis":"ROLL",
					"minPosition": -0.655676012916667,
					"maxPosition": 1.91629626898437
				}
			],
			"normalizedDefaultPosition": 0.540755467196819
		},
		{"name": "Right Shoulder Out",
			"jointId": 3,
			"boneRotations":[
				{"boneName": "RtShoulder",
					"rotationAxis":"YAW",
					"minPosition": -0.630788729635417,
					"maxPosition": 0.795812198098958
				}
			],
			"normalizedDefaultPosition": 0.050179211469534
		},
		{"name": "Right Shoulder Turn",
			"jointId": 4,
			"boneRotations":[
				{"boneName": "RtShoulder",
					"rotationAxis":"ROLL",
					"minPosition": -1.45216725260417,
					"maxPosition": 3.26737631835937
				}
			],
			"normalizedDefaultPosition": 0.307692307692308
		},
		{"name": "Left Arm Up",
			"jointId": 5,
			"boneRotations":[
				{"boneName": "LtClav",
					"rotationAxis":"YAW",
					"minPosition": -0.921410348307292,
					"maxPosition": 0.561436494140625
				}
			],
			"normalizedDefaultPosition": 0.886206896551724
		},
		{"name": "Left Arm Turn",
			"jointId": 6,
			"boneRotations":[
				{"boneName": "LtClav",
					"rotationAxis":"ROLL",
					"minPosition": -2.19977567914062,
					"maxPosition": 0.167666003802083
				}
			],
			"normalizedDefaultPosition": 0.485961123110151
		},
		{"name": "Left Shoulder Out",
			"jointId": 7,
			"boneRotations":[
				{"boneName": "LtShoulder",
					"rotationAxis":"YAW",
					"minPosition": 0.586806469635416,
					"maxPosition": -0.809114868255209
				}
			],
			"normalizedDefaultPosition": 0.0512820512820513
		},
		{"name": "Left Shoulder Turn",
			"jointId": 8,
			"boneRotations":[
				{"boneName": "LtShoulder",
					"rotationAxis":"ROLL",
					"minPosition": -3.07818551432292,
					"maxPosition": 1.54931928710937
				}
			],
			"normalizedDefaultPosition": 0.665193370165746
		},{"name": "Eyelid Upper",
			"jointId": 21,
			"boneRotations":[
				{"boneName": "Brow.R",
					"rotationAxis":"ROLL",
					"minPosition": -0.41888,
					"maxPosition": 0.466004
				},
				{"boneName": "Brow.L",
					"rotationAxis":"ROLL",
					"minPosition": 0.41888,
					"maxPosition": -0.466004
				}
			],
			"normalizedDefaultPosition": 0.473372781065089
		},
		{"name": "Eyelid Lower",
			"jointId": 22,
			"boneRotations":[
				{"boneName": "Cheek.R",
					"rotationAxis":"YAW",
					"minPosition": -0.0418880000000001,
					"maxPosition": 0.345576
				},
				{"boneName": "Cheek.L",
					"rotationAxis":"YAW",
					"minPosition": 0.0418880000000001,
					"maxPosition": -0.345576
				}
			],
			"normalizedDefaultPosition": 0.108108108108108
		},
		{"name": "Eyes Turn",
			"jointId": 23,
			"boneRotations":[
				{"boneName": "RtEye",
					"rotationAxis":"PITCH",
					"minPosition": -0.36652,
					"maxPosition": 0.36652
				},
				{"boneName": "LtEye",
					"rotationAxis":"PITCH",
					"minPosition": -0.36652,
					"maxPosition": 0.36652
				}
			],
			"normalizedDefaultPosition": 0.5
		},
		{"name": "Eyes Up",
			"jointId": 24,
			"boneRotations":[
				{"boneName": "RtEye",
					"rotationAxis":"YAW",
					"minPosition": 0.47124,
					"maxPosition": -0.15708
				},
				{"boneName": "LtEye",
					"rotationAxis":"YAW",
					"minPosition": 0.47124,
					"maxPosition": -0.15708
				}
			],
			"normalizedDefaultPosition": 0.75
		},
		{"name": "Eyebrows Up",
			"jointId": 25,
			"boneRotations":[
				{"boneName": "Brow.C",
					"rotationAxis":"PITCH",
					"minPosition": -0.429352,
					"maxPosition": 1.272348
				}
			],
			"normalizedDefaultPosition": 0.252307692307692
		},
		{"name": "Smile/Frown",
			"jointId": 26,
			"boneRotations":[
				{"boneName": "UpperLip",
					"rotationAxis":"PITCH",
					"minPosition": -0.0418880000000001,
					"maxPosition": 0.125664
				},
				{"boneName": "LowerLip",
					"rotationAxis":"PITCH",
					"minPosition": 0.0418880000000001,
					"maxPosition": -0.125664
				}
			],
			"normalizedDefaultPosition": 0.250000000000001
		},
		{"name": "Jaw",
			"jointId": 27,
			"boneRotations":[
				{"boneName": "Jaw",
					"rotationAxis":"PITCH",
					"minPosition": -0.429352,
					"maxPosition": 0.0628320000000002
				}
			],
			"normalizedDefaultPosition": 0.872340425531915
		},
		{"name": "Neck Tilt",
			"jointId": 28,
			"boneRotations":[
				{"boneName": "Neackbase",
					"rotationAxis":"YAW",
					"minPosition": -0.272272,
					"maxPosition": 0.272272
				}
			],
			"normalizedDefaultPosition": 0.5
		},
		{"name": "Neck Nod",
			"jointId": 29,
			"boneRotations":[
				{"boneName": "Head",
					"rotationAxis":"PITCH",
					"minPosition": -0.324632,
					"maxPosition": 0.675444
				}
			],
			"normalizedDefaultPosition": 0.324607329842932
		},
		{"name": "Neck Turn",
			"jointId": 30,
			"boneRotations":[
				{"boneName": "Head",
					"rotationAxis":"ROLL",
					"minPosition": -0.7854,
					"maxPosition": 0.7854
				}
			],
			"normalizedDefaultPosition": 0.5
		}
	],
	"initialBonePositions": [
		{"boneName": "RtEye",
            "rotationAxis":"ROLL",
            "rotationRadians": 0.54978}
	]
}