| { |
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| "robot_type": "ffw_sh5_rev1", |
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| }, |
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| "arm_l_joint6", |
| "arm_l_joint7", |
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| "finger_l_joint14", |
| "finger_l_joint15", |
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| "finger_r_joint9", |
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| "finger_r_joint11", |
| "finger_r_joint12", |
| "finger_r_joint13", |
| "finger_r_joint14", |
| "finger_r_joint15", |
| "finger_r_joint16", |
| "finger_r_joint17", |
| "finger_r_joint18", |
| "finger_r_joint19", |
| "finger_r_joint20", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint" |
| ] |
| }, |
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| "arm_r_joint2", |
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| "finger_l_joint5", |
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| "finger_l_joint7", |
| "finger_l_joint8", |
| "finger_l_joint9", |
| "finger_l_joint10", |
| "finger_l_joint11", |
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| "finger_l_joint13", |
| "finger_l_joint14", |
| "finger_l_joint15", |
| "finger_l_joint16", |
| "finger_l_joint17", |
| "finger_l_joint18", |
| "finger_l_joint19", |
| "finger_l_joint20", |
| "finger_r_joint1", |
| "finger_r_joint2", |
| "finger_r_joint3", |
| "finger_r_joint4", |
| "finger_r_joint5", |
| "finger_r_joint6", |
| "finger_r_joint7", |
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| "finger_r_joint10", |
| "finger_r_joint11", |
| "finger_r_joint12", |
| "finger_r_joint13", |
| "finger_r_joint14", |
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| "finger_r_joint16", |
| "finger_r_joint17", |
| "finger_r_joint18", |
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| "finger_r_joint20", |
| "head_joint1", |
| "head_joint2", |
| "lift_joint" |
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| }, |
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| ], |
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| "finger_l_sensor2.present_pressure_9", |
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| "finger_r_sensor2.present_pressure_9", |
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| "finger_r_sensor3.present_pressure_8", |
| "finger_r_sensor3.present_pressure_9", |
| "finger_r_sensor4.present_pressure_1", |
| "finger_r_sensor4.present_pressure_2", |
| "finger_r_sensor4.present_pressure_3", |
| "finger_r_sensor4.present_pressure_4", |
| "finger_r_sensor4.present_pressure_5", |
| "finger_r_sensor4.present_pressure_6", |
| "finger_r_sensor4.present_pressure_7", |
| "finger_r_sensor4.present_pressure_8", |
| "finger_r_sensor4.present_pressure_9", |
| "finger_r_sensor5.present_pressure_1", |
| "finger_r_sensor5.present_pressure_2", |
| "finger_r_sensor5.present_pressure_3", |
| "finger_r_sensor5.present_pressure_4", |
| "finger_r_sensor5.present_pressure_5", |
| "finger_r_sensor5.present_pressure_6", |
| "finger_r_sensor5.present_pressure_7", |
| "finger_r_sensor5.present_pressure_8", |
| "finger_r_sensor5.present_pressure_9" |
| ] |
| }, |
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| ], |
| "names": [ |
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| } |
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| } |
