namespace NRKernal
{
    using System;
    using System.Collections.Generic;
    using UnityEngine;

    public class HandJointPoseDataUtility
    {
        /// <summary>
        /// Convert hand joint pose dictionary to json string
        /// </summary>
        /// <param name="dict"></param>
        /// <returns></returns>
        public static string DictToJson(Dictionary<HandJointID, Pose> dict)
        {
            if (dict == null)
            {
                return null;
            }
            return JsonUtility.ToJson(new HandJointsArrayData(dict), true);
        }

        /// <summary>
        /// Convert json string to hand joint pose dictionary
        /// </summary>
        /// <param name="jsonStr"></param>
        /// <returns></returns>
        public static Dictionary<HandJointID, Pose> JsonToDict(string jsonStr)
        {
            if (string.IsNullOrEmpty(jsonStr))
            {
                return null;
            }

            var jointsArrayData = JsonUtility.FromJson<HandJointsArrayData>(jsonStr);
            if (jointsArrayData == null)
            {
                return null;
            }
            return jointsArrayData.ToDictionary();
        }

        /// <summary>
        /// Convert json string to the provided hand joint pose dictionary
        /// </summary>
        /// <param name="jsonStr"></param>
        /// <param name="dict"></param>
        public static void JsonToDict(string jsonStr, Dictionary<HandJointID, Pose> dict)
        {
            if (string.IsNullOrEmpty(jsonStr) || dict == null)
                return;

            var jointsArrayData = JsonUtility.FromJson<HandJointsArrayData>(jsonStr);
            if (jointsArrayData == null)
                return;
            jointsArrayData.WriteDictionary(dict);
        }
    }

    [Serializable]
    internal class HandJointsArrayData
    {
        [Serializable]
        internal class SingleHandJointInfo
        {
            public HandJointID jointID;
            public Pose jointPose;

            public SingleHandJointInfo(HandJointID jointID, Pose jointPose)
            {
                this.jointID = jointID;
                this.jointPose = jointPose;
            }
        }

        public List<SingleHandJointInfo> jointInfoArray;

        public HandJointsArrayData(Dictionary<HandJointID, Pose> dict)
        {
            jointInfoArray = new List<SingleHandJointInfo>();
            foreach (var item in dict)
            {
                jointInfoArray.Add(new SingleHandJointInfo(item.Key, item.Value));
            }
        }

        public Dictionary<HandJointID, Pose> ToDictionary()
        {
            if (jointInfoArray == null)
                return null;

            var dict = new Dictionary<HandJointID, Pose>();
            for (int i = 0; i < jointInfoArray.Count; i++)
            {
                var jointInfo = jointInfoArray[i];
                dict.Add(jointInfo.jointID, jointInfo.jointPose);
            }
            return dict;
        }

        public void WriteDictionary(Dictionary<HandJointID, Pose> dict)
        {
            if (dict == null)
                return;

            dict.Clear();
            for (int i = 0; i < jointInfoArray.Count; i++)
            {
                var jointInfo = jointInfoArray[i];
                dict.Add(jointInfo.jointID, jointInfo.jointPose);
            }
        }

        #region HandJointsArrayData_Right_OpenHand JSON
        public static string HandJointsArrayData_Right_OpenHand_Json = @"
        {
            ""jointInfoArray"": [
                {
                    ""jointID"": 3,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06148910894989967,
                            ""y"": -0.13473284244537354,
                            ""z"": 0.4420540928840637
                        },
                        ""rotation"": {
                            ""x"": 0.14972741901874543,
                            ""y"": 0.5636008977890015,
                            ""z"": 0.5173071622848511,
                            ""w"": 0.6263617873191834
                        }
                    }
                },
                {
                    ""jointID"": 4,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.04224194958806038,
                            ""y"": -0.12688010931015016,
                            ""z"": 0.4756573736667633
                        },
                        ""rotation"": {
                            ""x"": 0.16429845988750459,
                            ""y"": 0.5595179796218872,
                            ""z"": 0.5333989858627319,
                            ""w"": 0.6127243638038635
                        }
                    }
                },
                {
                    ""jointID"": 5,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.026774369180202485,
                            ""y"": -0.12202697992324829,
                            ""z"": 0.5036730766296387
                        },
                        ""rotation"": {
                            ""x"": 0.16429845988750459,
                            ""y"": 0.5595179796218872,
                            ""z"": 0.5333989858627319,
                            ""w"": 0.6127243638038635
                        }
                    }
                },
                {
                    ""jointID"": 6,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07916108518838883,
                            ""y"": -0.08386191725730896,
                            ""z"": 0.4538080096244812
                        },
                        ""rotation"": {
                            ""x"": 0.1964336335659027,
                            ""y"": 0.15414485335350038,
                            ""z"": 0.1433151662349701,
                            ""w"": 0.9576607346534729
                        }
                    }
                },
                {
                    ""jointID"": 7,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07197114080190659,
                            ""y"": -0.0596344955265522,
                            ""z"": 0.4748261868953705
                        },
                        ""rotation"": {
                            ""x"": 0.21575821936130525,
                            ""y"": 0.15700286626815797,
                            ""z"": 0.1402035355567932,
                            ""w"": 0.9534891247749329
                        }
                    }
                },
                {
                    ""jointID"": 8,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06734540313482285,
                            ""y"": -0.043503861874341968,
                            ""z"": 0.48995256423950198
                        },
                        ""rotation"": {
                            ""x"": 0.2213037759065628,
                            ""y"": 0.1578148454427719,
                            ""z"": 0.13929270207881928,
                            ""w"": 0.9522166848182678
                        }
                    }
                },
                {
                    ""jointID"": 9,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06273843348026276,
                            ""y"": -0.0272679440677166,
                            ""z"": 0.5055195689201355
                        },
                        ""rotation"": {
                            ""x"": 0.2213037759065628,
                            ""y"": 0.1578148454427719,
                            ""z"": 0.13929270207881928,
                            ""w"": 0.9522166848182678
                        }
                    }
                },
                {
                    ""jointID"": 10,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10289578884840012,
                            ""y"": -0.07505780458450318,
                            ""z"": 0.4465775787830353
                        },
                        ""rotation"": {
                            ""x"": 0.2558291256427765,
                            ""y"": 0.15402789413928986,
                            ""z"": 0.03402041271328926,
                            ""w"": 0.9537659883499146
                        }
                    }
                },
                {
                    ""jointID"": 11,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10321474820375443,
                            ""y"": -0.04827165976166725,
                            ""z"": 0.4738036096096039
                        },
                        ""rotation"": {
                            ""x"": 0.26904958486557009,
                            ""y"": 0.15448133647441865,
                            ""z"": 0.03189297392964363,
                            ""w"": 0.9501213431358337
                        }
                    }
                },
                {
                    ""jointID"": 12,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1036520004272461,
                            ""y"": -0.03046243265271187,
                            ""z"": 0.49289053678512576
                        },
                        ""rotation"": {
                            ""x"": 0.271046906709671,
                            ""y"": 0.15454788506031037,
                            ""z"": 0.03156866505742073,
                            ""w"": 0.9495535492897034
                        }
                    }
                },
                {
                    ""jointID"": 13,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10409640520811081,
                            ""y"": -0.013714570552110672,
                            ""z"": 0.5109848976135254
                        },
                        ""rotation"": {
                            ""x"": 0.271046906709671,
                            ""y"": 0.15454788506031037,
                            ""z"": 0.03156866505742073,
                            ""w"": 0.9495535492897034
                        }
                    }
                },
                {
                    ""jointID"": 14,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12778820097446443,
                            ""y"": -0.07651792466640473,
                            ""z"": 0.4436104893684387
                        },
                        ""rotation"": {
                            ""x"": 0.2305084764957428,
                            ""y"": 0.13304537534713746,
                            ""z"": -0.07070420682430268,
                            ""w"": 0.9613354206085205
                        }
                    }
                },
                {
                    ""jointID"": 15,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13412773609161378,
                            ""y"": -0.05223030969500542,
                            ""z"": 0.4649518132209778
                        },
                        ""rotation"": {
                            ""x"": 0.2437707483768463,
                            ""y"": 0.13204912841320039,
                            ""z"": -0.07250875979661942,
                            ""w"": 0.9580612182617188
                        }
                    }
                },
                {
                    ""jointID"": 16,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13918431103229524,
                            ""y"": -0.033909816294908527,
                            ""z"": 0.4819656014442444
                        },
                        ""rotation"": {
                            ""x"": 0.24790433049201966,
                            ""y"": 0.13173386454582215,
                            ""z"": -0.07307402789592743,
                            ""w"": 0.9570003747940064
                        }
                    }
                },
                {
                    ""jointID"": 17,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.14387288689613343,
                            ""y"": -0.017216604202985765,
                            ""z"": 0.4977380037307739
                        },
                        ""rotation"": {
                            ""x"": 0.24790433049201966,
                            ""y"": 0.13173386454582215,
                            ""z"": -0.07307402789592743,
                            ""w"": 0.9570003747940064
                        }
                    }
                },
                {
                    ""jointID"": 19,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.15144580602645875,
                            ""y"": -0.08620019257068634,
                            ""z"": 0.4359111785888672
                        },
                        ""rotation"": {
                            ""x"": 0.34396135807037356,
                            ""y"": 0.08648207783699036,
                            ""z"": -0.19372141361236573,
                            ""w"": 0.9147040247917175
                        }
                    }
                },
                {
                    ""jointID"": 20,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.16250240802764893,
                            ""y"": -0.07256454229354859,
                            ""z"": 0.4565994143486023
                        },
                        ""rotation"": {
                            ""x"": 0.3508676588535309,
                            ""y"": 0.08501580357551575,
                            ""z"": -0.19437237083911897,
                            ""w"": 0.912076473236084
                        }
                    }
                },
                {
                    ""jointID"": 21,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.17005284130573274,
                            ""y"": -0.06349429488182068,
                            ""z"": 0.47086969017982485
                        },
                        ""rotation"": {
                            ""x"": 0.3688325881958008,
                            ""y"": 0.0811523050069809,
                            ""z"": -0.19600549340248109,
                            ""w"": 0.9049633741378784
                        }
                    }
                },
                {
                    ""jointID"": 22,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.17870698869228364,
                            ""y"": -0.053819965571165088,
                            ""z"": 0.4876540005207062
                        },
                        ""rotation"": {
                            ""x"": 0.3688325881958008,
                            ""y"": 0.0811523050069809,
                            ""z"": -0.19600549340248109,
                            ""w"": 0.9049633741378784
                        }
                    }
                },
                {
                    ""jointID"": 1,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11448097974061966,
                            ""y"": -0.10995569825172425,
                            ""z"": 0.4293799102306366
                        },
                        ""rotation"": {
                            ""x"": 0.06226430833339691,
                            ""y"": 0.12295009195804596,
                            ""z"": 0.0756102055311203,
                            ""w"": 0.9875674843788147
                        }
                    }
                },
                {
                    ""jointID"": 0,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12116783112287522,
                            ""y"": -0.15640263259410859,
                            ""z"": 0.4100067913532257
                        },
                        ""rotation"": {
                            ""x"": 0.06738892197608948,
                            ""y"": 0.12076979875564575,
                            ""z"": 0.11029858142137528,
                            ""w"": 0.9842293858528137
                        }
                    }
                },
                {
                    ""jointID"": 2,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09132847189903259,
                            ""y"": -0.14556774497032166,
                            ""z"": 0.4260304570198059
                        },
                        ""rotation"": {
                            ""x"": 0.14972741901874543,
                            ""y"": 0.5636008977890015,
                            ""z"": 0.5173071622848511,
                            ""w"": 0.6263617873191834
                        }
                    }
                },
                {
                    ""jointID"": 18,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13371501863002778,
                            ""y"": -0.13196295499801637,
                            ""z"": 0.424629271030426
                        },
                        ""rotation"": {
                            ""x"": 0.34396135807037356,
                            ""y"": 0.08648207783699036,
                            ""z"": -0.19372141361236573,
                            ""w"": 0.9147040247917175
                        }
                    }
                }
            ]
        }";
        #endregion

        #region HandJointsArrayData_Right_Grab JSON
        public static string HandJointsArrayData_Right_Grab_Json = @"
        {
            ""jointInfoArray"": [
                {
                    ""jointID"": 3,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07825211435556412,
                            ""y"": -0.1435244232416153,
                            ""z"": 0.4401571452617645
                        },
                        ""rotation"": {
                            ""x"": 0.31863266229629519,
                            ""y"": 0.778114914894104,
                            ""z"": 0.23363712430000306,
                            ""w"": 0.488287091255188
                        }
                    }
                },
                {
                    ""jointID"": 4,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.08857312053442002,
                            ""y"": -0.12454214692115784,
                            ""z"": 0.47323957085609438
                        },
                        ""rotation"": {
                            ""x"": 0.49793991446495058,
                            ""y"": 0.8038176894187927,
                            ""z"": -0.22258803248405457,
                            ""w"": 0.23746076226234437
                        }
                    }
                },
                {
                    ""jointID"": 5,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.117970310151577,
                            ""y"": -0.11099642515182495,
                            ""z"": 0.47327810525894167
                        },
                        ""rotation"": {
                            ""x"": 0.49793991446495058,
                            ""y"": 0.8038176894187927,
                            ""z"": -0.22258803248405457,
                            ""w"": 0.23746076226234437
                        }
                    }
                },
                {
                    ""jointID"": 6,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07153456658124924,
                            ""y"": -0.08633570373058319,
                            ""z"": 0.43634188175201418
                        },
                        ""rotation"": {
                            ""x"": 0.6982498168945313,
                            ""y"": 0.2176690250635147,
                            ""z"": 0.2459092140197754,
                            ""w"": 0.6360787749290466
                        }
                    }
                },
                {
                    ""jointID"": 7,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07086725533008576,
                            ""y"": -0.09814827144145966,
                            ""z"": 0.4670086205005646
                        },
                        ""rotation"": {
                            ""x"": 0.9533537030220032,
                            ""y"": 0.20110885798931123,
                            ""z"": -0.07114144414663315,
                            ""w"": -0.21356706321239472
                        }
                    }
                },
                {
                    ""jointID"": 8,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07892315834760666,
                            ""y"": -0.11356399953365326,
                            ""z"": 0.45259127020835879
                        },
                        ""rotation"": {
                            ""x"": -0.7530031204223633,
                            ""y"": -0.15873795747756959,
                            ""z"": 0.14484649896621705,
                            ""w"": 0.6219390630722046
                        }
                    }
                },
                {
                    ""jointID"": 9,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.08052397519350052,
                            ""y"": -0.11141355335712433,
                            ""z"": 0.42978835105895998
                        },
                        ""rotation"": {
                            ""x"": -0.7530031204223633,
                            ""y"": -0.15873795747756959,
                            ""z"": 0.14484649896621705,
                            ""w"": 0.6219390630722046
                        }
                    }
                },
                {
                    ""jointID"": 10,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09223904460668564,
                            ""y"": -0.07842713594436646,
                            ""z"": 0.4394833743572235
                        },
                        ""rotation"": {
                            ""x"": 0.7523470520973206,
                            ""y"": 0.14191751182079316,
                            ""z"": 0.16160741448402406,
                            ""w"": 0.6226686835289002
                        }
                    }
                },
                {
                    ""jointID"": 11,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09227100759744644,
                            ""y"": -0.09527556598186493,
                            ""z"": 0.47376149892807009
                        },
                        ""rotation"": {
                            ""x"": 0.9483144879341126,
                            ""y"": 0.15463320910930634,
                            ""z"": -0.04443874955177307,
                            ""w"": -0.2735205888748169
                        }
                    }
                },
                {
                    ""jointID"": 12,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.099415123462677,
                            ""y"": -0.11176653206348419,
                            ""z"": 0.4548226296901703
                        },
                        ""rotation"": {
                            ""x"": -0.7050753831863403,
                            ""y"": -0.15082840621471406,
                            ""z"": 0.0777425542473793,
                            ""w"": 0.6885315775871277
                        }
                    }
                },
                {
                    ""jointID"": 13,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10229745507240296,
                            ""y"": -0.10535459220409394,
                            ""z"": 0.43118640780448916
                        },
                        ""rotation"": {
                            ""x"": -0.7050753831863403,
                            ""y"": -0.15082840621471406,
                            ""z"": 0.0777425542473793,
                            ""w"": 0.6885315775871277
                        }
                    }
                },
                {
                    ""jointID"": 14,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11261007934808731,
                            ""y"": -0.07658280432224274,
                            ""z"": 0.44104257225990298
                        },
                        ""rotation"": {
                            ""x"": 0.7651817202568054,
                            ""y"": 0.06708147376775742,
                            ""z"": 0.07878470420837403,
                            ""w"": 0.6354447603225708
                        }
                    }
                },
                {
                    ""jointID"": 15,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11231625080108643,
                            ""y"": -0.09108947217464447,
                            ""z"": 0.4706229865550995
                        },
                        ""rotation"": {
                            ""x"": 0.9593813419342041,
                            ""y"": 0.10491891205310822,
                            ""z"": -0.009175463579595089,
                            ""w"": -0.26171618700027468
                        }
                    }
                },
                {
                    ""jointID"": 16,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11743796616792679,
                            ""y"": -0.1083316057920456,
                            ""z"": 0.45253556966781618
                        },
                        ""rotation"": {
                            ""x"": -0.7185230851173401,
                            ""y"": -0.09824145585298538,
                            ""z"": 0.04810895025730133,
                            ""w"": 0.6868470311164856
                        }
                    }
                },
                {
                    ""jointID"": 17,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11946114152669907,
                            ""y"": -0.10291650891304016,
                            ""z"": 0.4298199713230133
                        },
                        ""rotation"": {
                            ""x"": -0.7185230851173401,
                            ""y"": -0.09824145585298538,
                            ""z"": 0.04810895025730133,
                            ""w"": 0.6868470311164856
                        }
                    }
                },
                {
                    ""jointID"": 19,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1337360143661499,
                            ""y"": -0.0805874615907669,
                            ""z"": 0.4389980733394623
                        },
                        ""rotation"": {
                            ""x"": 0.7690113186836243,
                            ""y"": -0.008214617148041726,
                            ""z"": -0.019361650571227075,
                            ""w"": 0.6388891935348511
                        }
                    }
                },
                {
                    ""jointID"": 20,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13375379145145417,
                            ""y"": -0.0925367921590805,
                            ""z"": 0.4633577764034271
                        },
                        ""rotation"": {
                            ""x"": 0.9923236966133118,
                            ""y"": 0.053054824471473697,
                            ""z"": 0.0006708893924951553,
                            ""w"": -0.11170736700296402
                        }
                    }
                },
                {
                    ""jointID"": 21,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13572239875793458,
                            ""y"": -0.10873953998088837,
                            ""z"": 0.4546104967594147
                        },
                        ""rotation"": {
                            ""x"": -0.8012481331825256,
                            ""y"": -0.04871814697980881,
                            ""z"": 0.024231355637311937,
                            ""w"": 0.5958530306816101
                        }
                    }
                },
                {
                    ""jointID"": 22,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13698601722717286,
                            ""y"": -0.1091277003288269,
                            ""z"": 0.43343380093574526
                        },
                        ""rotation"": {
                            ""x"": -0.8012481331825256,
                            ""y"": -0.04871814697980881,
                            ""z"": 0.024231355637311937,
                            ""w"": 0.5958530306816101
                        }
                    }
                },
                {
                    ""jointID"": 1,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11448097974061966,
                            ""y"": -0.10995569825172425,
                            ""z"": 0.4293799102306366
                        },
                        ""rotation"": {
                            ""x"": 0.0894060730934143,
                            ""y"": -0.012419119477272034,
                            ""z"": 0.17406058311462403,
                            ""w"": 0.9805892705917358
                        }
                    }
                },
                {
                    ""jointID"": 0,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13118740916252137,
                            ""y"": -0.15068663656711579,
                            ""z"": 0.4003697335720062
                        },
                        ""rotation"": {
                            ""x"": 0.1035044714808464,
                            ""y"": -0.01286056824028492,
                            ""z"": 0.21465229988098145,
                            ""w"": 0.9711055159568787
                        }
                    }
                },
                {
                    ""jointID"": 2,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10471976548433304,
                            ""y"": -0.14710555970668794,
                            ""z"": 0.42026346921920779
                        },
                        ""rotation"": {
                            ""x"": 0.31863266229629519,
                            ""y"": 0.778114914894104,
                            ""z"": 0.23363712430000306,
                            ""w"": 0.488287091255188
                        }
                    }
                },
                {
                    ""jointID"": 18,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13462820649147035,
                            ""y"": -0.13043458759784699,
                            ""z"": 0.42210516333580019
                        },
                        ""rotation"": {
                            ""x"": 0.7690113186836243,
                            ""y"": -0.008214617148041726,
                            ""z"": -0.019361650571227075,
                            ""w"": 0.6388891935348511
                        }
                    }
                }
            ]
        }";
        #endregion

        #region HandJointsArrayData_Right_Point JSON
        public static string HandJointsArrayData_Right_Point_Json = @"
        {
            ""jointInfoArray"": [
                {
                    ""jointID"": 3,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09043197333812714,
                            ""y"": -0.15106381475925446,
                            ""z"": 0.44230812788009646
                        },
                        ""rotation"": {
                            ""x"": 0.39255887269973757,
                            ""y"": 0.6886204481124878,
                            ""z"": 0.3100232183933258,
                            ""w"": 0.5249620079994202
                        }
                    }
                },
                {
                    ""jointID"": 4,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09841367602348328,
                            ""y"": -0.14101700484752656,
                            ""z"": 0.47968000173568728
                        },
                        ""rotation"": {
                            ""x"": 0.5901387333869934,
                            ""y"": 0.712329626083374,
                            ""z"": 0.10009798407554627,
                            ""w"": 0.3664739727973938
                        }
                    }
                },
                {
                    ""jointID"": 5,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12294268608093262,
                            ""y"": -0.13745714724063874,
                            ""z"": 0.5004968047142029
                        },
                        ""rotation"": {
                            ""x"": 0.5901387333869934,
                            ""y"": 0.712329626083374,
                            ""z"": 0.10009798407554627,
                            ""w"": 0.3664739727973938
                        }
                    }
                },
                {
                    ""jointID"": 6,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09068554639816284,
                            ""y"": -0.09737525880336762,
                            ""z"": 0.4503321945667267
                        },
                        ""rotation"": {
                            ""x"": 0.19070811569690705,
                            ""y"": -0.0019001234322786332,
                            ""z"": 0.1504197120666504,
                            ""w"": 0.9700519442558289
                        }
                    }
                },
                {
                    ""jointID"": 7,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.0810346007347107,
                            ""y"": -0.07257464528083801,
                            ""z"": 0.4696251153945923
                        },
                        ""rotation"": {
                            ""x"": 0.20021948218345643,
                            ""y"": -0.00040636397898197174,
                            ""z"": 0.15034696459770204,
                            ""w"": 0.9681466221809387
                        }
                    }
                },
                {
                    ""jointID"": 8,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07442089170217514,
                            ""y"": -0.05579960718750954,
                            ""z"": 0.48323607444763186
                        },
                        ""rotation"": {
                            ""x"": 0.20326392352581025,
                            ""y"": 0.00006636790931224823,
                            ""z"": 0.15034843981266023,
                            ""w"": 0.9675118327140808
                        }
                    }
                },
                {
                    ""jointID"": 9,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06770510226488114,
                            ""y"": -0.038841333240270618,
                            ""z"": 0.4971814751625061
                        },
                        ""rotation"": {
                            ""x"": 0.20326392352581025,
                            ""y"": 0.00006636790931224823,
                            ""z"": 0.15034843981266023,
                            ""w"": 0.9675118327140808
                        }
                    }
                },
                {
                    ""jointID"": 10,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11511512845754624,
                            ""y"": -0.08786951005458832,
                            ""z"": 0.45100605487823489
                        },
                        ""rotation"": {
                            ""x"": 0.6371235847473145,
                            ""y"": 0.07007554173469544,
                            ""z"": 0.14935530722141267,
                            ""w"": 0.7528983950614929
                        }
                    }
                },
                {
                    ""jointID"": 11,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10923435539007187,
                            ""y"": -0.09254084527492523,
                            ""z"": 0.4884553551673889
                        },
                        ""rotation"": {
                            ""x"": 0.9154642224311829,
                            ""y"": 0.16501176357269288,
                            ""z"": -0.018812112510204316,
                            ""w"": -0.3665277361869812
                        }
                    }
                },
                {
                    ""jointID"": 12,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11698667705059052,
                            ""y"": -0.10492801666259766,
                            ""z"": 0.46681898832321169
                        },
                        ""rotation"": {
                            ""x"": -0.8504317402839661,
                            ""y"": -0.16030393540859223,
                            ""z"": 0.04328233003616333,
                            ""w"": 0.49919450283050539
                        }
                    }
                },
                {
                    ""jointID"": 13,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12298658490180969,
                            ""y"": -0.11000068485736847,
                            ""z"": 0.4434446096420288
                        },
                        ""rotation"": {
                            ""x"": -0.8504317402839661,
                            ""y"": -0.16030393540859223,
                            ""z"": 0.04328233003616333,
                            ""w"": 0.49919450283050539
                        }
                    }
                },
                {
                    ""jointID"": 14,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1397729516029358,
                            ""y"": -0.08997350931167603,
                            ""z"": 0.4546767473220825
                        },
                        ""rotation"": {
                            ""x"": 0.6992495656013489,
                            ""y"": -0.0171646885573864,
                            ""z"": 0.06396500766277313,
                            ""w"": 0.7118032574653626
                        }
                    }
                },
                {
                    ""jointID"": 15,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13533827662467957,
                            ""y"": -0.09823991358280182,
                            ""z"": 0.48626047372817995
                        },
                        ""rotation"": {
                            ""x"": 0.9598661661148071,
                            ""y"": 0.04940487816929817,
                            ""z"": 0.046163685619831088,
                            ""w"": -0.27218565344810488
                        }
                    }
                },
                {
                    ""jointID"": 16,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13850779831409455,
                            ""y"": -0.11555792391300202,
                            ""z"": 0.46780186891555788
                        },
                        ""rotation"": {
                            ""x"": -0.9098184704780579,
                            ""y"": -0.05558675900101662,
                            ""z"": -0.038438580930233,
                            ""w"": 0.4094666838645935
                        }
                    }
                },
                {
                    ""jointID"": 17,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.14185111224651338,
                            ""y"": -0.1258217692375183,
                            ""z"": 0.44699591398239138
                        },
                        ""rotation"": {
                            ""x"": -0.9098184704780579,
                            ""y"": -0.05558675900101662,
                            ""z"": -0.038438580930233,
                            ""w"": 0.4094666838645935
                        }
                    }
                },
                {
                    ""jointID"": 19,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1618957817554474,
                            ""y"": -0.09706361591815949,
                            ""z"": 0.4505121111869812
                        },
                        ""rotation"": {
                            ""x"": 0.6981943249702454,
                            ""y"": -0.06974326819181442,
                            ""z"": -0.05978873372077942,
                            ""w"": 0.7099900841712952
                        }
                    }
                },
                {
                    ""jointID"": 20,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1610235869884491,
                            ""y"": -0.10384775698184967,
                            ""z"": 0.47676849365234377
                        },
                        ""rotation"": {
                            ""x"": 0.9607752561569214,
                            ""y"": -0.08460687845945358,
                            ""z"": 0.032079290598630908,
                            ""w"": -0.2621513903141022
                        }
                    }
                },
                {
                    ""jointID"": 21,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.15840137004852296,
                            ""y"": -0.11642716825008393,
                            ""z"": 0.4634343087673187
                        },
                        ""rotation"": {
                            ""x"": -0.879914402961731,
                            ""y"": 0.0755491554737091,
                            ""z"": -0.04983111470937729,
                            ""w"": 0.46643301844596865
                        }
                    }
                },
                {
                    ""jointID"": 22,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1568325161933899,
                            ""y"": -0.1230180561542511,
                            ""z"": 0.44332706928253176
                        },
                        ""rotation"": {
                            ""x"": -0.879914402961731,
                            ""y"": 0.0755491554737091,
                            ""z"": -0.04983111470937729,
                            ""w"": 0.46643301844596865
                        }
                    }
                },
                {
                    ""jointID"": 1,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13248354196548463,
                            ""y"": -0.11908532679080963,
                            ""z"": 0.43122756481170657
                        },
                        ""rotation"": {
                            ""x"": 0.1755380630493164,
                            ""y"": -0.0001525338739156723,
                            ""z"": 0.11750473082065582,
                            ""w"": 0.9774349331855774
                        }
                    }
                },
                {
                    ""jointID"": 0,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1440785825252533,
                            ""y"": -0.15913042426109315,
                            ""z"": 0.4024151563644409
                        },
                        ""rotation"": {
                            ""x"": 0.16229642927646638,
                            ""y"": -0.010410726070404053,
                            ""z"": 0.16224487125873567,
                            ""w"": 0.9732564687728882
                        }
                    }
                },
                {
                    ""jointID"": 2,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11725527048110962,
                            ""y"": -0.1550970822572708,
                            ""z"": 0.4223616421222687
                        },
                        ""rotation"": {
                            ""x"": 0.39255887269973757,
                            ""y"": 0.6886204481124878,
                            ""z"": 0.3100232183933258,
                            ""w"": 0.5249620079994202
                        }
                    }
                },
                {
                    ""jointID"": 18,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1522304117679596,
                            ""y"": -0.13934452831745149,
                            ""z"": 0.42598310112953188
                        },
                        ""rotation"": {
                            ""x"": 0.6981943249702454,
                            ""y"": -0.06974326819181442,
                            ""z"": -0.05978873372077942,
                            ""w"": 0.7099900841712952
                        }
                    }
                }
            ]
        }";
        #endregion

        #region HandJointsArrayData_Right_Victory JSON
        public static string HandJointsArrayData_Right_Victory_Json = @"
        {
            ""jointInfoArray"": [
                {
                    ""jointID"": 3,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07949543744325638,
                            ""y"": -0.14329421520233155,
                            ""z"": 0.44704487919807436
                        },
                        ""rotation"": {
                            ""x"": 0.4506657123565674,
                            ""y"": 0.6781644821166992,
                            ""z"": 0.2314215451478958,
                            ""w"": 0.5323885679244995
                        }
                    }
                },
                {
                    ""jointID"": 4,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.09336594492197037,
                            ""y"": -0.13332216441631318,
                            ""z"": 0.4826745092868805
                        },
                        ""rotation"": {
                            ""x"": 0.6186810731887817,
                            ""y"": 0.6813832521438599,
                            ""z"": 0.059811435639858249,
                            ""w"": 0.3864884078502655
                        }
                    }
                },
                {
                    ""jointID"": 5,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11881614476442337,
                            ""y"": -0.1313823163509369,
                            ""z"": 0.502579391002655
                        },
                        ""rotation"": {
                            ""x"": 0.6186810731887817,
                            ""y"": 0.6813832521438599,
                            ""z"": 0.059811435639858249,
                            ""w"": 0.3864884078502655
                        }
                    }
                },
                {
                    ""jointID"": 6,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.08286626636981964,
                            ""y"": -0.09706637263298035,
                            ""z"": 0.4607667922973633
                        },
                        ""rotation"": {
                            ""x"": 0.2547614276409149,
                            ""y"": -0.04607053101062775,
                            ""z"": 0.13524316251277924,
                            ""w"": 0.9563908576965332
                        }
                    }
                },
                {
                    ""jointID"": 7,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07343778014183045,
                            ""y"": -0.0747295469045639,
                            ""z"": 0.4829613268375397
                        },
                        ""rotation"": {
                            ""x"": 0.25915977358818056,
                            ""y"": -0.0454711839556694,
                            ""z"": 0.13554279506206513,
                            ""w"": 0.9551945924758911
                        }
                    }
                },
                {
                    ""jointID"": 8,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06694518774747849,
                            ""y"": -0.05952678993344307,
                            ""z"": 0.49836012721061709
                        },
                        ""rotation"": {
                            ""x"": 0.26558566093444826,
                            ""y"": -0.044562119990587237,
                            ""z"": 0.13586291670799256,
                            ""w"": 0.9534252882003784
                        }
                    }
                },
                {
                    ""jointID"": 9,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.06033487617969513,
                            ""y"": -0.044300343841314319,
                            ""z"": 0.5142226815223694
                        },
                        ""rotation"": {
                            ""x"": 0.26558566093444826,
                            ""y"": -0.044562119990587237,
                            ""z"": 0.13586291670799256,
                            ""w"": 0.9534252882003784
                        }
                    }
                },
                {
                    ""jointID"": 10,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.113646499812603,
                            ""y"": -0.08805495500564575,
                            ""z"": 0.4619302451610565
                        },
                        ""rotation"": {
                            ""x"": 0.2165980339050293,
                            ""y"": -0.014383846893906594,
                            ""z"": -0.03160957992076874,
                            ""w"": 0.9756430387496948
                        }
                    }
                },
                {
                    ""jointID"": 11,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11564119905233383,
                            ""y"": -0.059131231158971789,
                            ""z"": 0.4867957532405853
                        },
                        ""rotation"": {
                            ""x"": 0.21910570561885835,
                            ""y"": -0.014469223096966744,
                            ""z"": -0.031553998589515689,
                            ""w"": 0.9750834107398987
                        }
                    }
                },
                {
                    ""jointID"": 12,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11699516326189041,
                            ""y"": -0.03944708779454231,
                            ""z"": 0.5038946866989136
                        },
                        ""rotation"": {
                            ""x"": 0.22640086710453034,
                            ""y"": -0.014729056507349015,
                            ""z"": -0.03134191781282425,
                            ""w"": 0.9734184741973877
                        }
                    }
                },
                {
                    ""jointID"": 13,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.11824501305818558,
                            ""y"": -0.021098073571920396,
                            ""z"": 0.5203215479850769
                        },
                        ""rotation"": {
                            ""x"": 0.22640086710453034,
                            ""y"": -0.014729056507349015,
                            ""z"": -0.03134191781282425,
                            ""w"": 0.9734184741973877
                        }
                    }
                },
                {
                    ""jointID"": 14,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1381572037935257,
                            ""y"": -0.09607167541980744,
                            ""z"": 0.4662872552871704
                        },
                        ""rotation"": {
                            ""x"": 0.5594868659973145,
                            ""y"": -0.005924789234995842,
                            ""z"": -0.06282014399766922,
                            ""w"": 0.8264340162277222
                        }
                    }
                },
                {
                    ""jointID"": 15,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.14078980684280396,
                            ""y"": -0.0926428735256195,
                            ""z"": 0.49894979596138
                        },
                        ""rotation"": {
                            ""x"": 0.9677489995956421,
                            ""y"": -0.06016496941447258,
                            ""z"": -0.01562416646629572,
                            ""w"": -0.24412690103054048
                        }
                    }
                },
                {
                    ""jointID"": 16,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13773787021636964,
                            ""y"": -0.1108655035495758,
                            ""z"": 0.481362909078598
                        },
                        ""rotation"": {
                            ""x"": 0.9670067429542542,
                            ""y"": -0.06020069122314453,
                            ""z"": -0.015439197421073914,
                            ""w"": -0.24705377221107484
                        }
                    }
                },
                {
                    ""jointID"": 17,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13493701815605164,
                            ""y"": -0.12751173973083497,
                            ""z"": 0.4651002883911133
                        },
                        ""rotation"": {
                            ""x"": 0.9670067429542542,
                            ""y"": -0.06020069122314453,
                            ""z"": -0.015439197421073914,
                            ""w"": -0.24705377221107484
                        }
                    }
                },
                {
                    ""jointID"": 19,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.15709511935710908,
                            ""y"": -0.10919860005378723,
                            ""z"": 0.4639938175678253
                        },
                        ""rotation"": {
                            ""x"": 0.6702162623405457,
                            ""y"": -0.13975182175636292,
                            ""z"": -0.053956661373376849,
                            ""w"": 0.7268895506858826
                        }
                    }
                },
                {
                    ""jointID"": 20,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.15358920395374299,
                            ""y"": -0.11383795738220215,
                            ""z"": 0.49049606919288638
                        },
                        ""rotation"": {
                            ""x"": 0.985552191734314,
                            ""y"": -0.12727229297161103,
                            ""z"": 0.07706347107887268,
                            ""w"": -0.08093233406543732
                        }
                    }
                },
                {
                    ""jointID"": 21,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1491333246231079,
                            ""y"": -0.1299293339252472,
                            ""z"": 0.48248788714408877
                        },
                        ""rotation"": {
                            ""x"": 0.96980881690979,
                            ""y"": -0.11760261654853821,
                            ""z"": 0.0911291241645813,
                            ""w"": -0.1932254582643509
                        }
                    }
                },
                {
                    ""jointID"": 22,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.14509837329387666,
                            ""y"": -0.14598463475704194,
                            ""z"": 0.46921584010124209
                        },
                        ""rotation"": {
                            ""x"": 0.96980881690979,
                            ""y"": -0.11760261654853821,
                            ""z"": 0.0911291241645813,
                            ""w"": -0.1932254582643509
                        }
                    }
                },
                {
                    ""jointID"": 1,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12573547661304475,
                            ""y"": -0.11983968317508698,
                            ""z"": 0.4391145408153534
                        },
                        ""rotation"": {
                            ""x"": 0.23514918982982636,
                            ""y"": -0.027042467147111894,
                            ""z"": 0.039039600640535358,
                            ""w"": 0.9707984328269959
                        }
                    }
                },
                {
                    ""jointID"": 0,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.13079681992530824,
                            ""y"": -0.156742125749588,
                            ""z"": 0.4045586884021759
                        },
                        ""rotation"": {
                            ""x"": 0.21116545796394349,
                            ""y"": -0.040232524275779727,
                            ""z"": 0.08456143736839295,
                            ""w"": 0.9729542136192322
                        }
                    }
                },
                {
                    ""jointID"": 2,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.1051461324095726,
                            ""y"": -0.15001815557479859,
                            ""z"": 0.4258017838001251
                        },
                        ""rotation"": {
                            ""x"": 0.4506657123565674,
                            ""y"": 0.6781644821166992,
                            ""z"": 0.2314215451478958,
                            ""w"": 0.5323885679244995
                        }
                    }
                },
                {
                    ""jointID"": 18,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.14106284081935883,
                            ""y"": -0.1394759714603424,
                            ""z"": 0.4324820041656494
                        },
                        ""rotation"": {
                            ""x"": 0.6702162623405457,
                            ""y"": -0.13975182175636292,
                            ""z"": -0.053956661373376849,
                            ""w"": 0.7268895506858826
                        }
                    }
                }
            ]
        }";
        #endregion

        #region HandJointsArrayData_Right_SystemGesture JSON
        public static string HandJointsArrayData_Right_SystemGesture_Json = @"
        {
            ""jointInfoArray"": [
                {
                    ""jointID"": 3,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07859566807746887,
                            ""y"": -0.07637608796358109,
                            ""z"": 0.35437437891960146
                        },
                        ""rotation"": {
                            ""x"": 0.41564926505088808,
                            ""y"": -0.10011352598667145,
                            ""z"": 0.7065470814704895,
                            ""w"": 0.5639185905456543
                        }
                    }
                },
                {
                    ""jointID"": 4,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.04374423623085022,
                            ""y"": -0.09291443228721619,
                            ""z"": 0.3629278838634491
                        },
                        ""rotation"": {
                            ""x"": 0.39178261160850527,
                            ""y"": -0.1750965118408203,
                            ""z"": 0.8011733889579773,
                            ""w"": 0.41709575057029726
                        }
                    }
                },
                {
                    ""jointID"": 5,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.01768622361123562,
                            ""y"": -0.11171846836805344,
                            ""z"": 0.3590458631515503
                        },
                        ""rotation"": {
                            ""x"": 0.39178261160850527,
                            ""y"": -0.1750965118408203,
                            ""z"": 0.8011733889579773,
                            ""w"": 0.41709575057029726
                        }
                    }
                },
                {
                    ""jointID"": 6,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.052523620426654819,
                            ""y"": -0.07285230606794357,
                            ""z"": 0.4065961241722107
                        },
                        ""rotation"": {
                            ""x"": -0.6091181039810181,
                            ""y"": 0.7772908806800842,
                            ""z"": 0.014828871935606003,
                            ""w"": -0.15676133334636689
                        }
                    }
                },
                {
                    ""jointID"": 7,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.02148890681564808,
                            ""y"": -0.06656459718942642,
                            ""z"": 0.4154130816459656
                        },
                        ""rotation"": {
                            ""x"": -0.6131100654602051,
                            ""y"": 0.7773787379264832,
                            ""z"": -0.005831271409988403,
                            ""w"": -0.14051450788974763
                        }
                    }
                },
                {
                    ""jointID"": 8,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.00011776573956012726,
                            ""y"": -0.062139153480529788,
                            ""z"": 0.42030882835388186
                        },
                        ""rotation"": {
                            ""x"": -0.6160998940467835,
                            ""y"": 0.777062177658081,
                            ""z"": -0.0233057402074337,
                            ""w"": -0.12669725716114045
                        }
                    }
                },
                {
                    ""jointID"": 9,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.022264476865530015,
                            ""y"": -0.05755966156721115,
                            ""z"": 0.424272745847702
                        },
                        ""rotation"": {
                            ""x"": -0.6160998940467835,
                            ""y"": 0.777062177658081,
                            ""z"": -0.0233057402074337,
                            ""w"": -0.12669725716114045
                        }
                    }
                },
                {
                    ""jointID"": 10,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.0455845445394516,
                            ""y"": -0.09791845828294754,
                            ""z"": 0.4034768044948578
                        },
                        ""rotation"": {
                            ""x"": -0.6119090914726257,
                            ""y"": 0.770213782787323,
                            ""z"": 0.07635395228862763,
                            ""w"": -0.16281306743621827
                        }
                    }
                },
                {
                    ""jointID"": 11,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.01043115183711052,
                            ""y"": -0.09233025461435318,
                            ""z"": 0.41732844710350039
                        },
                        ""rotation"": {
                            ""x"": -0.6168791651725769,
                            ""y"": 0.7722557187080383,
                            ""z"": 0.051432568579912189,
                            ""w"": -0.14295436441898347
                        }
                    }
                },
                {
                    ""jointID"": 12,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.014117468148469925,
                            ""y"": -0.08822927623987198,
                            ""z"": 0.42521631717681887
                        },
                        ""rotation"": {
                            ""x"": -0.6189391016960144,
                            ""y"": 0.7729582190513611,
                            ""z"": 0.03980829566717148,
                            ""w"": -0.1336611956357956
                        }
                    }
                },
                {
                    ""jointID"": 13,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.03749817609786987,
                            ""y"": -0.08423572778701782,
                            ""z"": 0.4319607615470886
                        },
                        ""rotation"": {
                            ""x"": -0.6189391016960144,
                            ""y"": 0.7729582190513611,
                            ""z"": 0.03980829566717148,
                            ""w"": -0.1336611956357956
                        }
                    }
                },
                {
                    ""jointID"": 14,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.046618781983852389,
                            ""y"": -0.11979266256093979,
                            ""z"": 0.3993228077888489
                        },
                        ""rotation"": {
                            ""x"": -0.6805456280708313,
                            ""y"": 0.71397465467453,
                            ""z"": 0.09036602079868317,
                            ""w"": -0.13759364187717439
                        }
                    }
                },
                {
                    ""jointID"": 15,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.015341972932219506,
                            ""y"": -0.12074612826108933,
                            ""z"": 0.4096370041370392
                        },
                        ""rotation"": {
                            ""x"": -0.6814793348312378,
                            ""y"": 0.7145804762840271,
                            ""z"": 0.08543788641691208,
                            ""w"": -0.13289479911327363
                        }
                    }
                },
                {
                    ""jointID"": 16,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.008980682119727135,
                            ""y"": -0.1214146539568901,
                            ""z"": 0.41729459166526797
                        },
                        ""rotation"": {
                            ""x"": -0.682937502861023,
                            ""y"": 0.7155249714851379,
                            ""z"": 0.07726550847291947,
                            ""w"": -0.1251019537448883
                        }
                    }
                },
                {
                    ""jointID"": 17,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.031485117971897128,
                            ""y"": -0.1219215914607048,
                            ""z"": 0.4238296449184418
                        },
                        ""rotation"": {
                            ""x"": -0.682937502861023,
                            ""y"": 0.7155249714851379,
                            ""z"": 0.07726550847291947,
                            ""w"": -0.1251019537448883
                        }
                    }
                },
                {
                    ""jointID"": 19,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.053696244955062869,
                            ""y"": -0.1374702900648117,
                            ""z"": 0.3920983374118805
                        },
                        ""rotation"": {
                            ""x"": 0.757267415523529,
                            ""y"": -0.6144872307777405,
                            ""z"": -0.15459957718849183,
                            ""w"": 0.15827326476573945
                        }
                    }
                },
                {
                    ""jointID"": 20,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.029694629833102227,
                            ""y"": -0.14567133784294129,
                            ""z"": 0.4017341136932373
                        },
                        ""rotation"": {
                            ""x"": 0.7668261528015137,
                            ""y"": -0.6240769624710083,
                            ""z"": -0.10940348356962204,
                            ""w"": 0.10264763236045838
                        }
                    }
                },
                {
                    ""jointID"": 21,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.012351961806416512,
                            ""y"": -0.15068760514259339,
                            ""z"": 0.40585580468177798
                        },
                        ""rotation"": {
                            ""x"": 0.7693901062011719,
                            ""y"": -0.6269787549972534,
                            ""z"": -0.09164667874574661,
                            ""w"": 0.0808541476726532
                        }
                    }
                },
                {
                    ""jointID"": 22,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": -0.007835369557142258,
                            ""y"": -0.15613903105258943,
                            ""z"": 0.40945494174957278
                        },
                        ""rotation"": {
                            ""x"": 0.7693901062011719,
                            ""y"": -0.6269787549972534,
                            ""z"": -0.09164667874574661,
                            ""w"": 0.0808541476726532
                        }
                    }
                },
                {
                    ""jointID"": 1,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.07929220050573349,
                            ""y"": -0.10752697288990021,
                            ""z"": 0.3830473721027374
                        },
                        ""rotation"": {
                            ""x"": -0.6053962707519531,
                            ""y"": 0.7702578902244568,
                            ""z"": 0.09497735649347305,
                            ""w"": -0.1765713393688202
                        }
                    }
                },
                {
                    ""jointID"": 0,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.12467923015356064,
                            ""y"": -0.11541425436735153,
                            ""z"": 0.36173874139785769
                        },
                        ""rotation"": {
                            ""x"": -0.5812849998474121,
                            ""y"": 0.7834652066230774,
                            ""z"": 0.10748225450515747,
                            ""w"": -0.1916707456111908
                        }
                    }
                },
                {
                    ""jointID"": 2,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10163744539022446,
                            ""y"": -0.0958951786160469,
                            ""z"": 0.35805654525756838
                        },
                        ""rotation"": {
                            ""x"": 0.41564926505088808,
                            ""y"": -0.10011352598667145,
                            ""z"": 0.7065470814704895,
                            ""w"": 0.5639185905456543
                        }
                    }
                },
                {
                    ""jointID"": 18,
                    ""jointPose"": {
                        ""position"": {
                            ""x"": 0.10060745477676392,
                            ""y"": -0.12356220930814743,
                            ""z"": 0.3838055431842804
                        },
                        ""rotation"": {
                            ""x"": 0.757267415523529,
                            ""y"": -0.6144872307777405,
                            ""z"": -0.15459957718849183,
                            ""w"": 0.15827326476573945
                        }
                    }
                }
            ]
        }";
        #endregion

    }

}