import json

import numpy as np

class BasisFirstFrame:

    def __init__(self):

        self.joint_values = None

        self.load('config/basis_first_frame.json')

    def load(self, filename):

        with open(filename) as o:

            self.joint_values = json.load(o)

    def get_basis(self, joint_name):

        return np.array(self.joint_values[joint_name])