{
  "total_dim": 29,
  "segments": [
    {
      "name": "manipulator",
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      "stop": 7,
      "width": 7,
      "ctrl_type": "OSCPoseAbsoluteQuatController"
    },
    {
      "name": "gripper",
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      "stop": 29,
      "width": 22,
      "ctrl_type": "JointPositionController"
    }
  ]
}