{
  "model": "g1_29dof_rev_1_0",
  "mode": 15,
  "nq": 80,
  "nv": 79,
  "nu": 44,
  "joints": [
    {
      "name": "floating_base_joint",
      "type": "mjJNT_FREE",
      "qpos_address": 0,
      "dof_address": 0,
      "limited": false,
      "range": [
        0.0,
        0.0
      ]
    },
    {
      "name": "left_hip_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 7,
      "dof_address": 6,
      "limited": true,
      "range": [
        -2.5307,
        2.8798
      ]
    },
    {
      "name": "left_hip_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 8,
      "dof_address": 7,
      "limited": true,
      "range": [
        -0.5236,
        2.9671
      ]
    },
    {
      "name": "left_hip_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 9,
      "dof_address": 8,
      "limited": true,
      "range": [
        -2.7576,
        2.7576
      ]
    },
    {
      "name": "left_knee_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 10,
      "dof_address": 9,
      "limited": true,
      "range": [
        -0.087267,
        2.8798
      ]
    },
    {
      "name": "left_ankle_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 11,
      "dof_address": 10,
      "limited": true,
      "range": [
        -0.87267,
        0.5236
      ]
    },
    {
      "name": "left_ankle_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 12,
      "dof_address": 11,
      "limited": true,
      "range": [
        -0.2618,
        0.2618
      ]
    },
    {
      "name": "right_hip_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 13,
      "dof_address": 12,
      "limited": true,
      "range": [
        -2.5307,
        2.8798
      ]
    },
    {
      "name": "right_hip_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 14,
      "dof_address": 13,
      "limited": true,
      "range": [
        -2.9671,
        0.5236
      ]
    },
    {
      "name": "right_hip_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 15,
      "dof_address": 14,
      "limited": true,
      "range": [
        -2.7576,
        2.7576
      ]
    },
    {
      "name": "right_knee_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 16,
      "dof_address": 15,
      "limited": true,
      "range": [
        -0.087267,
        2.8798
      ]
    },
    {
      "name": "right_ankle_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 17,
      "dof_address": 16,
      "limited": true,
      "range": [
        -0.87267,
        0.5236
      ]
    },
    {
      "name": "right_ankle_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 18,
      "dof_address": 17,
      "limited": true,
      "range": [
        -0.2618,
        0.2618
      ]
    },
    {
      "name": "waist_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 19,
      "dof_address": 18,
      "limited": true,
      "range": [
        -2.618,
        2.618
      ]
    },
    {
      "name": "waist_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 20,
      "dof_address": 19,
      "limited": true,
      "range": [
        -0.52,
        0.52
      ]
    },
    {
      "name": "waist_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 21,
      "dof_address": 20,
      "limited": true,
      "range": [
        -0.52,
        0.52
      ]
    },
    {
      "name": "left_shoulder_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 22,
      "dof_address": 21,
      "limited": true,
      "range": [
        -3.0892,
        2.6704
      ]
    },
    {
      "name": "left_shoulder_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 23,
      "dof_address": 22,
      "limited": true,
      "range": [
        -1.5882,
        2.2515
      ]
    },
    {
      "name": "left_shoulder_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 24,
      "dof_address": 23,
      "limited": true,
      "range": [
        -2.618,
        2.618
      ]
    },
    {
      "name": "left_elbow_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 25,
      "dof_address": 24,
      "limited": true,
      "range": [
        -1.0472,
        2.0944
      ]
    },
    {
      "name": "left_wrist_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 26,
      "dof_address": 25,
      "limited": true,
      "range": [
        -1.97222,
        1.97222
      ]
    },
    {
      "name": "left_wrist_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 27,
      "dof_address": 26,
      "limited": true,
      "range": [
        -1.61443,
        1.61443
      ]
    },
    {
      "name": "left_wrist_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 28,
      "dof_address": 27,
      "limited": true,
      "range": [
        -1.61443,
        1.61443
      ]
    },
    {
      "name": "lh/left_thumb_CMC_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 29,
      "dof_address": 28,
      "limited": true,
      "range": [
        -0.1745,
        1.9199
      ]
    },
    {
      "name": "lh/left_thumb_CMC_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 30,
      "dof_address": 29,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_thumb_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 31,
      "dof_address": 30,
      "limited": true,
      "range": [
        -0.5236,
        1.3963
      ]
    },
    {
      "name": "lh/left_thumb_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 32,
      "dof_address": 31,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_thumb_IP",
      "type": "mjJNT_HINGE",
      "qpos_address": 33,
      "dof_address": 32,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_index_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 34,
      "dof_address": 33,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_index_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 35,
      "dof_address": 34,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_index_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 36,
      "dof_address": 35,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_index_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 37,
      "dof_address": 36,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_middle_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 38,
      "dof_address": 37,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_middle_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 39,
      "dof_address": 38,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_middle_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 40,
      "dof_address": 39,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_middle_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 41,
      "dof_address": 40,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_ring_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 42,
      "dof_address": 41,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_ring_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 43,
      "dof_address": 42,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_ring_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 44,
      "dof_address": 43,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_ring_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 45,
      "dof_address": 44,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_pinky_CMC",
      "type": "mjJNT_HINGE",
      "qpos_address": 46,
      "dof_address": 45,
      "limited": true,
      "range": [
        0.0,
        0.2618
      ]
    },
    {
      "name": "lh/left_pinky_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 47,
      "dof_address": 46,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_pinky_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 48,
      "dof_address": 47,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_pinky_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 49,
      "dof_address": 48,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_pinky_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 50,
      "dof_address": 49,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "right_shoulder_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 51,
      "dof_address": 50,
      "limited": true,
      "range": [
        -3.0892,
        2.6704
      ]
    },
    {
      "name": "right_shoulder_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 52,
      "dof_address": 51,
      "limited": true,
      "range": [
        -2.2515,
        1.5882
      ]
    },
    {
      "name": "right_shoulder_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 53,
      "dof_address": 52,
      "limited": true,
      "range": [
        -2.618,
        2.618
      ]
    },
    {
      "name": "right_elbow_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 54,
      "dof_address": 53,
      "limited": true,
      "range": [
        -1.0472,
        2.0944
      ]
    },
    {
      "name": "right_wrist_roll_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 55,
      "dof_address": 54,
      "limited": true,
      "range": [
        -1.97222,
        1.97222
      ]
    },
    {
      "name": "right_wrist_pitch_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 56,
      "dof_address": 55,
      "limited": true,
      "range": [
        -1.61443,
        1.61443
      ]
    },
    {
      "name": "right_wrist_yaw_joint",
      "type": "mjJNT_HINGE",
      "qpos_address": 57,
      "dof_address": 56,
      "limited": true,
      "range": [
        -1.61443,
        1.61443
      ]
    },
    {
      "name": "rh/right_thumb_CMC_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 58,
      "dof_address": 57,
      "limited": true,
      "range": [
        -0.1745,
        1.9199
      ]
    },
    {
      "name": "rh/right_thumb_CMC_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 59,
      "dof_address": 58,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_thumb_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 60,
      "dof_address": 59,
      "limited": true,
      "range": [
        -0.5236,
        1.3963
      ]
    },
    {
      "name": "rh/right_thumb_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 61,
      "dof_address": 60,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_thumb_IP",
      "type": "mjJNT_HINGE",
      "qpos_address": 62,
      "dof_address": 61,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_index_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 63,
      "dof_address": 62,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_index_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 64,
      "dof_address": 63,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_index_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 65,
      "dof_address": 64,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_index_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 66,
      "dof_address": 65,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_middle_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 67,
      "dof_address": 66,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_middle_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 68,
      "dof_address": 67,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_middle_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 69,
      "dof_address": 68,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_middle_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 70,
      "dof_address": 69,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_ring_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 71,
      "dof_address": 70,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_ring_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 72,
      "dof_address": 71,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_ring_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 73,
      "dof_address": 72,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_ring_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 74,
      "dof_address": 73,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_pinky_CMC",
      "type": "mjJNT_HINGE",
      "qpos_address": 75,
      "dof_address": 74,
      "limited": true,
      "range": [
        0.0,
        0.2618
      ]
    },
    {
      "name": "rh/right_pinky_MCP_FE",
      "type": "mjJNT_HINGE",
      "qpos_address": 76,
      "dof_address": 75,
      "limited": true,
      "range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_pinky_MCP_AA",
      "type": "mjJNT_HINGE",
      "qpos_address": 77,
      "dof_address": 76,
      "limited": true,
      "range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_pinky_PIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 78,
      "dof_address": 77,
      "limited": true,
      "range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_pinky_DIP",
      "type": "mjJNT_HINGE",
      "qpos_address": 79,
      "dof_address": 78,
      "limited": true,
      "range": [
        0.0,
        1.3963
      ]
    }
  ],
  "joint_groups": {
    "body": [
      "left_hip_pitch_joint",
      "right_hip_pitch_joint",
      "waist_yaw_joint",
      "left_hip_roll_joint",
      "right_hip_roll_joint",
      "waist_roll_joint",
      "left_hip_yaw_joint",
      "right_hip_yaw_joint",
      "waist_pitch_joint",
      "left_knee_joint",
      "right_knee_joint",
      "left_shoulder_pitch_joint",
      "right_shoulder_pitch_joint",
      "left_ankle_pitch_joint",
      "right_ankle_pitch_joint",
      "left_shoulder_roll_joint",
      "right_shoulder_roll_joint",
      "left_ankle_roll_joint",
      "right_ankle_roll_joint",
      "left_shoulder_yaw_joint",
      "right_shoulder_yaw_joint",
      "left_elbow_joint",
      "right_elbow_joint",
      "left_wrist_roll_joint",
      "right_wrist_roll_joint",
      "left_wrist_pitch_joint",
      "right_wrist_pitch_joint",
      "left_wrist_yaw_joint",
      "right_wrist_yaw_joint"
    ],
    "left_hand": [
      "left_thumb_CMC_FE",
      "left_thumb_CMC_AA",
      "left_thumb_MCP_FE",
      "left_thumb_MCP_AA",
      "left_thumb_IP",
      "left_index_MCP_FE",
      "left_index_MCP_AA",
      "left_index_PIP",
      "left_index_DIP",
      "left_middle_MCP_FE",
      "left_middle_MCP_AA",
      "left_middle_PIP",
      "left_middle_DIP",
      "left_ring_MCP_FE",
      "left_ring_MCP_AA",
      "left_ring_PIP",
      "left_ring_DIP",
      "left_pinky_CMC",
      "left_pinky_MCP_FE",
      "left_pinky_MCP_AA",
      "left_pinky_PIP",
      "left_pinky_DIP"
    ],
    "right_hand": [
      "right_thumb_CMC_FE",
      "right_thumb_CMC_AA",
      "right_thumb_MCP_FE",
      "right_thumb_MCP_AA",
      "right_thumb_IP",
      "right_index_MCP_FE",
      "right_index_MCP_AA",
      "right_index_PIP",
      "right_index_DIP",
      "right_middle_MCP_FE",
      "right_middle_MCP_AA",
      "right_middle_PIP",
      "right_middle_DIP",
      "right_ring_MCP_FE",
      "right_ring_MCP_AA",
      "right_ring_PIP",
      "right_ring_DIP",
      "right_pinky_CMC",
      "right_pinky_MCP_FE",
      "right_pinky_MCP_AA",
      "right_pinky_PIP",
      "right_pinky_DIP"
    ]
  },
  "bodies": [
    "world",
    "pelvis",
    "left_hip_pitch_link",
    "left_hip_roll_link",
    "left_hip_yaw_link",
    "left_knee_link",
    "left_ankle_pitch_link",
    "left_ankle_roll_link",
    "left_toe_link",
    "right_hip_pitch_link",
    "right_hip_roll_link",
    "right_hip_yaw_link",
    "right_knee_link",
    "right_ankle_pitch_link",
    "right_ankle_roll_link",
    "right_toe_link",
    "waist_yaw_link",
    "waist_roll_link",
    "torso_link",
    "left_shoulder_pitch_link",
    "left_shoulder_roll_link",
    "left_shoulder_yaw_link",
    "left_elbow_link",
    "left_wrist_roll_link",
    "left_wrist_pitch_link",
    "left_wrist_yaw_link",
    "lh/left_hand_C_MC",
    "lh/left_thumb_CMC_VL",
    "lh/left_thumb_MC",
    "lh/left_thumb_MCP_VL",
    "lh/left_thumb_PP",
    "lh/left_thumb_DP",
    "lh/left_index_MCP_VL",
    "lh/left_index_PP",
    "lh/left_index_MP",
    "lh/left_index_DP",
    "lh/left_middle_MCP_VL",
    "lh/left_middle_PP",
    "lh/left_middle_MP",
    "lh/left_middle_DP",
    "lh/left_ring_MCP_VL",
    "lh/left_ring_PP",
    "lh/left_ring_MP",
    "lh/left_ring_DP",
    "lh/left_pinky_MC",
    "lh/left_pinky_MCP_VL",
    "lh/left_pinky_PP",
    "lh/left_pinky_MP",
    "lh/left_pinky_DP",
    "right_shoulder_pitch_link",
    "right_shoulder_roll_link",
    "right_shoulder_yaw_link",
    "right_elbow_link",
    "right_wrist_roll_link",
    "right_wrist_pitch_link",
    "right_wrist_yaw_link",
    "rh/right_hand_C_MC",
    "rh/right_thumb_CMC_VL",
    "rh/right_thumb_MC",
    "rh/right_thumb_MCP_VL",
    "rh/right_thumb_PP",
    "rh/right_thumb_DP",
    "rh/right_index_MCP_VL",
    "rh/right_index_PP",
    "rh/right_index_MP",
    "rh/right_index_DP",
    "rh/right_middle_MCP_VL",
    "rh/right_middle_PP",
    "rh/right_middle_MP",
    "rh/right_middle_DP",
    "rh/right_ring_MCP_VL",
    "rh/right_ring_PP",
    "rh/right_ring_MP",
    "rh/right_ring_DP",
    "rh/right_pinky_MC",
    "rh/right_pinky_MCP_VL",
    "rh/right_pinky_PP",
    "rh/right_pinky_MP",
    "rh/right_pinky_DP"
  ],
  "sites": [
    "imu_in_pelvis",
    "left_foot",
    "right_foot",
    "imu_in_torso",
    "left_palm",
    "lh/wrist_site",
    "lh/left_thumb_fingertip",
    "lh/left_index_fingertip",
    "lh/left_middle_fingertip",
    "lh/left_ring_fingertip",
    "lh/left_pinky_fingertip",
    "right_palm",
    "rh/wrist_site",
    "rh/right_thumb_fingertip",
    "rh/right_index_fingertip",
    "rh/right_middle_fingertip",
    "rh/right_ring_fingertip",
    "rh/right_pinky_fingertip"
  ],
  "actuators": [
    {
      "name": "lh/left_thumb_CMC_FE",
      "target_joint": "lh/left_thumb_CMC_FE",
      "control_limited": true,
      "control_range": [
        -0.1745,
        1.9199
      ]
    },
    {
      "name": "lh/left_thumb_CMC_AA",
      "target_joint": "lh/left_thumb_CMC_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_thumb_MCP_FE",
      "target_joint": "lh/left_thumb_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.5236,
        1.3963
      ]
    },
    {
      "name": "lh/left_thumb_MCP_AA",
      "target_joint": "lh/left_thumb_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_thumb_IP",
      "target_joint": "lh/left_thumb_IP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_index_MCP_FE",
      "target_joint": "lh/left_index_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_index_MCP_AA",
      "target_joint": "lh/left_index_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_index_PIP",
      "target_joint": "lh/left_index_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_index_DIP",
      "target_joint": "lh/left_index_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_middle_MCP_FE",
      "target_joint": "lh/left_middle_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_middle_MCP_AA",
      "target_joint": "lh/left_middle_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_middle_PIP",
      "target_joint": "lh/left_middle_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_middle_DIP",
      "target_joint": "lh/left_middle_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_ring_MCP_FE",
      "target_joint": "lh/left_ring_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_ring_MCP_AA",
      "target_joint": "lh/left_ring_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_ring_PIP",
      "target_joint": "lh/left_ring_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_ring_DIP",
      "target_joint": "lh/left_ring_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "lh/left_pinky_CMC",
      "target_joint": "lh/left_pinky_CMC",
      "control_limited": true,
      "control_range": [
        0.0,
        0.2618
      ]
    },
    {
      "name": "lh/left_pinky_MCP_FE",
      "target_joint": "lh/left_pinky_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "lh/left_pinky_MCP_AA",
      "target_joint": "lh/left_pinky_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "lh/left_pinky_PIP",
      "target_joint": "lh/left_pinky_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "lh/left_pinky_DIP",
      "target_joint": "lh/left_pinky_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_thumb_CMC_FE",
      "target_joint": "rh/right_thumb_CMC_FE",
      "control_limited": true,
      "control_range": [
        -0.1745,
        1.9199
      ]
    },
    {
      "name": "rh/right_thumb_CMC_AA",
      "target_joint": "rh/right_thumb_CMC_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_thumb_MCP_FE",
      "target_joint": "rh/right_thumb_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.5236,
        1.3963
      ]
    },
    {
      "name": "rh/right_thumb_MCP_AA",
      "target_joint": "rh/right_thumb_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_thumb_IP",
      "target_joint": "rh/right_thumb_IP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_index_MCP_FE",
      "target_joint": "rh/right_index_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_index_MCP_AA",
      "target_joint": "rh/right_index_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_index_PIP",
      "target_joint": "rh/right_index_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_index_DIP",
      "target_joint": "rh/right_index_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_middle_MCP_FE",
      "target_joint": "rh/right_middle_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_middle_MCP_AA",
      "target_joint": "rh/right_middle_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_middle_PIP",
      "target_joint": "rh/right_middle_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_middle_DIP",
      "target_joint": "rh/right_middle_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_ring_MCP_FE",
      "target_joint": "rh/right_ring_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_ring_MCP_AA",
      "target_joint": "rh/right_ring_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_ring_PIP",
      "target_joint": "rh/right_ring_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_ring_DIP",
      "target_joint": "rh/right_ring_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    },
    {
      "name": "rh/right_pinky_CMC",
      "target_joint": "rh/right_pinky_CMC",
      "control_limited": true,
      "control_range": [
        0.0,
        0.2618
      ]
    },
    {
      "name": "rh/right_pinky_MCP_FE",
      "target_joint": "rh/right_pinky_MCP_FE",
      "control_limited": true,
      "control_range": [
        -0.174533,
        1.5708
      ]
    },
    {
      "name": "rh/right_pinky_MCP_AA",
      "target_joint": "rh/right_pinky_MCP_AA",
      "control_limited": true,
      "control_range": [
        -0.3491,
        0.3491
      ]
    },
    {
      "name": "rh/right_pinky_PIP",
      "target_joint": "rh/right_pinky_PIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.7453
      ]
    },
    {
      "name": "rh/right_pinky_DIP",
      "target_joint": "rh/right_pinky_DIP",
      "control_limited": true,
      "control_range": [
        0.0,
        1.3963
      ]
    }
  ]
}