{
  "schema_version": 1,
  "meta": {
    "name": "free_humanoid",
    "version": "0.0.1",
    "units_length": "Metre",
    "author": "Free Humanoid Platform Contributors",
    "description": "Free Humanoid Platform — the seventeenth OpenLoco morphology. 33-DoF bipedal humanoid scaffold (~1.6 m, ~50 kg target). Hybrid actuator distribution: cycloidal at hip/knee (corpus: sumitomo-cyclo 1937), QDD at ankle (corpus: mini-cheetah 2019), harmonic-drive at shoulder/elbow (corpus: honda-e0 1986), tendon-driven at hands/wrist (corpus: shadow-dexterous-hand 2002). Kinematic topology shielded by the WABOT-1 (1973) → Honda E/P (1986-1997) → ASIMO/HUBO/HRP/PAL/Valkyrie/Robonaut chain. Safety supervisor: MathGround-style Simplex (corpus: sherman-simplex-architecture 1995, control-barrier-functions 2007). All masses and inertias are scaffold placeholders — iterate against physical CAD before any build.",
    "generator": "free-humanoid-platform-scaffold",
    "morphology_family": "humanoid_bipedal",
    "corpus_anchors": [
      "wabot-1",
      "honda-p2",
      "asimo",
      "hrp-2",
      "cassie-osu",
      "berkeley-humanoid",
      "sumitomo-cyclo",
      "mini-cheetah",
      "shadow-dexterous-hand",
      "pisa-iit-softhand",
      "sherman-simplex-architecture",
      "control-barrier-functions"
    ]
  },
  "robot": {
    "links": [
      { "name": "pelvis", "mass_kg": 8.000, "inertia": [8.0e-2, 6.0e-2, 4.0e-2, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_pelvis_v0" } },
      { "name": "torso", "mass_kg": 14.000, "inertia": [2.5e-1, 2.0e-1, 1.0e-1, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_torso_v0" } },
      { "name": "head",  "mass_kg": 3.500, "inertia": [1.5e-2, 1.5e-2, 1.0e-2, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_head_v0" } },
      { "name": "neck_yaw_link",   "mass_kg": 0.30, "inertia": [4.0e-4, 4.0e-4, 4.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_neck_yaw_v0" } },

      { "name": "L_clavicle",  "mass_kg": 0.50, "inertia": [4.0e-4, 4.0e-4, 4.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_clavicle_v0" } },
      { "name": "L_shoulder_pitch_housing", "mass_kg": 0.80, "inertia": [8.0e-4, 8.0e-4, 6.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "L_shoulder_roll_housing",  "mass_kg": 0.80, "inertia": [8.0e-4, 8.0e-4, 6.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "L_upper_arm",  "mass_kg": 1.50, "inertia": [3.0e-3, 3.0e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_arm_segment__length-300" } },
      { "name": "L_elbow_housing",   "mass_kg": 0.60, "inertia": [6.0e-4, 6.0e-4, 4.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "L_forearm",    "mass_kg": 1.20, "inertia": [2.5e-3, 2.5e-3, 8.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_arm_segment__length-260" } },
      { "name": "L_wrist_pitch_link", "mass_kg": 0.20, "inertia": [1.5e-4, 1.5e-4, 1.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_tendon_block__channels-3" } },
      { "name": "L_wrist_roll_link",  "mass_kg": 0.20, "inertia": [1.5e-4, 1.5e-4, 1.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_tendon_block__channels-3" } },
      { "name": "L_hand", "mass_kg": 0.45, "inertia": [3.0e-4, 3.0e-4, 2.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_hand_underactuated_v0" } },

      { "name": "R_clavicle",  "mass_kg": 0.50, "inertia": [4.0e-4, 4.0e-4, 4.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_clavicle_v0" } },
      { "name": "R_shoulder_pitch_housing", "mass_kg": 0.80, "inertia": [8.0e-4, 8.0e-4, 6.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "R_shoulder_roll_housing",  "mass_kg": 0.80, "inertia": [8.0e-4, 8.0e-4, 6.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "R_upper_arm",  "mass_kg": 1.50, "inertia": [3.0e-3, 3.0e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_arm_segment__length-300" } },
      { "name": "R_elbow_housing",   "mass_kg": 0.60, "inertia": [6.0e-4, 6.0e-4, 4.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_harmonic_drive__ratio-100__motor-bldc-100w" } },
      { "name": "R_forearm",    "mass_kg": 1.20, "inertia": [2.5e-3, 2.5e-3, 8.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_arm_segment__length-260" } },
      { "name": "R_wrist_pitch_link", "mass_kg": 0.20, "inertia": [1.5e-4, 1.5e-4, 1.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_tendon_block__channels-3" } },
      { "name": "R_wrist_roll_link",  "mass_kg": 0.20, "inertia": [1.5e-4, 1.5e-4, 1.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_tendon_block__channels-3" } },
      { "name": "R_hand", "mass_kg": 0.45, "inertia": [3.0e-4, 3.0e-4, 2.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_hand_underactuated_v0" } },

      { "name": "L_hip_yaw_housing",   "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "L_hip_roll_housing",  "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "L_hip_pitch_housing", "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "L_thigh", "mass_kg": 4.50, "inertia": [3.5e-2, 3.5e-2, 8.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_leg_segment__length-380" } },
      { "name": "L_knee_housing", "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "L_shank", "mass_kg": 3.00, "inertia": [3.0e-2, 3.0e-2, 5.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_leg_segment__length-380" } },
      { "name": "L_ankle_pitch_housing", "mass_kg": 0.70, "inertia": [7.0e-4, 7.0e-4, 5.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_qdd__ratio-9__motor-bldc-150w" } },
      { "name": "L_ankle_roll_housing",  "mass_kg": 0.70, "inertia": [7.0e-4, 7.0e-4, 5.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_qdd__ratio-9__motor-bldc-150w" } },
      { "name": "L_foot",  "mass_kg": 1.20, "inertia": [3.0e-3, 5.0e-3, 5.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_foot_v0" } },

      { "name": "R_hip_yaw_housing",   "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "R_hip_roll_housing",  "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "R_hip_pitch_housing", "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "R_thigh", "mass_kg": 4.50, "inertia": [3.5e-2, 3.5e-2, 8.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_leg_segment__length-380" } },
      { "name": "R_knee_housing", "mass_kg": 1.40, "inertia": [1.5e-3, 1.5e-3, 1.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_cycloidal__ratio-50__motor-bldc-200w" } },
      { "name": "R_shank", "mass_kg": 3.00, "inertia": [3.0e-2, 3.0e-2, 5.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_brackets_leg_segment__length-380" } },
      { "name": "R_ankle_pitch_housing", "mass_kg": 0.70, "inertia": [7.0e-4, 7.0e-4, 5.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_qdd__ratio-9__motor-bldc-150w" } },
      { "name": "R_ankle_roll_housing",  "mass_kg": 0.70, "inertia": [7.0e-4, 7.0e-4, 5.0e-4, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "catalog_joints_qdd__ratio-9__motor-bldc-150w" } },
      { "name": "R_foot",  "mass_kg": 1.20, "inertia": [3.0e-3, 5.0e-3, 5.0e-3, 0, 0, 0], "geometry_ref": { "type": "mesh_hash", "hash": "free_humanoid_foot_v0" } }
    ],
    "joints": [
      { "name": "WAIST_yaw", "joint_type": "revolute", "parent_link": "pelvis", "child_link": "torso", "axis": [0, 0, 1], "origin_xyz": [0.0, 0.0, 0.18], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.5, "upper": 1.5, "effort_max": 80.0, "velocity_max": 4.0 } },

      { "name": "NECK_yaw",   "joint_type": "revolute", "parent_link": "torso", "child_link": "neck_yaw_link", "axis": [0, 0, 1], "origin_xyz": [0.0, 0.0, 0.42], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.4, "upper": 1.4, "effort_max": 8.0, "velocity_max": 6.0 } },
      { "name": "NECK_pitch", "joint_type": "revolute", "parent_link": "neck_yaw_link", "child_link": "head", "axis": [0, 1, 0], "origin_xyz": [0.0, 0.0, 0.06], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.7, "upper": 0.7, "effort_max": 8.0, "velocity_max": 6.0 } },

      { "name": "L_CLAVICLE_fixed", "joint_type": "fixed", "parent_link": "torso", "child_link": "L_clavicle", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.16, 0.36], "origin_rpy": [0, 0, 0] },
      { "name": "L_SHOULDER_pitch", "joint_type": "revolute", "parent_link": "L_clavicle", "child_link": "L_shoulder_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.04, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -3.14, "upper": 3.14, "effort_max": 60.0, "velocity_max": 6.0 } },
      { "name": "L_SHOULDER_roll",  "joint_type": "revolute", "parent_link": "L_shoulder_pitch_housing", "child_link": "L_shoulder_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.4, "upper": 3.0, "effort_max": 60.0, "velocity_max": 6.0 } },
      { "name": "L_SHOULDER_yaw",   "joint_type": "revolute", "parent_link": "L_shoulder_roll_housing", "child_link": "L_upper_arm", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 2.5, "effort_max": 40.0, "velocity_max": 8.0 } },
      { "name": "L_ELBOW_pitch",    "joint_type": "revolute", "parent_link": "L_upper_arm", "child_link": "L_elbow_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.30], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 0.0, "effort_max": 40.0, "velocity_max": 8.0 } },
      { "name": "L_ELBOW_to_forearm", "joint_type": "fixed", "parent_link": "L_elbow_housing", "child_link": "L_forearm", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "L_WRIST_yaw",   "joint_type": "revolute", "parent_link": "L_forearm", "child_link": "L_wrist_pitch_link", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, -0.26], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 2.5, "effort_max": 8.0, "velocity_max": 8.0 } },
      { "name": "L_WRIST_pitch", "joint_type": "revolute", "parent_link": "L_wrist_pitch_link", "child_link": "L_wrist_roll_link", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 8.0, "velocity_max": 8.0 } },
      { "name": "L_WRIST_roll",  "joint_type": "revolute", "parent_link": "L_wrist_roll_link", "child_link": "L_hand", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.6, "upper": 1.6, "effort_max": 6.0, "velocity_max": 8.0 } },

      { "name": "R_CLAVICLE_fixed", "joint_type": "fixed", "parent_link": "torso", "child_link": "R_clavicle", "axis": [0, 0, 1], "origin_xyz": [0.00, -0.16, 0.36], "origin_rpy": [0, 0, 0] },
      { "name": "R_SHOULDER_pitch", "joint_type": "revolute", "parent_link": "R_clavicle", "child_link": "R_shoulder_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, -0.04, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -3.14, "upper": 3.14, "effort_max": 60.0, "velocity_max": 6.0 } },
      { "name": "R_SHOULDER_roll",  "joint_type": "revolute", "parent_link": "R_shoulder_pitch_housing", "child_link": "R_shoulder_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -3.0, "upper": 0.4, "effort_max": 60.0, "velocity_max": 6.0 } },
      { "name": "R_SHOULDER_yaw",   "joint_type": "revolute", "parent_link": "R_shoulder_roll_housing", "child_link": "R_upper_arm", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 2.5, "effort_max": 40.0, "velocity_max": 8.0 } },
      { "name": "R_ELBOW_pitch",    "joint_type": "revolute", "parent_link": "R_upper_arm", "child_link": "R_elbow_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.30], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 0.0, "effort_max": 40.0, "velocity_max": 8.0 } },
      { "name": "R_ELBOW_to_forearm", "joint_type": "fixed", "parent_link": "R_elbow_housing", "child_link": "R_forearm", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "R_WRIST_yaw",   "joint_type": "revolute", "parent_link": "R_forearm", "child_link": "R_wrist_pitch_link", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, -0.26], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.5, "upper": 2.5, "effort_max": 8.0, "velocity_max": 8.0 } },
      { "name": "R_WRIST_pitch", "joint_type": "revolute", "parent_link": "R_wrist_pitch_link", "child_link": "R_wrist_roll_link", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 8.0, "velocity_max": 8.0 } },
      { "name": "R_WRIST_roll",  "joint_type": "revolute", "parent_link": "R_wrist_roll_link", "child_link": "R_hand", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.6, "upper": 1.6, "effort_max": 6.0, "velocity_max": 8.0 } },

      { "name": "L_HAND_synergy", "joint_type": "revolute", "parent_link": "L_hand", "child_link": "L_hand", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": 0.0, "upper": 1.0, "effort_max": 6.0, "velocity_max": 52.0 }, "_metadata": { "synergy_dof": true, "spool_radius_m": 0.004, "comment": "Synergy progress DoF in [0,1] mapping spool position from open to fully-closed fist. Single motor drives all 5 fingers via fixed-ratio mechanical synergy. Actual finger-joint motions are passive (driven by tendon + return-spring equilibrium); see hand-v0.1-assembly.md. v0.1.1: spool_radius_m corrected from 0.008 → 0.004 m to match the BOM 8 mm spool OD (groove valley ≈ 4 mm radius)." } },
      { "name": "R_HAND_synergy", "joint_type": "revolute", "parent_link": "R_hand", "child_link": "R_hand", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": 0.0, "upper": 1.0, "effort_max": 6.0, "velocity_max": 52.0 }, "_metadata": { "synergy_dof": true, "spool_radius_m": 0.004, "comment": "Synergy progress DoF in [0,1] mapping spool position from open to fully-closed fist. Single motor drives all 5 fingers via fixed-ratio mechanical synergy. Actual finger-joint motions are passive (driven by tendon + return-spring equilibrium); see hand-v0.1-assembly.md. v0.1.1: spool_radius_m corrected from 0.008 → 0.004 m to match the BOM 8 mm spool OD (groove valley ≈ 4 mm radius)." } },

      { "name": "L_HIP_yaw",   "joint_type": "revolute", "parent_link": "pelvis", "child_link": "L_hip_yaw_housing", "axis": [0, 0, 1], "origin_xyz": [0.00,  0.10, -0.04], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "L_HIP_roll",  "joint_type": "revolute", "parent_link": "L_hip_yaw_housing", "child_link": "L_hip_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.6, "upper": 0.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "L_HIP_pitch", "joint_type": "revolute", "parent_link": "L_hip_roll_housing", "child_link": "L_hip_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.0, "upper": 1.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "L_HIP_to_thigh", "joint_type": "fixed", "parent_link": "L_hip_pitch_housing", "child_link": "L_thigh", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "L_KNEE_pitch", "joint_type": "revolute", "parent_link": "L_thigh", "child_link": "L_knee_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.38], "origin_rpy": [0, 0, 0], "limits": { "lower": 0.0, "upper": 2.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "L_KNEE_to_shank", "joint_type": "fixed", "parent_link": "L_knee_housing", "child_link": "L_shank", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "L_ANKLE_pitch", "joint_type": "revolute", "parent_link": "L_shank", "child_link": "L_ankle_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.38], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 60.0, "velocity_max": 12.0 } },
      { "name": "L_ANKLE_roll",  "joint_type": "revolute", "parent_link": "L_ankle_pitch_housing", "child_link": "L_ankle_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.5, "upper": 0.5, "effort_max": 60.0, "velocity_max": 12.0 } },
      { "name": "L_ANKLE_to_foot", "joint_type": "fixed", "parent_link": "L_ankle_roll_housing", "child_link": "L_foot", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, -0.05], "origin_rpy": [0, 0, 0] },

      { "name": "R_HIP_yaw",   "joint_type": "revolute", "parent_link": "pelvis", "child_link": "R_hip_yaw_housing", "axis": [0, 0, 1], "origin_xyz": [0.00, -0.10, -0.04], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "R_HIP_roll",  "joint_type": "revolute", "parent_link": "R_hip_yaw_housing", "child_link": "R_hip_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.6, "upper": 0.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "R_HIP_pitch", "joint_type": "revolute", "parent_link": "R_hip_roll_housing", "child_link": "R_hip_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -2.0, "upper": 1.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "R_HIP_to_thigh", "joint_type": "fixed", "parent_link": "R_hip_pitch_housing", "child_link": "R_thigh", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "R_KNEE_pitch", "joint_type": "revolute", "parent_link": "R_thigh", "child_link": "R_knee_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.38], "origin_rpy": [0, 0, 0], "limits": { "lower": 0.0, "upper": 2.6, "effort_max": 200.0, "velocity_max": 8.0 } },
      { "name": "R_KNEE_to_shank", "joint_type": "fixed", "parent_link": "R_knee_housing", "child_link": "R_shank", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0] },
      { "name": "R_ANKLE_pitch", "joint_type": "revolute", "parent_link": "R_shank", "child_link": "R_ankle_pitch_housing", "axis": [0, 1, 0], "origin_xyz": [0.00, 0.00, -0.38], "origin_rpy": [0, 0, 0], "limits": { "lower": -1.0, "upper": 1.0, "effort_max": 60.0, "velocity_max": 12.0 } },
      { "name": "R_ANKLE_roll",  "joint_type": "revolute", "parent_link": "R_ankle_pitch_housing", "child_link": "R_ankle_roll_housing", "axis": [1, 0, 0], "origin_xyz": [0.00, 0.00, 0.00], "origin_rpy": [0, 0, 0], "limits": { "lower": -0.5, "upper": 0.5, "effort_max": 60.0, "velocity_max": 12.0 } },
      { "name": "R_ANKLE_to_foot", "joint_type": "fixed", "parent_link": "R_ankle_roll_housing", "child_link": "R_foot", "axis": [0, 0, 1], "origin_xyz": [0.00, 0.00, -0.05], "origin_rpy": [0, 0, 0] }
    ],
    "actuator_slots": [
      { "name": "WAIST_yaw",        "joint": "WAIST_yaw",        "tier": 2, "type": "qdd",            "corpus_citation": "mini-cheetah" },

      { "name": "NECK_yaw",         "joint": "NECK_yaw",         "tier": 1, "type": "qdd",            "corpus_citation": "mini-cheetah" },
      { "name": "NECK_pitch",       "joint": "NECK_pitch",       "tier": 1, "type": "qdd",            "corpus_citation": "mini-cheetah" },

      { "name": "L_SHOULDER_pitch", "joint": "L_SHOULDER_pitch", "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "L_SHOULDER_roll",  "joint": "L_SHOULDER_roll",  "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "L_SHOULDER_yaw",   "joint": "L_SHOULDER_yaw",   "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "L_ELBOW_pitch",    "joint": "L_ELBOW_pitch",    "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "L_WRIST_yaw",      "joint": "L_WRIST_yaw",      "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },
      { "name": "L_WRIST_pitch",    "joint": "L_WRIST_pitch",    "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },
      { "name": "L_WRIST_roll",     "joint": "L_WRIST_roll",     "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },

      { "name": "R_SHOULDER_pitch", "joint": "R_SHOULDER_pitch", "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "R_SHOULDER_roll",  "joint": "R_SHOULDER_roll",  "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "R_SHOULDER_yaw",   "joint": "R_SHOULDER_yaw",   "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "R_ELBOW_pitch",    "joint": "R_ELBOW_pitch",    "tier": 2, "type": "harmonic_drive", "corpus_citation": "honda-e0" },
      { "name": "R_WRIST_yaw",      "joint": "R_WRIST_yaw",      "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },
      { "name": "R_WRIST_pitch",    "joint": "R_WRIST_pitch",    "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },
      { "name": "R_WRIST_roll",     "joint": "R_WRIST_roll",     "tier": 1, "type": "tendon",         "corpus_citation": "shadow-dexterous-hand" },

      { "name": "L_HAND_synergy",   "joint": "L_HAND_synergy",   "tier": 2, "type": "tendon",         "reducer_ratio": 14.0, "peak_torque_nm": 6.25, "continuous_torque_nm": 0.82, "max_velocity_rad_s": 52.4, "corpus_citation": "pisa-iit-softhand", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 30 (catalog ~496661, 70 W, 24 V)", "reducer_part_number": "Maxon GP 32 HP planetary, 14:1 single-stage (catalog ~166940)", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "tension_sensor_part_number": "Phidgets CZL635 + HX711 (mounted forearm-side adjacent to Moteus n1; relocated v0.1.1 fix #9)", "tendon_material": "UHMWPE / Spectra (Samson AmSteel-Blue 1.5 mm)", "spool_radius_m": 0.004, "synergy_pattern": "fixed_ratio_mechanical", "rationale": "Single motor + 14:1 planetary reduction matches Pisa-IIT SoftHand class synergy-reduced underactuation (commitment #4). 14:1 is the nearest Maxon catalog ratio to the design target ~10:1. v0.1.1 fix #5: spool_radius_m corrected from 0.008 → 0.004 m to match the BOM 8 mm spool OD (groove valley ≈ 4 mm radius). Force derivation at the cable: continuous = 0.82 N·m / 0.004 m ≈ 205 N (was 100 N at the erroneous 0.008 m); peak = 6.25 N·m / 0.004 m ≈ 1562 N (was 780 N). The 0.82 N·m continuous figure is the motor 78 mNm × 14 reduction × ~0.75 efficiency for the GP 32 HP single-stage planetary; peak 6.25 N·m is reducer-limited. Sufficient for power-grasp on 25–50 lb test Spectra (1562 N peak >> 110–220 N tendon working-load envelope). Source BOM: chassis/hand-v0.1-BOM.csv. Source assembly: chassis/hand-v0.1-assembly.md.", "comment": "REFERENCE values derived from BOM-pinned vendor parts; not validated by physical build." } },
      { "name": "R_HAND_synergy",   "joint": "R_HAND_synergy",   "tier": 2, "type": "tendon",         "reducer_ratio": 14.0, "peak_torque_nm": 6.25, "continuous_torque_nm": 0.82, "max_velocity_rad_s": 52.4, "corpus_citation": "pisa-iit-softhand", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 30 (catalog ~496661, 70 W, 24 V)", "reducer_part_number": "Maxon GP 32 HP planetary, 14:1 single-stage (catalog ~166940)", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "tension_sensor_part_number": "Phidgets CZL635 + HX711 (mounted forearm-side adjacent to Moteus n1; relocated v0.1.1 fix #9)", "tendon_material": "UHMWPE / Spectra (Samson AmSteel-Blue 1.5 mm)", "spool_radius_m": 0.004, "synergy_pattern": "fixed_ratio_mechanical", "rationale": "Single motor + 14:1 planetary reduction matches Pisa-IIT SoftHand class synergy-reduced underactuation (commitment #4). 14:1 is the nearest Maxon catalog ratio to the design target ~10:1. v0.1.1 fix #5: spool_radius_m corrected from 0.008 → 0.004 m to match the BOM 8 mm spool OD (groove valley ≈ 4 mm radius). Force derivation at the cable: continuous = 0.82 N·m / 0.004 m ≈ 205 N (was 100 N at the erroneous 0.008 m); peak = 6.25 N·m / 0.004 m ≈ 1562 N (was 780 N). The 0.82 N·m continuous figure is the motor 78 mNm × 14 reduction × ~0.75 efficiency for the GP 32 HP single-stage planetary; peak 6.25 N·m is reducer-limited. Sufficient for power-grasp on 25–50 lb test Spectra (1562 N peak >> 110–220 N tendon working-load envelope). Source BOM: chassis/hand-v0.1-BOM.csv. Source assembly: chassis/hand-v0.1-assembly.md.", "comment": "REFERENCE values derived from BOM-pinned vendor parts; not validated by physical build." } },

      { "name": "L_HIP_yaw",        "joint": "L_HIP_yaw",        "tier": 2, "type": "cycloidal",      "reducer_ratio": 30.0, "peak_torque_nm": 80.0,  "continuous_torque_nm": 40.0, "max_velocity_rad_s": 22.7, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-30E cycloidal, 30:1 (Sumitomo CYCLO 6000 alternate)", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC", "rationale": "30:1 cycloidal sized for hip-yaw peak ~80 N·m (single-leg-stance yaw torque from torso inertia). Output 200 N·m peak rating gives 2.5× margin. Lower ratio than other hip joints because hip-yaw needs higher angular velocity for swing-leg recovery. Source BOM: chassis/leg-v0.1-BOM.csv. Source assembly: chassis/leg-v0.1-assembly.md.", "comment": "REFERENCE values derived from BOM-pinned vendor parts; not validated by physical build." } },
      { "name": "L_HIP_roll",       "joint": "L_HIP_roll",       "tier": 2, "type": "cycloidal",      "reducer_ratio": 50.0, "peak_torque_nm": 120.0, "continuous_torque_nm": 60.0, "max_velocity_rad_s": 13.6, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-50E cycloidal, 50:1", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (optional v0.1)", "rationale": "Hip-roll = abduction in frontal plane. 50:1 cycloidal sized for ~120 N·m peak (lateral COM control during single-leg stance). Output 300 N·m peak rating gives 2.5× margin. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "L_HIP_pitch",      "joint": "L_HIP_pitch",      "tier": 2, "type": "cycloidal",      "reducer_ratio": 50.0, "peak_torque_nm": 150.0, "continuous_torque_nm": 75.0, "max_velocity_rad_s": 13.6, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 52, 320 W, 48 V (catalog ~526262)", "reducer_part_number": "Onvio RV-E-50E-HT cycloidal, 50:1 high-torque variant", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (recommended)", "rationale": "Hip-pitch = flexion in sagittal plane — single highest-torque joint in the leg under single-leg stance. EC-i 52 (320 W) chosen vs EC-i 50 (200 W) for thermal headroom on this load. 50:1 cycloidal HT-variant rated 400 N·m peak gives 2.6× margin. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "L_KNEE_pitch",     "joint": "L_KNEE_pitch",     "tier": 2, "type": "cycloidal",      "reducer_ratio": 30.0, "peak_torque_nm": 150.0, "continuous_torque_nm": 75.0, "max_velocity_rad_s": 22.7, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-30E-HT cycloidal, 30:1 high-torque variant", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (recommended)", "rationale": "Knee peak ~150 N·m for stair-climb / squat-recovery. 30:1 ratio (lower than hip-pitch's 50:1) gives knee a higher angular-velocity envelope, important for swing-leg recovery during walk gait. Output 300 N·m peak rating gives 2× margin. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "L_ANKLE_pitch",    "joint": "L_ANKLE_pitch",    "tier": 2, "type": "qdd",            "reducer_ratio": 6.6,  "peak_torque_nm": 40.0,  "continuous_torque_nm": 12.0, "max_velocity_rad_s": 103.0, "corpus_citation": "mini-cheetah", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "T-Motor U8 Lite KV150 outrunner BLDC, 240 g", "reducer_part_number": "Maxon GP 32 HP single-stage planetary, 6.6:1 (catalog ~326662)", "controller_part_number": "mjbots Moteus c1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "rationale": "Ankle = QDD per architectural commitment #1 (Mini Cheetah / Cassie lineage). Low-ratio planetary preserves backdrivability for ground-impact compliance. Single-stage 6.6:1 + U8 Lite gives ~40 N·m peak / ~12 N·m continuous. High max-velocity envelope (103 rad/s ~= 985 RPM) enables high-bandwidth foot-placement control. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "L_ANKLE_roll",     "joint": "L_ANKLE_roll",     "tier": 2, "type": "qdd",            "reducer_ratio": 6.6,  "peak_torque_nm": 40.0,  "continuous_torque_nm": 12.0, "max_velocity_rad_s": 103.0, "corpus_citation": "mini-cheetah", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "T-Motor U8 Lite KV150 outrunner BLDC, 240 g", "reducer_part_number": "Maxon GP 32 HP single-stage planetary, 6.6:1 (catalog ~326662)", "controller_part_number": "mjbots Moteus c1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "rationale": "Identical actuator stack to L_ANKLE_pitch — 2-DoF cluster shares the SKU set for parts-count economy. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },

      { "name": "R_HIP_yaw",        "joint": "R_HIP_yaw",        "tier": 2, "type": "cycloidal",      "reducer_ratio": 30.0, "peak_torque_nm": 80.0,  "continuous_torque_nm": 40.0, "max_velocity_rad_s": 22.7, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-30E cycloidal, 30:1", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC", "rationale": "Mirror of L_HIP_yaw. Source BOM: chassis/leg-v0.1-BOM.csv.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "R_HIP_roll",       "joint": "R_HIP_roll",       "tier": 2, "type": "cycloidal",      "reducer_ratio": 50.0, "peak_torque_nm": 120.0, "continuous_torque_nm": 60.0, "max_velocity_rad_s": 13.6, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-50E cycloidal, 50:1", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (optional v0.1)", "rationale": "Mirror of L_HIP_roll.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "R_HIP_pitch",      "joint": "R_HIP_pitch",      "tier": 2, "type": "cycloidal",      "reducer_ratio": 50.0, "peak_torque_nm": 150.0, "continuous_torque_nm": 75.0, "max_velocity_rad_s": 13.6, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 52, 320 W, 48 V (catalog ~526262)", "reducer_part_number": "Onvio RV-E-50E-HT cycloidal, 50:1 high-torque variant", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (recommended)", "rationale": "Mirror of L_HIP_pitch — highest-torque joint in the leg.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "R_KNEE_pitch",     "joint": "R_KNEE_pitch",     "tier": 2, "type": "cycloidal",      "reducer_ratio": 30.0, "peak_torque_nm": 150.0, "continuous_torque_nm": 75.0, "max_velocity_rad_s": 22.7, "corpus_citation": "sumitomo-cyclo", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "Maxon EC-i 50, 200 W, 48 V (catalog ~449464)", "reducer_part_number": "Onvio RV-E-30E-HT cycloidal, 30:1 high-torque variant", "controller_part_number": "mjbots Moteus n1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "torque_sensor_part_number": "foil strain-gauge bridge + HX711 ADC (recommended)", "rationale": "Mirror of L_KNEE_pitch.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "R_ANKLE_pitch",    "joint": "R_ANKLE_pitch",    "tier": 2, "type": "qdd",            "reducer_ratio": 6.6,  "peak_torque_nm": 40.0,  "continuous_torque_nm": 12.0, "max_velocity_rad_s": 103.0, "corpus_citation": "mini-cheetah", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "T-Motor U8 Lite KV150 outrunner BLDC, 240 g", "reducer_part_number": "Maxon GP 32 HP single-stage planetary, 6.6:1 (catalog ~326662)", "controller_part_number": "mjbots Moteus c1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "rationale": "Mirror of L_ANKLE_pitch.", "comment": "REFERENCE values; not validated by physical build." } },
      { "name": "R_ANKLE_roll",     "joint": "R_ANKLE_roll",     "tier": 2, "type": "qdd",            "reducer_ratio": 6.6,  "peak_torque_nm": 40.0,  "continuous_torque_nm": 12.0, "max_velocity_rad_s": 103.0, "corpus_citation": "mini-cheetah", "_metadata": { "vendor_pinned_v0_1": true, "motor_part_number": "T-Motor U8 Lite KV150 outrunner BLDC, 240 g", "reducer_part_number": "Maxon GP 32 HP single-stage planetary, 6.6:1 (catalog ~326662)", "controller_part_number": "mjbots Moteus c1", "encoder_part_number": "AMS AS5048A 14-bit magnetic", "rationale": "Mirror of L_ANKLE_roll.", "comment": "REFERENCE values; not validated by physical build." } }
    ],
    "modes": [
      {
        "name": "safe_pose",
        "hold_positions": {
          "WAIST_yaw": 0.0,
          "NECK_yaw": 0.0, "NECK_pitch": 0.0,
          "L_SHOULDER_pitch": 0.0, "L_SHOULDER_roll": 0.0, "L_SHOULDER_yaw": 0.0, "L_ELBOW_pitch": -1.4,
          "L_WRIST_yaw": 0.0, "L_WRIST_pitch": 0.0, "L_WRIST_roll": 0.0,
          "R_SHOULDER_pitch": 0.0, "R_SHOULDER_roll": 0.0, "R_SHOULDER_yaw": 0.0, "R_ELBOW_pitch": -1.4,
          "R_WRIST_yaw": 0.0, "R_WRIST_pitch": 0.0, "R_WRIST_roll": 0.0,
          "L_HIP_yaw": 0.0, "L_HIP_roll": 0.0, "L_HIP_pitch": -0.6, "L_KNEE_pitch": 1.6, "L_ANKLE_pitch": -0.6, "L_ANKLE_roll": 0.0,
          "R_HIP_yaw": 0.0, "R_HIP_roll": 0.0, "R_HIP_pitch": -0.6, "R_KNEE_pitch": 1.6, "R_ANKLE_pitch": -0.6, "R_ANKLE_roll": 0.0
        },
        "actuator_roles": {
          "WAIST_yaw": "hold",
          "NECK_yaw": "hold", "NECK_pitch": "hold",
          "L_SHOULDER_pitch": "hold", "L_SHOULDER_roll": "hold", "L_SHOULDER_yaw": "hold", "L_ELBOW_pitch": "hold",
          "L_WRIST_yaw": "hold", "L_WRIST_pitch": "hold", "L_WRIST_roll": "hold",
          "R_SHOULDER_pitch": "hold", "R_SHOULDER_roll": "hold", "R_SHOULDER_yaw": "hold", "R_ELBOW_pitch": "hold",
          "R_WRIST_yaw": "hold", "R_WRIST_pitch": "hold", "R_WRIST_roll": "hold",
          "L_HIP_yaw": "hold", "L_HIP_roll": "hold", "L_HIP_pitch": "hold", "L_KNEE_pitch": "hold", "L_ANKLE_pitch": "hold", "L_ANKLE_roll": "hold",
          "R_HIP_yaw": "hold", "R_HIP_roll": "hold", "R_HIP_pitch": "hold", "R_KNEE_pitch": "hold", "R_ANKLE_pitch": "hold", "R_ANKLE_roll": "hold"
        }
      },
      {
        "name": "standing",
        "hold_positions": {},
        "actuator_roles": {
          "WAIST_yaw": "impedance",
          "NECK_yaw": "impedance", "NECK_pitch": "impedance",
          "L_SHOULDER_pitch": "impedance", "L_SHOULDER_roll": "impedance", "L_SHOULDER_yaw": "impedance", "L_ELBOW_pitch": "impedance",
          "L_WRIST_yaw": "impedance", "L_WRIST_pitch": "impedance", "L_WRIST_roll": "impedance",
          "R_SHOULDER_pitch": "impedance", "R_SHOULDER_roll": "impedance", "R_SHOULDER_yaw": "impedance", "R_ELBOW_pitch": "impedance",
          "R_WRIST_yaw": "impedance", "R_WRIST_pitch": "impedance", "R_WRIST_roll": "impedance",
          "L_HIP_yaw": "impedance", "L_HIP_roll": "impedance", "L_HIP_pitch": "impedance", "L_KNEE_pitch": "impedance", "L_ANKLE_pitch": "impedance", "L_ANKLE_roll": "impedance",
          "R_HIP_yaw": "impedance", "R_HIP_roll": "impedance", "R_HIP_pitch": "impedance", "R_KNEE_pitch": "impedance", "R_ANKLE_pitch": "impedance", "R_ANKLE_roll": "impedance"
        }
      },
      {
        "name": "walking",
        "hold_positions": {},
        "actuator_roles": {
          "WAIST_yaw": "impedance",
          "NECK_yaw": "impedance", "NECK_pitch": "impedance",
          "L_SHOULDER_pitch": "impedance", "L_SHOULDER_roll": "impedance", "L_SHOULDER_yaw": "impedance", "L_ELBOW_pitch": "impedance",
          "L_WRIST_yaw": "hold", "L_WRIST_pitch": "hold", "L_WRIST_roll": "hold",
          "R_SHOULDER_pitch": "impedance", "R_SHOULDER_roll": "impedance", "R_SHOULDER_yaw": "impedance", "R_ELBOW_pitch": "impedance",
          "R_WRIST_yaw": "hold", "R_WRIST_pitch": "hold", "R_WRIST_roll": "hold",
          "L_HIP_yaw": "impedance", "L_HIP_roll": "impedance", "L_HIP_pitch": "impedance", "L_KNEE_pitch": "impedance", "L_ANKLE_pitch": "impedance", "L_ANKLE_roll": "impedance",
          "R_HIP_yaw": "impedance", "R_HIP_roll": "impedance", "R_HIP_pitch": "impedance", "R_KNEE_pitch": "impedance", "R_ANKLE_pitch": "impedance", "R_ANKLE_roll": "impedance"
        }
      },
      {
        "name": "manipulation",
        "hold_positions": {},
        "actuator_roles": {
          "WAIST_yaw": "impedance",
          "NECK_yaw": "impedance", "NECK_pitch": "impedance",
          "L_SHOULDER_pitch": "impedance", "L_SHOULDER_roll": "impedance", "L_SHOULDER_yaw": "impedance", "L_ELBOW_pitch": "impedance",
          "L_WRIST_yaw": "impedance", "L_WRIST_pitch": "impedance", "L_WRIST_roll": "impedance",
          "R_SHOULDER_pitch": "impedance", "R_SHOULDER_roll": "impedance", "R_SHOULDER_yaw": "impedance", "R_ELBOW_pitch": "impedance",
          "R_WRIST_yaw": "impedance", "R_WRIST_pitch": "impedance", "R_WRIST_roll": "impedance",
          "L_HIP_yaw": "hold", "L_HIP_roll": "hold", "L_HIP_pitch": "hold", "L_KNEE_pitch": "hold", "L_ANKLE_pitch": "hold", "L_ANKLE_roll": "hold",
          "R_HIP_yaw": "hold", "R_HIP_roll": "hold", "R_HIP_pitch": "hold", "R_KNEE_pitch": "hold", "R_ANKLE_pitch": "hold", "R_ANKLE_roll": "hold"
        }
      }
    ]
  }
}