{
  "schema_version": 1,
  "robot_id": "g1d-01",
  "state_keys": [
    "left_shoulder_pitch.pos",
    "left_shoulder_roll.pos",
    "left_shoulder_yaw.pos",
    "left_elbow.pos",
    "left_wrist_roll.pos",
    "left_wrist_pitch.pos",
    "left_wrist_yaw.pos",
    "right_shoulder_pitch.pos",
    "right_shoulder_roll.pos",
    "right_shoulder_yaw.pos",
    "right_elbow.pos",
    "right_wrist_roll.pos",
    "right_wrist_pitch.pos",
    "right_wrist_yaw.pos",
    "left_thumb.pos",
    "left_thumb_aux.pos",
    "left_index.pos",
    "left_middle.pos",
    "left_ring.pos",
    "left_pinky.pos",
    "right_thumb.pos",
    "right_thumb_aux.pos",
    "right_index.pos",
    "right_middle.pos",
    "right_ring.pos",
    "right_pinky.pos"
  ],
  "defaults": {
    "arm_tol_rad": 0.15,
    "hand_tol_rad": 0.3,
    "dwell_s": 0.75
  },
  "waypoints": {
    "W0": {
      "meaning": "start pose before S1",
      "positions": [
        0.130773,
        0.05221,
        0.093165,
        -0.108305,
        0.006976,
        -0.313215,
        0.01697,
        -0.07144,
        -0.021683,
        -0.037159,
        0.105219,
        0.003257,
        -0.265167,
        0.00268,
        0.02512,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0157,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "W1": {
      "meaning": "after S1: open the lid with the left hand while steadying the box with the right hand, then fold the lid fully upright",
      "positions": [
        0.05804,
        0.011765,
        0.104923,
        -0.06187,
        -0.033283,
        -0.178266,
        0.021493,
        -0.069201,
        -0.030565,
        -0.055589,
        0.11728,
        -0.068075,
        -0.215468,
        -0.070183,
        0.03297,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0157,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "W2": {
      "meaning": "after S2: pick up the tied cable with the right hand and put it inside the open box",
      "positions": [
        0.141161,
        0.330795,
        -0.314975,
        -0.138469,
        0.889833,
        -0.053614,
        0.168927,
        -0.075377,
        0.011388,
        -0.116025,
        0.107803,
        0.13593,
        -0.190146,
        0.059807,
        0.05181,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00314,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "W3": {
      "meaning": "after S3: steady the box with the left hand and lower the lid over the box opening with the right hand",
      "positions": [
        0.091745,
        0.055645,
        0.066314,
        -0.030886,
        0.087975,
        -0.413993,
        0.060673,
        -0.104457,
        -0.027857,
        -0.00291,
        0.112138,
        -0.133457,
        -0.238184,
        -0.090041,
        0.0157,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00628,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "W4": {
      "meaning": "after S4: tuck the front lip of the lid into the box and press the lid closed, and retract both arms to home",
      "positions": [
        0.116452,
        0.052425,
        0.082937,
        -0.070832,
        0.027143,
        -0.345758,
        0.099041,
        -0.164736,
        -0.098298,
        -0.062799,
        0.231657,
        -0.01155,
        -0.323136,
        -0.047804,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00157,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    }
  }
}