{
  "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": [
        -0.49528,
        0.254217,
        0.27117,
        0.239489,
        0.083846,
        -0.695234,
        0.169292,
        -0.593995,
        -0.331707,
        -0.19795,
        0.29839,
        -0.114477,
        -0.619459,
        -0.129371,
        0.02512,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00314,
        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": [
        -0.88158,
        0.360998,
        0.313368,
        0.283045,
        0.048336,
        -0.912883,
        0.144749,
        -0.966196,
        -0.436212,
        -0.275225,
        0.221283,
        0.039958,
        -0.750479,
        0.015571,
        0.02512,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00314,
        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": [
        -0.309164,
        -0.002766,
        -0.342857,
        0.101877,
        -0.24774,
        0.376515,
        -0.727311,
        -1.018332,
        -0.30196,
        -0.182461,
        0.47315,
        0.146943,
        -0.528423,
        0.17866,
        0.02512,
        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: lower the lid over the box opening with both hands",
      "positions": [
        -0.73862,
        0.228353,
        0.162302,
        1.072547,
        0.005291,
        -0.628808,
        0.02249,
        -0.911833,
        -0.302929,
        -0.182945,
        1.107891,
        0.075499,
        -0.476146,
        0.210556,
        0.02512,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00314,
        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": [
        -0.631625,
        0.193104,
        0.193306,
        -0.13394,
        -0.187342,
        -0.451507,
        -0.026853,
        -0.461005,
        -0.113337,
        0.536896,
        0.285115,
        -0.176144,
        -0.181145,
        0.703039,
        0.02512,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.00314,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    }
  }
}