{
    "h1_simple_hand": [
        {
            "init_state": {
                "h1_simple_hand": {
                    "dof_pos": {
                        "left_hip_yaw": 0.0,
                        "left_hip_roll": 0.0,
                        "left_hip_pitch": -0.4,
                        "left_knee": 0.8,
                        "left_ankle": -0.4,
                        "right_hip_yaw": 0.0,
                        "right_hip_roll": 0.0,
                        "right_hip_pitch": -0.4,
                        "right_knee": 0.8,
                        "right_ankle": -0.4,
                        "torso": 0.0,
                        "left_shoulder_pitch": 0.0,
                        "left_shoulder_roll": 0.0,
                        "left_shoulder_yaw": 0.0,
                        "left_elbow": 0.0,
                        "left_hand": 0.0,
                        "right_shoulder_pitch": 0.0,
                        "right_shoulder_roll": 0.0,
                        "right_shoulder_yaw": 0.0,
                        "right_elbow": 0.0,
                        "right_hand": 0.0,
                        "L_index_proximal": 0.0,
                        "L_index_intermediate": 0.0,
                        "L_middle_proximal": 0.0,
                        "L_middle_intermediate": 0.0,
                        "L_ring_proximal": 0.0,
                        "L_ring_intermediate": 0.0,
                        "L_pinky_proximal": 0.0,
                        "L_pinky_intermediate": 0.0,
                        "L_thumb_proximal_yaw": 0.0,
                        "L_thumb_proximal_pitch": 0.0,
                        "L_thumb_intermediate": 0.0,
                        "L_thumb_distal": 0.0,
                        "R_index_proximal": 0.0,
                        "R_index_intermediate": 0.0,
                        "R_middle_proximal": 0.0,
                        "R_middle_intermediate": 0.0,
                        "R_ring_proximal": 0.0,
                        "R_ring_intermediate": 0.0,
                        "R_pinky_proximal": 0.0,
                        "R_pinky_intermediate": 0.0,
                        "R_thumb_proximal_yaw": 0.0,
                        "R_thumb_proximal_pitch": 0.0,
                        "R_thumb_intermediate": 0.0,
                        "R_thumb_distal": 0.0
                    },
                    "pos": [
                        0.0,
                        0.0,
                        0.98
                    ],
                    "rot": [
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                }
            }
        }
    ]
}