{
  "total_dim": 8,
  "segments": [
    {
      "name": "manipulator",
      "start": 0,
      "stop": 7,
      "width": 7,
      "ctrl_type": "OSCPoseAbsoluteQuatController"
    },
    {
      "name": "gripper",
      "start": 7,
      "stop": 8,
      "width": 1,
      "ctrl_type": "JointPositionController"
    }
  ]
}