{
  "note": "clamp to the training ACTION envelope, then intersect with robot joint limits",
  "joints": {
    "left_shoulder_pitch_joint": {
      "lo": -0.86171,
      "hi": 0.52705,
      "train_min": -0.81809,
      "train_max": 0.48344,
      "q01": -0.48059,
      "q99": 0.39169
    },
    "left_shoulder_roll_joint": {
      "lo": 0.18,
      "hi": 0.42277,
      "train_min": 0.19,
      "train_max": 0.41277,
      "q01": 0.19,
      "q99": 0.33705
    },
    "left_shoulder_yaw_joint": {
      "lo": -0.84519,
      "hi": 0.53152,
      "train_min": -0.81112,
      "train_max": 0.49745,
      "q01": -0.45315,
      "q99": 0.22835
    },
    "left_elbow_joint": {
      "lo": -0.84771,
      "hi": 0.89052,
      "train_min": -0.78907,
      "train_max": 0.83188,
      "q01": -0.70234,
      "q99": 0.47057
    },
    "left_wrist_roll_joint": {
      "lo": -0.66462,
      "hi": 0.01783,
      "train_min": -0.64626,
      "train_max": -0.00054,
      "q01": -0.43632,
      "q99": -0.06906
    },
    "left_wrist_pitch_joint": {
      "lo": -0.83384,
      "hi": 0.47068,
      "train_min": -0.79081,
      "train_max": 0.42764,
      "q01": -0.57922,
      "q99": 0.28157
    },
    "left_wrist_yaw_joint": {
      "lo": -0.19821,
      "hi": 0.50648,
      "train_min": -0.17585,
      "train_max": 0.48411,
      "q01": -0.09137,
      "q99": 0.35592
    },
    "left_hand_index_0_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_index_1_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_middle_0_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_middle_1_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_thumb_0_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_thumb_1_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "left_hand_thumb_2_joint": {
      "lo": -0.01,
      "hi": 0.01,
      "train_min": 0.0,
      "train_max": 0.0,
      "q01": 0.0,
      "q99": 0.0
    },
    "right_shoulder_pitch_joint": {
      "lo": -1.65472,
      "hi": 0.59628,
      "train_min": -1.57128,
      "train_max": 0.51285,
      "q01": -1.38303,
      "q99": 0.28567
    },
    "right_shoulder_roll_joint": {
      "lo": -0.7854,
      "hi": -0.17079,
      "train_min": -0.76619,
      "train_max": -0.19,
      "q01": -0.57424,
      "q99": -0.19
    },
    "right_shoulder_yaw_joint": {
      "lo": -1.48841,
      "hi": 1.78412,
      "train_min": -1.37779,
      "train_max": 1.67351,
      "q01": -0.65583,
      "q99": 1.5565
    },
    "right_elbow_joint": {
      "lo": -1.1599,
      "hi": 1.79516,
      "train_min": -1.0472,
      "train_max": 1.68246,
      "q01": -0.85724,
      "q99": 1.39678
    },
    "right_wrist_roll_joint": {
      "lo": -2.07946,
      "hi": 1.3583,
      "train_min": -1.97222,
      "train_max": 1.25106,
      "q01": -1.29244,
      "q99": 0.85236
    },
    "right_wrist_pitch_joint": {
      "lo": -1.06928,
      "hi": 0.86532,
      "train_min": -1.00979,
      "train_max": 0.80583,
      "q01": -0.67224,
      "q99": 0.51751
    },
    "right_wrist_yaw_joint": {
      "lo": -1.082,
      "hi": 1.49669,
      "train_min": -1.00192,
      "train_max": 1.41661,
      "q01": -0.75303,
      "q99": 0.84862
    },
    "right_hand_index_0_joint": {
      "lo": -0.21886,
      "hi": 2.70364,
      "train_min": -0.16881,
      "train_max": 2.6536,
      "q01": -0.00089,
      "q99": 1.0
    },
    "right_hand_index_1_joint": {
      "lo": -0.4136,
      "hi": 1.57469,
      "train_min": -0.33891,
      "train_max": 1.5,
      "q01": 0.00327,
      "q99": 1.49714
    },
    "right_hand_middle_0_joint": {
      "lo": -0.69832,
      "hi": 3.0345,
      "train_min": -0.64587,
      "train_max": 2.98205,
      "q01": -0.00095,
      "q99": 1.048
    },
    "right_hand_middle_1_joint": {
      "lo": -0.4136,
      "hi": 1.57469,
      "train_min": -0.33891,
      "train_max": 1.5,
      "q01": 0.00327,
      "q99": 1.49714
    },
    "right_hand_thumb_0_joint": {
      "lo": -1.15084,
      "hi": 1.16503,
      "train_min": -1.1187,
      "train_max": 1.13289,
      "q01": -0.14269,
      "q99": 0.5
    },
    "right_hand_thumb_1_joint": {
      "lo": -0.76948,
      "hi": 0.67262,
      "train_min": -0.73446,
      "train_max": 0.63759,
      "q01": -0.70048,
      "q99": 0.0
    },
    "right_hand_thumb_2_joint": {
      "lo": -0.76948,
      "hi": 0.67262,
      "train_min": -0.73446,
      "train_max": 0.63759,
      "q01": -0.70048,
      "q99": 0.0
    }
  }
}