{
    "robot_name": "GR1ArmsAndWaistFourierHands",
    "robot_type": "GR1ArmsAndWaistFourierHands",
    "record_frequency": 20.0,
    "body_controller_frequency": 20.0,
    "hand_controller_frequency": 20.0,
    "embodiment_tag": "gr1_unified"
}