{
  "g1_num_motor": 29,
  "waist_joint_indices": {
    "yaw": 12,
    "roll": 13,
    "pitch": 14
  },
  "joint_limits": {
    "12": [-0.08, 0.092],
    "13": [-0.164, 0.112],
    "14": [-0.131, 0.109],
    "15": [-3.052, 0.583],
    "16": [-0.046, 2.248],
    "17": [-0.987, 2.45],
    "18": [-0.868, 1.403],
    "19": [-1.431, 0.811],
    "20": [-1.028, 0.764],
    "21": [-1.143, 0.737],
    "22": [-2.968, 0.625],
    "23": [-1.427, 0.112],
    "24": [-0.984, 0.928],
    "25": [-0.826, 1.495],
    "26": [-1.188, 1.162],
    "27": [-1.365, 0.656],
    "28": [-0.676, 0.92]
  }
}