{
  "controllers": {
    "upper_body_controller": {
      "sync_read": true,
      "attached_motors": [
        "torso",
        "head",
        "arms"
      ],
      "port": "auto"
    }
  },
  "motorgroups": {
    "head": [
      "head_z",
      "head_y"
    ],
    "r_arm": [
      "r_shoulder_y",
      "r_shoulder_x",
      "r_arm_z",
      "r_elbow_y",
      "r_hand_z"
    ],
    "torso": [
      "abs_z",
      "bust_y",
      "bust_x"
    ],
    "l_arm": [
      "l_shoulder_y",
      "l_shoulder_x",
      "l_arm_z",
      "l_elbow_y",
      "l_hand_z"
    ],
    "arms": [
      "l_arm",
      "r_arm"
    ]
  },
  "motors": {
    "l_elbow_y": {
      "offset": -90.0,
      "type": "MX-28",
      "id": 44,
      "angle_limit": [
        -140,
        0
      ],
      "orientation": "direct"
    },
    "head_y": {
      "offset": 20.0,
      "type": "AX-12",
      "id": 37,
      "angle_limit": [
        -40,
        8
      ],
      "orientation": "indirect"
    },
    "r_arm_z": {
      "offset": 0.0,
      "type": "MX-28",
      "id": 53,
      "angle_limit": [
        -130,
        90
      ],
      "orientation": "indirect"
    },
    "head_z": {
      "offset": 0.0,
      "type": "AX-12",
      "id": 36,
      "angle_limit": [
        -100,
        100
      ],
      "orientation": "direct"
    },
    "r_shoulder_x": {
      "offset": 90.0,
      "type": "MX-28",
      "id": 52,
      "angle_limit": [
        -110,
        105
      ],
      "orientation": "indirect"
    },
    "r_shoulder_y": {
      "offset": 90,
      "type": "MX-28",
      "id": 51,
      "angle_limit": [
        -155,
        120
      ],
      "orientation": "indirect"
    },
    "r_elbow_y": {
      "offset": -90.0,
      "type": "MX-28",
      "id": 54,
      "angle_limit": [
        0,
        147
      ],
      "orientation": "indirect"
    },
    "l_arm_z": {
      "offset": 0.0,
      "type": "MX-28",
      "id": 43,
      "angle_limit": [
        -130,
        130
      ],
      "orientation": "indirect"
    },
    "abs_z": {
      "offset": 0.0,
      "type": "MX-28",
      "id": 33,
      "angle_limit": [
        -80,
        80
      ],
      "orientation": "direct"
    },
    "bust_y": {
      "offset": 0.0,
      "type": "MX-28",
      "id": 34,
      "angle_limit": [
        -46,
        23
      ],
      "orientation": "indirect"
    },
    "bust_x": {
      "offset": 0.0,
      "type": "MX-28",
      "id": 35,
      "angle_limit": [
        -40,
        40
      ],
      "orientation": "indirect"
    },
    "l_shoulder_x": {
      "offset": -90.0,
      "type": "MX-28",
      "id": 42,
      "angle_limit": [
        -105,
        110
      ],
      "orientation": "indirect"
    },
    "l_shoulder_y": {
      "offset": 90,
      "type": "MX-28",
      "id": 41,
      "angle_limit": [
        -120,
        155
      ],
      "orientation": "direct"
      },
    "r_hand_z": {
      "offset": 0,
      "type": "AX-12",
      "id": 55,
      "angle_limit": [-40, 120],
      "orientation": "indirect"
      },
    "l_hand_z": {
      "offset": 0,
      "type": "AX-12",
      "id": 45,
      "angle_limit": [-40,120],
      "orientation": "direct"
    }
  }
}