{
  "controllers": {
    "USB2AX": {
      "sync_read": true,
      "protocol": 2,
      "attached_motors": [
        "torso",
        "l_arm",
        "r_arm",
        "leg_l",
        "leg_r"
      ],
      "port": "auto"
    }
  },
  "motorgroups": {
    "torso": [
      "head_z",
      "chest_x",
      "spine_z"
    ],

    "leg_r": [
      "r_hip_y",
      "r_hip_motor_z",
      "r_thigh_x",
      "r_knee_x",
      "r_ankle_x",
      "r_foot_y"
    ],

    "leg_l": [
      "l_hip_y",
      "l_hip_motor_z",
      "l_thigh_x",
      "l_knee_x",
      "l_ankle_x",
      "l_foot_y"
    ],

    "r_arm": [
      "r_shoulder_x",
      "r_shoulder_motor_y",
      "r_upper_arm_z",
      "r_forearm_y"
    ],
    "l_arm": [
      "l_shoulder_x",
      "l_shoulder_motor_y",
      "l_upper_arm_z",
      "l_forearm_y"
    ]
  },

  "motors": {
    "head_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 13,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "chest_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 12,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "spine_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 11,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_shoulder_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 21,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_shoulder_motor_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 22,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_upper_arm_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 23,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_forearm_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 24,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_shoulder_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 31,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_shoulder_motor_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 32,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_upper_arm_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 33,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_forearm_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 34,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_hip_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 51,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_hip_motor_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 52,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_thigh_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 53,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_knee_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 54,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_ankle_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 55,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "r_foot_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 56,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_hip_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 41,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_hip_motor_z": {
      "offset": 0,
      "type": "XL-320",
      "id": 42,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_thigh_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 43,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_knee_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 44,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_ankle_x": {
      "offset": 0,
      "type": "XL-320",
      "id": 45,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    },
    "l_foot_y": {
      "offset": 0,
      "type": "XL-320",
      "id": 46,
      "angle_limit": [
        -150,
        150
      ],
      "orientation": "direct"
    }
  }
}
