{
  "type": "OSC_POSE",
  "input_max": 1,
  "input_min": -1,
  "output_max": [0.125, 0.125, 0.125, 0.5, 0.5, 0.5],
  "output_min": [-0.125, -0.125, -0.125, -0.5, -0.5, -0.5],
  "kp": 150,
  "damping_ratio": 1,
  "impedance_mode": "fixed",
  "kp_limits": [0, 300],
  "damping_ratio_limits": [0, 10],
  "position_limits": [[-0.22, -0.35, 0.82], [0.22, 0.35, 1.3]],
  "orientation_limits": null,
  "uncouple_pos_ori": true,
  "control_delta": true,
  "interpolation": null,
  "ramp_ratio": 0.2
}