champconfig

{
  "urdf_path": "“test_path”",
  "links": {
    "left_front": "[“lf_hip_link”, “lf_upper_leg_link”, “lf_lower_leg_link”,  “lf_foot_link”]",
    "right_front": "[“rf_hip_link”, “rf_upper_leg_link”, “rf_lower_leg_link”,  “rf_foot_link”]",
    "left_hind": "[“lh_hip_link”, “lh_upper_leg_link”, “lh_lower_leg_link”,  “lh_foot_link”]",
    "right_hind": "[“rh_hip_link”, “rh_upper_leg_link”, “rh_lower_leg_link”,  “rh_foot_link”]"
  },
  "joints": {
    "left_front": "[“lf_hip_joint”, “lf_upper_leg_joint”, “lf_lower_leg_joint”]",
    "right_front": "[“rf_hip_joint”, “rf_upper_leg_joint”, “rf_lower_leg_joint”]",
    "left_hind": "[“lh_hip_joint”, “lh_upper_leg_joint”, “lh_lower_leg_joint”]",
    "right_hind": "[“rh_hip_joint”, “rh_upper_leg_joint”, “rh_lower_leg_joint”]"
  },
  "firmware": {
    "transforms": {
      "left_front": {
        "hip": [1,2,3,4,5,6],
        "upper_leg": [1,2,3,4,5,6],
        "lower_leg": [1,2,3,4,5,6],
        "foot": [1,2,3,4,5,6]
      },
      "right_front": {
        "hip": [1,2,3,4,5,6],
        "upper_leg": [1,2,3,4,5,6],
        "lower_leg": [1,2,3,4,5,6],
        "foot": [1,2,3,4,5,6]
      },
      "left_hind": {
        "hip": [1,2,3,4,5,6],
        "upper_leg": [1,2,3,4,5,6],
        "lower_leg": [1,2,3,4,5,6],
        "foot": [1,2,3,4,5,6]
      },
      "right_hind": {
        "hip": [1,2,3,4,5,6],
        "upper_leg": [1,2,3,4,5,6],
        "lower_leg": [1,2,3,4,5,6],
        "foot": [1,2,3,4,5,6]
      }
    },
    "gait": {
      "knee_orientation": 1,
      "max_linear_vel_x": 2,
      "max_linear_vel_y": 3,
      "max_angular_vel_z": 4,
      "max_step_length": 5,
      "max_theta": 6,
      "swing_height": 7,
      "stance_depth": 8,
      "nominal_height": 9
    }
  }
}