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          "lower": "-0.2618",
          "upper": "0.2618",
          "effort": "50",
          "velocity": "37"
        }
      },
      {
        "path": "/robot[@name=g1_29dof_rev_1_0]/joint[@name=right_hand_palm_joint]",
        "unitree": {
          "name": "right_hand_palm_joint",
          "type": "fixed",
          "dont_collapse": "true"
        },
        "reference": {
          "name": "right_hand_palm_joint",
          "type": "fixed"
        }
      },
      {
        "path": "/robot[@name=g1_29dof_rev_1_0]/joint[@name=waist_pitch_joint][0]/limit",
        "unitree": {
          "lower": "-0.52",
          "upper": "0.52",
          "effort": "35",
          "velocity": "30"
        },
        "reference": {
          "lower": "-0.52",
          "upper": "0.52",
          "effort": "50",
          "velocity": "37"
        }
      },
      {
        "path": "/robot[@name=g1_29dof_rev_1_0]/joint[@name=waist_roll_joint][0]/limit",
        "unitree": {
          "lower": "-0.52",
          "upper": "0.52",
          "effort": "35",
          "velocity": "30"
        },
        "reference": {
          "lower": "-0.52",
          "upper": "0.52",
          "effort": "50",
          "velocity": "37"
        }
      }
    ],
    "scope": "Source-input provenance only. This comparison did not modify any runtime input or run dynamics."
  },
  "scope": "Frozen reference assets retained; no input modifications."
}