diff --git a/include/mujincontrollerclient/mujinjson.h b/include/mujincontrollerclient/mujinjson.h
index 3d23a788..e8fae003 100644
--- a/include/mujincontrollerclient/mujinjson.h
+++ b/include/mujincontrollerclient/mujinjson.h
@@ -28,6 +28,7 @@
 #include <stdexcept>
 #include <vector>
 #include <unordered_map>
+#include <unordered_set>
 #include <map>
 #include <deque>
 #include <iostream>
@@ -636,6 +637,23 @@ inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v,
     }
 }
 
+template <typename U, typename Encoding=rapidjson::UTF8<>, typename Allocator=rapidjson::MemoryPoolAllocator<> >
+inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v, std::unordered_set<U>& t)
+{
+    // to construct an unordered set from an array
+    if (!v.IsArray()) {
+        throw MujinJSONException("Cannot convert json type " + GetJsonTypeName(v) + " to unordered_set");
+    }
+
+    // Ensure our output is a blank slate
+    t.clear();
+    for (typename rapidjson::GenericValue<Encoding, Allocator>::ConstValueIterator it = v.Begin(); it != v.End(); ++it) {
+        U value;
+        LoadJsonValue(*it, value);
+        t.insert(value);
+    }
+}
+
 template<typename U, typename Encoding=rapidjson::UTF8<>, typename Allocator=rapidjson::MemoryPoolAllocator<> >
 inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v, std::unordered_map<std::string, U>& t) {
     // It doesn't make sense to construct an unordered map from anything other
@@ -841,6 +859,17 @@ inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const
     }
 }
 
+template <typename U, typename Encoding, typename Allocator, typename Allocator2>
+inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const std::unordered_set<U>& t, Allocator2& alloc) {
+    v.SetArray();
+    v.Reserve(t.size(), alloc);
+    for (typename std::unordered_set<U>::const_iterator it = t.begin(); it != t.end(); ++it) {
+        rapidjson::GenericValue<Encoding, Allocator> value;
+        SaveJsonValue(value, *it, alloc);
+        v.PushBack(value, alloc);
+    }
+}
+
 template<typename U, typename Encoding, typename Allocator, typename Allocator2 >
 inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const std::unordered_map<std::string, U>& t, Allocator2& alloc) {
     v.SetObject();
@@ -1195,6 +1224,7 @@ inline bool UpdateJsonRecursively(rapidjson::GenericValue<Encoding, Allocator>&
     return hasChanged;
 }
 
+
 } // namespace mujinjson
 
 #endif