{
  "id": "lekiwi-pick-place-v1",
  "robotId": "lekiwi-v1",
  "sourceZipSha256": "a10ac577ea49cdf87f324f3f6e9a7a887a1e3c0254ae638059711fef9e385b04",
  "units": "SI",
  "frame": "world-z-up",
  "object": { "id": "block", "halfSize": 0.018, "mass": 0.05, "position": [0.257, 0.015, 0.128] },
  "goal": { "id": "placement", "position": [0.257, 0.615, 0.128] },
  "supportHeight": 0.11,
  "supportHalfSize": [0.045, 0.055, 0.055],
  "tcpSite": "__agent_tcp",
  "tcpOffset": [-0.01, 0.037, -0.081],
  "pregraspHeight": 0.195,
  "carryHeight": 0.205,
  "retreatHeight": 0.223,
  "baseTranslation": [0, 0.6],
  "controlDt": 0.02,
  "armSpeed": 0.35,
  "armAcceleration": 1.0,
  "armTrackingError": 0.15,
  "armStallError": 0.14,
  "armStallSpeed": 0.02,
  "armStallDuration": 0.75,
  "gripperOpeningRate": 0.5,
  "baseSpeed": 0.04,
  "baseAcceleration": 0.3,
  "yawSpeed": 0.15,
  "yawAcceleration": 0.8,
  "jointSpeedStop": 2.0,
  "fingerForceMin": 0.2,
  "graspStableTime": 0.15,
  "liftMin": 0.045,
  "relativeDriftMax": 0.012,
  "transportMin": 0.5,
  "placementTolerance": 0.04,
  "placementSpeedMax": 0.05,
  "retreatMin": 0.09,
  "placementStableTime": 0.5,
  "episodeTimeout": 70,
  "frozenSeeds": [
    { "id": 0, "offset": [0, 0] },
    { "id": 1, "offset": [-0.002, 0] },
    { "id": 2, "offset": [0.002, 0] },
    { "id": 3, "offset": [0, -0.002] },
    { "id": 4, "offset": [0, 0.002] }
  ]
}