{
  "id": "mobile-manipulator-v2",
  "actionSemantics": "rate-limited-position-target-v1",
  "observationSize": 92,
  "actionSize": 12,
  "maxArmJoints": 8,
  "stateSize": 54,
  "controlDt": 0.02,
  "positionScale": 2,
  "linearVelocityScale": 2,
  "angularVelocityScale": 4,
  "jointVelocityScale": 4,
  "objectHalfSize": 0.018,
  "objectStart": [0.7, 0, 0.019],
  "goalStart": [0.95, 0.15, 0.019],
  "liftHeight": 0.08,
  "graspDistance": 0.09,
  "goalTolerance": 0.04,
  "settleSpeed": 0.05,
  "releaseOpening": 0.65,
  "settleSteps": 10,
  "maxSteps": 1000,
  "reachGain": 8,
  "transportGain": 4,
  "reachWeight": 0.1,
  "liftWeight": 0.3,
  "transportWeight": 0.5,
  "successBonus": 20,
  "baseSpeedLimits": [0.12, 0.12, 0.5],
  "baseAccelerationLimits": [0.3, 0.3, 0.8],
  "armSpeedLimit": 0.5,
  "armAccelerationLimit": 1.5,
  "armTrackingError": 0.2,
  "jointSpeedStop": 2,
  "gripperOpeningRate": 0.5,
  "actionRateWeight": 0.005,
  "jointVelocityWeight": 0.01,
  "navigationOffset": [0.3, 0, 0],
  "navigationTolerance": 0.06,
  "navigationYawTolerance": 0.2,
  "navigationSpeedTolerance": 0.035,
  "navigationProgressWeight": 4,
  "navigationSuccessRate": 0.8,
  "safetyPenalty": 5
}