{
  "schema_version": "1.0",
  "scene_usd": "/absolute/path/to/warehouse_scene.usd",
  "policy": "franka_pick_place",
  "prims": {
    "robot": "/World/Franka",
    "collision_parent": "/World/Franka/panda_link0",
    "task_object": "/World/TaskObject",
    "task_target": "/World/TaskTarget",
    "hazard": "/World/Hazard",
    "camera": "/World/Camera",
    "lights": ["/World/KeyLight"]
  },
  "clearance_radii_m": {
    "robot": 0.32,
    "hazard": 0.3
  },
  "success_tolerance_m": 0.035,
  "end_effector_offset": [0, 0, 0.2],
  "max_steps": 4000
}