{
    "end_effector_frame_name": "right_gripper",
    "maximum_substep_size" : 0.00167,
    "ignore_robot_state_updates" : true,
    "relative_asset_paths": {
        "robot_description_path" : "robot_descriptor.yaml",
        "urdf_path": "../lula_franka_gen.urdf",
        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
    }
}