assembled_offset:
  pos: [0.0, 0.0, 0.0]
  quat: [1.0, 0.0, 0.0, 0.0]
bottom_offset:
  pos: [0.0, 0.0, -0.1]
  quat: [1.0, 0.0, 0.0, 0.0]
success_thresholds:
  position: 0.005
  orientation: 0.025