{
 "manipulation_max_steps": {
  "reach_plate": 3000,
  "reach_item": 3000,
  "reach_hardback_from_bookcase": 3000,
  "reach_food_item": 3000,
  "place_carving_knife": 3000,
  "reach_tool": 3700,
  "reach_pizza_plate": 4500,
  "reach_paperback_book": 4500,
  "reach_dice": 4500,
  "reach_toys": 5000,
  "place_bowl_in_cabinet": 7000,
  "place_tupperware_in_fridge": 7000,
  "reach_storage_box": 7000,
  "reach_soda_can": 7000
 },
 "navigation": "per-instance config max_steps",
 "control_rate_hz": 30
}