{
  "task_name": "stack cups",
  "freq": 30,
  "robot": {
    "arms": {
      "right_arm": {
        "type": "piper",
        "dof": 6,
        "port": "can0",
        "speed": 100,
        "reset_on_disconnect": true,
        "eef_backend": "host_ik",
        "joint_limits_deg": [
          [
            -150,
            150
          ],
          [
            0,
            180
          ],
          [
            -170,
            0
          ],
          [
            -100,
            100
          ],
          [
            -70,
            70
          ],
          [
            -180,
            180
          ]
        ],
        "host_ik": {
          "max_step_deg": 5.0,
          "continuity_weight": 0.03,
          "limit_margin_deg": 0.01,
          "position_tolerance_mm": 1.0,
          "rotation_tolerance_deg": 1.0,
          "max_seed_tracking_deg": 1.0,
          "max_nfev": 200
        }
      }
    },
    "cameras": {
      "cam_high": {
        "type": "realsense",
        "serial": "244222070143",
        "width": 320,
        "height": 240,
        "fps": 60,
        "auto_exposure_priority": false
      }
    }
  }
}