{ 
"doLogging": "true",
"enablePhysics": "true",
"disableBotCollision": "true", 
"height": "128",
"width": "128",
"stepPos": "0.1",
"stepAngle": "90",  
"enableCollision": "true",
"hold": "true",
"doorCollisionSlack": "0.45", 
"plannerMode": "false",
"goalGenerationMode": "false",
"rewardType": "DiffDistanceAndAngle",
"verbosityPenalty": "-0.002",
"collisionPenalty": "-0.1",
"delay": "0.0",
"datasetFilename": "dataset_trajectory_segments.txt",
"numManipulationRow": 32, 
"numManipulationCol": 32,
"setPreviousChanges": "true",
"hideGoal": "true"
}