{
  "robot": "Franka Panda",
  "physics": "default",
  "planner": "trapezoidal",
  "method": "Forward kinematics at every planned command; TCP polyline arc length and summed absolute angular increments of the seven arm joints.",
  "change": "Ready TCP yaw aligned to the cube grasp at 90 degrees; simulator self-collision enabled.",
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}
