{
  "max_steps": 40,
  "min_steps_before_check": 3,
  "scan_interval_s": 0.4,
  "rotation_speed": 0.3,
  "move_map": {
    "forward":  [0.3,  0.0,  0.0],
    "backward": [-0.2, 0.0,  0.0],
    "left":     [0.0,  0.0,  0.3],
    "right":    [0.0,  0.0, -0.3]
  },
  "goal_aliases": {
    "guy": "person", "man": "person", "woman": "person",
    "human": "person", "people": "person", "someone": "person",
    "table": "dining table", "sofa": "couch",
    "phone": "cell phone",
    "mobile": "cell phone"
  },
  "yolo_goal_classes": [
    "person", "chair", "couch", "bed", "dining table", "bottle", "cup",
    "laptop", "keyboard", "mouse", "backpack", "handbag", "suitcase",
    "car", "truck", "motorcycle", "bicycle",
    "cell phone"
  ]
}