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  "initial_pose_position_tolerance_m": 0.3,
  "initial_pose_yaw_tolerance_rad": 0.2,
  "move_base_server_timeout_seconds": 10.0,
  "initial_navigation_timeout_seconds": 180.0,
  "scan_total_timeout_seconds": 120.0,
  "scan_window_seconds": 2.0,
  "scan_settle_seconds": 0.5,
  "center_rotation_speed_rad_s": 0.25,
  "center_rotation_yaw_tolerance_rad": 0.08,
  "center_rotation_timeout_seconds": 35.0,
  "points": {
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      "y": -0.981,
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    "center_wall1": {
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    "center_wall2": {
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  "task3_entry": {
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}