min_x: -0.3 max_x: 0.3 min_y: 0.1 max_y: 0.5 max_z: 1.6 goal_z: 0.8 z_threshold: 0.025 x_threshold: 0.025 z_scale: 1.0 x_scale: 3.0 max_angular_speed: 5.0 min_angular_speed: 0.1 max_linear_speed: 0.4 min_linear_speed: 0.05