cameras:
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-133.02, 0.0, 111.39]
    translation: [0.46, 0.18, 0.71]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_1
  renderer_class: !RenderEngineVtkParams
    cast_shadows: true
    environment_map:
      skybox: true
      texture: !EquirectangularMap {path: 'package://anzu/models/environment_maps_hdr/poly_haven_studio_4k.hdr'}
    exposure: 0.4
    lights:
    - attenuation_values: [1, 0, 0]
      color:
        rgba: [0.693302766633865, 1.0, 0.9488761549048251, 1.0]
      cone_angle: 20
      direction: [0.205609752841956, 0.4714507892925741, -1.0]
      frame: world
      intensity: 2.3843606444840506
      type: directional
    shadow_map_size: 1024
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-126.44, 0.0, 30.5]
    translation: [0.22, -0.37, 0.57]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_2
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-124.7, 0.0, 122.47]
    translation: [0.7, 0.45, 0.82]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_3
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-136.72, 0.0, 96.12]
    translation: [0.4, 0.04, 0.67]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_4
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-131.04, 0.0, 71.23]
    translation: [0.65, -0.22, 0.84]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_5
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-141.67, -0.0, 62.54]
    translation: [0.46, -0.24, 0.9]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_6
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-122.64, -0.0, 29.42]
    translation: [0.22, -0.39, 0.54]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_7
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-126.35, 0.0, 52.46]
    translation: [0.65, -0.5, 0.86]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_8
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-130.9, 0.0, 133.08]
    translation: [0.3, 0.28, 0.6]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_9
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-139.41, 0.0, 132.13]
    translation: [0.45, 0.4, 0.95]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_10
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-121.55, 0.0, 120.75]
    translation: [0.76, 0.45, 0.79]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_11
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-144.73, 0.0, 107.67]
    translation: [0.47, 0.15, 0.94]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_12
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-131.22, 0.0, 99.07]
    translation: [0.49, 0.08, 0.69]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_13
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-125.16, 0.0, 50.35]
    translation: [0.38, -0.31, 0.59]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_14
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-127.68, -0.0, 68.5]
    translation: [0.67, -0.26, 0.8]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_15
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-116.11, 0.0, 58.07]
    translation: [0.75, -0.47, 0.68]
  center_x: 320
  center_y: 240
  depth: true
  focal: !FocalLength {x: 381, y: 381}
  fps: 20
  label: true
  lcm_bus: camera
  name: scene_16
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
directives:
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/riverway_station.sdf
    name: riverway_station
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/station_table_top_compliant.sdf
    name: manipuland_table
- add_frame:
    X_PF:
      base_frame: manipuland_table::origin
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0]
    name: manipuland_table::table_top_center
- add_weld: {child: 'manipuland_table::table_top_center', parent: world}
- add_frame:
    X_PF:
      base_frame: riverway_station::station_table_cart
      rotation: !Rpy
        deg: [0.0, 0.0, 135.0]
      translation: [0.0, 0.0, 0.147]
    name: riverway_station::table_cart_weld_to_frame
- add_weld: {child: table_cart_weld_to_frame, parent: 'manipuland_table::table_top_center'}
- add_frame:
    X_PF:
      base_frame: manipuland_table::table_top_center
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0]
    name: manipuland_table::task_frame
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/station_arm_cart_gantry.sdf
    name: riverway_station_arm_cart_gantry_right
- add_frame:
    X_PF:
      base_frame: riverway_station::station_arm_cart_right
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, -0.012, 0.0]
    name: riverway_station::right_arm_cart_gantry_weld_frame
- add_weld: {child: 'riverway_station_arm_cart_gantry_right::station_arm_cart_gantry',
    parent: right_arm_cart_gantry_weld_frame}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/station_gantry_base_plate.sdf
    name: riverway_station_gantry_base_plate_right
- add_frame:
    X_PF:
      base_frame: riverway_station_arm_cart_gantry_right::station_arm_cart_gantry
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.185, 0.0, 0.041]
    name: riverway_station_arm_cart_gantry_right::gantry_base_plate_weld_frame_right
- add_weld: {child: 'riverway_station_gantry_base_plate_right::station_gantry_base_plate',
    parent: gantry_base_plate_weld_frame_right}
- add_model_instance: {name: right}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://drake_models/franka_description/urdf/panda_arm.urdf
    name: right::panda
- add_frame:
    X_PF:
      base_frame: right::panda::panda_link0
      rotation: {}
      translation: [0.0, 0.0, 0.0]
    name: right::panda::origin
- add_frame:
    X_PF:
      base_frame: right::panda::panda_link8
      rotation: !Rpy
        deg: [0.0, 0.0, -45.0]
      translation: [0.0, 0.0, 0.0]
    name: right::panda::flange_rotated
- add_frame:
    X_PF:
      base_frame: right::panda::flange_rotated
      rotation: !Rpy
        deg: [180.0, 0.0, 90.0]
      translation: [0.0, 0.0, 0.0]
    name: right::panda::wrist_semantic_frame
- add_collision_filter_group:
    ignored_collision_filter_groups: []
    member_groups: []
    members: ['panda::panda_link5', 'panda::panda_link6', 'panda::panda_link7']
    model_namespace: right
    name: panda_wrist_filter_group
- add_frame:
    X_PF:
      base_frame: right::panda::origin
      rotation: !Rpy
        deg: [-0.8804, -1.7438, 42.9643]
      translation: [0.6586, 0.1647, 0.1038]
    name: right::panda::_manipuland_table_top_center_from_right_panda
- add_weld: {child: _manipuland_table_top_center_from_right_panda, parent: 'manipuland_table::table_top_center'}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/station_arm_cart_gantry.sdf
    name: riverway_station_arm_cart_gantry_left
- add_frame:
    X_PF:
      base_frame: riverway_station::station_arm_cart_left
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, -0.019, 0.0]
    name: riverway_station::left_arm_cart_gantry_weld_frame
- add_weld: {child: 'riverway_station_arm_cart_gantry_left::station_arm_cart_gantry',
    parent: left_arm_cart_gantry_weld_frame}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/franka_station/station_gantry_base_plate.sdf
    name: riverway_station_gantry_base_plate_left
- add_frame:
    X_PF:
      base_frame: riverway_station_arm_cart_gantry_left::station_arm_cart_gantry
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [-0.1675, 0.0, 0.041]
    name: riverway_station_arm_cart_gantry_left::gantry_base_plate_weld_frame_left
- add_weld: {child: 'riverway_station_gantry_base_plate_left::station_gantry_base_plate',
    parent: gantry_base_plate_weld_frame_left}
- add_model_instance: {name: left}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://drake_models/franka_description/urdf/panda_arm.urdf
    name: left::panda
- add_frame:
    X_PF:
      base_frame: left::panda::panda_link0
      rotation: {}
      translation: [0.0, 0.0, 0.0]
    name: left::panda::origin
- add_frame:
    X_PF:
      base_frame: left::panda::panda_link8
      rotation: !Rpy
        deg: [0.0, 0.0, -45.0]
      translation: [0.0, 0.0, 0.0]
    name: left::panda::flange_rotated
- add_frame:
    X_PF:
      base_frame: left::panda::flange_rotated
      rotation: !Rpy
        deg: [180.0, 0.0, 90.0]
      translation: [0.0, 0.0, 0.0]
    name: left::panda::wrist_semantic_frame
- add_collision_filter_group:
    ignored_collision_filter_groups: []
    member_groups: []
    members: ['panda::panda_link5', 'panda::panda_link6', 'panda::panda_link7']
    model_namespace: left
    name: panda_wrist_filter_group
- add_frame:
    X_PF:
      base_frame: left::panda::origin
      rotation: !Rpy
        deg: [-0.35, -1.1269, -46.796]
      translation: [0.6561, -0.1959, 0.0944]
    name: left::panda::_manipuland_table_top_center_from_left_panda
- add_weld: {child: _manipuland_table_top_center_from_left_panda, parent: 'manipuland_table::table_top_center'}
- add_frame:
    X_PF:
      base_frame: manipuland_table::table_top_center
      rotation: !Rpy
        deg: [-144.02622026208346, 7.175918743777246, 99.05897849355833]
      translation: [0.5475459165740518, 0.18739323059527133, 0.8359720915694936]
    name: manipuland_table::camera_6CD146030E96
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/cameras/d415_simple.sdf
    name: camera_6CD146030E96_model
- add_weld: {child: 'camera_6CD146030E96_model::rgb', parent: camera_6CD146030E96}
- add_frame:
    X_PF:
      base_frame: manipuland_table::table_top_center
      rotation: !Rpy
        deg: [-143.5224306152587, -17.515017743503677, 73.93604661555008]
      translation: [0.4971372129776017, -0.36177129391458523, 0.7787723308545904]
    name: manipuland_table::camera_6CD146030E9E
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/cameras/d415_simple.sdf
    name: camera_6CD146030E9E_model
- add_weld: {child: 'camera_6CD146030E9E_model::rgb', parent: camera_6CD146030E9E}
- add_frame:
    X_PF:
      base_frame: right::panda::panda_link8
      rotation: !Rpy
        deg: [-20.0, 0.0, -135.0]
      translation: [-0.05, 0.05, 0.01]
    name: right::panda::camera_6CD146030AFC
- add_frame:
    X_PF:
      base_frame: left::panda::panda_link8
      rotation: !Rpy
        deg: [-20.0, 0.0, 45.0]
      translation: [0.05, -0.05, 0.01]
    name: left::panda::camera_6CD146030B09
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/gripper_assemblies/panda_hand_finray_actuated_mesh_mimic.urdf
    name: right::panda_hand
- add_frame:
    X_PF:
      base_frame: right::panda::panda_link8
      rotation: !Rpy
        deg: [0.0, 0.0, -45.0]
      translation: [0.0, 0.0, 0.0]
    name: right::panda_hand::_origin
- add_weld: {child: 'right::panda_hand::panda_hand', parent: 'right::panda_hand::_origin'}
- add_frame:
    X_PF:
      base_frame: right::panda_hand::panda_finger_tip_center
      rotation: !Rpy
        deg: [180.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0]
    name: right::panda_hand::grasp_frame
- add_frame:
    X_PF:
      base_frame: right::panda_hand::panda_hand
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0704]
    name: right::panda_hand::finger_screw
- add_frame:
    X_PF:
      base_frame: right::panda_hand::finger_screw
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.024]
    name: right::panda_hand::calib_tip
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/gripper_assemblies/panda_hand_finray_actuated_mesh_mimic.urdf
    name: left::panda_hand
- add_frame:
    X_PF:
      base_frame: left::panda::panda_link8
      rotation: !Rpy
        deg: [0.0, 0.0, -45.0]
      translation: [0.0, 0.0, 0.0]
    name: left::panda_hand::_origin
- add_weld: {child: 'left::panda_hand::panda_hand', parent: 'left::panda_hand::_origin'}
- add_frame:
    X_PF:
      base_frame: left::panda_hand::panda_finger_tip_center
      rotation: !Rpy
        deg: [180.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0]
    name: left::panda_hand::grasp_frame
- add_frame:
    X_PF:
      base_frame: left::panda_hand::panda_hand
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.0704]
    name: left::panda_hand::finger_screw
- add_frame:
    X_PF:
      base_frame: left::panda_hand::finger_screw
      rotation: !Rpy
        deg: [0.0, 0.0, 0.0]
      translation: [0.0, 0.0, 0.024]
    name: left::panda_hand::calib_tip
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/shelves/vivo_custom_single_shelf.sdf
    name: shelving
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, 0.0, 180.0]
      translation: [0.0, -0.05, 0.0]
    child: shelving::origin
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/food/cereal/punyos_cereal_box.sdf
    name: cereal_box_0
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, 0.0, 138.83473267186207]
      translation: [0.02382458973435317, -0.1, 0.0]
    child: cereal_box_0::box_bottom_center__z_up
    parent: shelving::plywood_top_center__z_up
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/lifelong/container/container_amuse_white_issue7265_body_low.sdf
    name: bell_pepper_bin
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, 0.0, -10.516363618189231]
      translation: [-0.18274796233107982, 0.5421774978627303, 0.0]
    child: bell_pepper_bin::bottom
    parent: manipuland_table::origin
- add_frame:
    X_PF:
      base_frame: manipuland_table::origin
      rotation: {}
      translation: [-0.1, -0.4, 0.06]
    name: manipuland_table::bell_pepper_start
- add_frame:
    X_PF:
      base_frame: bell_pepper_bin::center
      rotation: {}
      translation: [0.0, 0.0, 0.0]
    name: bell_pepper_bin::bell_pepper_target
- add_model:
    default_free_body_pose:
      center__z_up:
        base_frame: bell_pepper_start
        rotation: !Rpy
          deg: [-31.755952377481975, 122.25601504010757, 105.68641040031679]
        translation: [0.053030884609474804, 0.00756964821039216, 0.0]
    default_joint_positions: {}
    file: package://anzu/models/veggies/bell_peppers/red_bell_pepper_no_stem_scale_95.sdf
    name: bell_pepper_0
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/accessories/oxo_plastic_cutting_board.sdf
    name: cutting_board_0
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, 0.0, 2.9830435654830225]
      translation: [0.16, 0.34591727663734523, 0.0]
    child: cutting_board_0::oxo_plastic_cutting_board
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/bowls/generic_fruit_bowl.sdf
    name: fruit_bowl
- add_weld:
    X_PC:
      rotation: {}
      translation: [0.1024006115029394, -0.36777773487413445, 0.0]
    child: fruit_bowl::origin
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose:
      mass_center__z_up:
        base_frame: fruit_bowl::origin
        rotation: !Rpy
          deg: [-132.34600667271306, -13.235673931972059, -143.42398632952202]
        translation: [-0.01293421013899234, -0.02812486947310787, 0.08]
    default_joint_positions: {}
    file: package://anzu/models/fruits/pears/starkrimson_pear.sdf
    name: fruit_0
- add_model:
    default_free_body_pose:
      mass_center__z_up:
        base_frame: fruit_bowl::origin
        rotation: !Rpy
          deg: [81.27088544514265, 90.41267738144512, 76.92858692423749]
        translation: [-0.02363683746872661, -0.016954286678076958, 0.18]
    default_joint_positions: {}
    file: package://anzu/models/fruits/apples/granny_smith_apple.sdf
    name: fruit_1
initial_position:
  left::panda:
    panda_joint1: [-0.6108652381980153]
    panda_joint2: [-0.6108652381980153]
    panda_joint3: [0]
    panda_joint4: [-2.356194490192345]
    panda_joint5: [0]
    panda_joint6: [1.8325957145940461]
    panda_joint7: [0.7853981633974483]
  left::panda_hand:
    panda_finger_joint1: [-0.04]
    panda_finger_joint2: [0.04]
  right::panda:
    panda_joint1: [0.4363323129985824]
    panda_joint2: [-0.6108652381980153]
    panda_joint3: [0.0]
    panda_joint4: [-2.356194490192345]
    panda_joint5: [0]
    panda_joint6: [1.8325957145940461]
    panda_joint7: [-1.1344640137963142]
  right::panda_hand:
    panda_finger_joint1: [-0.04]
    panda_finger_joint2: [0.04]
item_locking:
  unlock_near_geometry: ['right::panda::panda_link3', 'right::panda::panda_link4',
    'right::panda_hand::panda_leftfinger', 'right::panda_hand::panda_rightfinger',
    'left::panda::panda_link3', 'left::panda::panda_link4', 'left::panda_hand::panda_leftfinger',
    'left::panda_hand::panda_rightfinger']
lcm_buses:
  camera: {lcm_url: 'memq://null'}
  default: {lcm_url: 'memq://null'}
  left: {lcm_url: 'memq://null'}
  right: {lcm_url: 'memq://null'}
  visualizer_bus: {lcm_url: 'memq://null'}
logging:
  logs:
  - !KeyframesLogging {filename: /home/zeyiliu/tmp/data/tasks/BimanualPlaceAppleFromBowlIntoBin/riverway/sim/bc/teleop/2025-03-29T08-08-56+00-00/demonstration_12/keyframes.txt,
    frequency_fps: 10.0}
model_drivers:
  left::panda: !PandaArmDriver {arm_child_frame_name: panda_link0, control_mode: position_only,
    ext_joint_filter_tau: 0.01, gripper_parent_frame_name: panda_link8, hand_model_name: 'left::panda_hand',
    lcm_bus: left}
  left::panda_hand: !PandaHandDriver {lcm_bus: left, use_implicit_pd: true}
  right::panda: !PandaArmDriver {arm_child_frame_name: panda_link0, control_mode: position_only,
    ext_joint_filter_tau: 0.01, gripper_parent_frame_name: panda_link8, hand_model_name: 'right::panda_hand',
    lcm_bus: right}
  right::panda_hand: !PandaHandDriver {lcm_bus: right, use_implicit_pd: true}
plant_config: {contact_model: hydroelastic_with_fallback, discrete_contact_approximation: lagged,
  penetration_allowance: 2e-3, stiction_tolerance: 1e-4, time_step: 10e-3}
preconditions:
  constraints:
    FruitDoesntIntersectBowl: !NonCollisionConstraint
      forbid_collision_between: ['fruit_bowl::.*', 'fruit_0::.*', 'fruit_1::.*']
    RedBellPepperDoesntIntersectBowl: !NonCollisionConstraint
      forbid_collision_between: ['bell_pepper_0::.*', 'fruit_bowl::.*']
random_seed: 112
scene_graph_config:
  default_proximity_properties: {margin: 1e-4}
simulation_duration: .inf
simulator_config: {accuracy: 0.01, integration_scheme: runge_kutta2, max_step_size: 0.001,
  publish_every_time_step: false, target_realtime_rate: 1.0, use_error_control: false}
visualization: {enable_meshcat_creation: true, lcm_bus: visualizer_bus, publish_contacts: false,
  publish_illustration: true, publish_period: 0.05, publish_proximity: true}
