cameras:
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-147.8, 0.0, 133.06]
    translation: [0.29, 0.27, 0.87]
  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: [0.7301418087238116, 0.7618510194434889, 1.0, 1.0]
      cone_angle: 20
      direction: [0.36748669434366876, -0.46422115218500287, -1.0]
      frame: world
      intensity: 2.59756679030865
      type: directional
    shadow_map_size: 1024
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-145.28, 0.0, 38.17]
    translation: [0.25, -0.32, 0.83]
  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: [-157.18, 0.0, 76.8]
    translation: [0.28, -0.07, 0.93]
  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: [-131.17, 0.0, 122.87]
    translation: [0.47, 0.31, 0.74]
  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: [-145.39, 0.0, 138.16]
    translation: [0.27, 0.3, 0.83]
  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: [-119.43, 0.0, 50.2]
    translation: [0.38, -0.31, 0.53]
  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: [-149.96, 0.0, 80.29]
    translation: [0.34, -0.06, 0.85]
  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: [-141.92, 0.0, 50.78]
    translation: [0.31, -0.25, 0.75]
  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: [-145.5, 0.0, 136.42]
    translation: [0.3, 0.32, 0.88]
  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: [-120.69, 0.0, 59.81]
    translation: [0.53, -0.31, 0.62]
  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: [-154.88, 0.0, 109.67]
    translation: [0.29, 0.1, 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_11
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-152.0, 0.0, 124.79]
    translation: [0.26, 0.18, 0.83]
  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: [-125.46, 0.0, 29.13]
    translation: [0.19, -0.34, 0.53]
  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: [-134.47, 0.0, 146.47]
    translation: [0.23, 0.35, 0.66]
  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: [-143.34, -0.0, 139.89]
    translation: [0.23, 0.27, 0.73]
  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: [-122.04, 0.0, 25.29]
    translation: [0.3, -0.64, 0.7]
  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/accessories/slnihams_bamboo_utensil_crock.sdf
    name: utensil_crock
- add_weld:
    X_PC:
      rotation: {}
      translation: [-0.049606944466447415, -0.1386000917835829, 0.0]
    child: utensil_crock::origin
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_base.sdf
    name: drying_rack_base
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_wireframe.sdf
    name: drying_rack_wireframe
- add_weld: {child: 'drying_rack_wireframe::origin', parent: 'drying_rack_base::nominal_wireframe_origin__z_up'}
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/accessories/sweet_home_dish_drying_rack_utensil_holder.sdf
    name: drying_rack_utensil_holder
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, -4.5, 0.0]
      translation: [-0.1518, 0.0735, 0.11335]
    child: drying_rack_utensil_holder::origin
    parent: drying_rack_wireframe::origin
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [0.0, 0.0, -90.0]
      translation: [-0.013365219697262593, 0.501524934161182, 0.0]
    child: drying_rack_base::origin
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/plates/ikea_dinera_plate_8in_mesh_collision.sdf
    name: plate_0
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [84.5543344, -0.00126025272, 89.9875107]
      translation: [0.00921943, 0.00230206, 0.02007212]
    child: plate_0::origin
    parent: drying_rack_wireframe::plate_slot_rail_5
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/plates/ikea_dinera_plate_8in_mesh_collision.sdf
    name: plate_1
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [84.5543344, -0.00126025272, 89.9875107]
      translation: [0.00921943, 0.00230206, 0.02007212]
    child: plate_1::origin
    parent: drying_rack_wireframe::plate_slot_rail_1
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/accessories/dorhors_wood_mug_holder.sdf
    name: mug_holder
- add_weld:
    X_PC:
      rotation: {}
      translation: [0.12254944495149514, -0.45393663359673864, 0.0]
    child: mug_holder::origin
    parent: manipuland_table::origin
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/mug_2/mug_inomata_white_issue11152_mesh_collision.sdf
    name: mug_0
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [-73.14290783, 6.61464528, 133.98682999]
      translation: [0.09434705, 0.01579505, 0.00668992]
    child: mug_0::origin
    parent: mug_holder::top_right_branch_base
- add_model:
    default_free_body_pose: {}
    default_joint_positions: {}
    file: package://anzu/models/mug_2/mug_inomata_white_issue11152_mesh_collision.sdf
    name: mug_1
- add_weld:
    X_PC:
      rotation: !Rpy
        deg: [-73.14290783, 6.61464528, 133.98682999]
      translation: [0.09434705, 0.01579505, 0.00668992]
    child: mug_1::origin
    parent: mug_holder::bottom_left_branch_base
- add_model:
    default_free_body_pose:
      handle_center_aligned:
        base_frame: utensil_crock::origin
        rotation: !Rpy
          deg: [0.0, 90.0, 173.46186408520316]
        translation: [-0.0038824407122538176, 0.005098590331113002, 0.15]
    default_joint_positions: {}
    file: package://anzu/models/home_kitchen/spatulas/thimma_wood_flat_spatula.sdf
    name: spatula_0
- add_frame:
    X_PF:
      base_frame: manipuland_table::origin
      rotation: {}
      translation: [-0.2, -0.5, 0.0]
    name: manipuland_table::spatula_on_table_target
- add_model:
    default_free_body_pose:
      bottom:
        base_frame: manipuland_table::origin
        rotation: !Rpy
          deg: [0.0, 0.0, 48.054475299082156]
        translation: [-0.16510286354414408, -0.38213220371704626, 0.0]
    default_joint_positions: {}
    file: package://anzu/models/lifelong/spoon/spoon_oxo_steel_issue8814_low.sdf
    name: serving_spoon
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/BimanualPutSpatulaOnTableFromUtensilCrock/riverway/sim/bc/teleop/2025-03-29T06-34-17+00-00/demonstration_17/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:
    PlatesDontOverlap: !NonCollisionConstraint
      forbid_collision_between: ['plate_0::.*', 'plate_1::.*']
    SpatulaAndMugDoesntIntersectObjects: !NonCollisionConstraint
      forbid_collision_between: ['drying_rack_base::.*', 'drying_rack_wireframe::.*',
        'drying_rack_utensil_holder::.*', 'utensil_crock::.*', 'plate_0::.*', 'plate_1::.*',
        'mug_0::.*', 'mug_1::.*', 'spatula_0::.*', 'serving_spoon::.*']
    SpoonDoesntIntersectObjects: !NonCollisionConstraint
      forbid_collision_between: ['utensil_crock::.*', 'plate_0::.*', 'mug_holder::.*',
        'serving_spoon::.*', 'mug_0::.*', 'mug_1::.*']
random_seed: 117
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}
