cameras:
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-144.1, 0.0, 146.13]
    translation: [0.28, 0.42, 0.81]
  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: [0.6211804606268014, 0.7954770277871093, 1.0, 1.0]
      cone_angle: 20
      direction: [0.02463843186211721, 0.3403648338212716, -1.0]
      frame: world
      intensity: 1.8785108799084727
      type: directional
    shadow_map_size: 1024
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-142.87, 0.0, 145.44]
    translation: [0.25, 0.36, 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_2
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-158.03, 0.0, 55.67]
    translation: [0.27, -0.19, 0.92]
  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: [-170.49, -0.0, 75.96]
    translation: [0.13, -0.03, 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_4
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-158.34, 0.0, 102.07]
    translation: [0.26, 0.06, 0.77]
  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: [-150.26, -0.0, 135.6]
    translation: [0.31, 0.32, 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_6
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-165.46, -0.0, 138.83]
    translation: [0.14, 0.16, 0.91]
  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: [-141.88, 0.0, 148.39]
    translation: [0.26, 0.42, 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_8
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-148.6, 0.0, 112.38]
    translation: [0.53, 0.22, 1.04]
  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: [-149.58, 0.0, 112.64]
    translation: [0.4, 0.17, 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_10
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-152.63, 0.0, 136.25]
    translation: [0.35, 0.36, 1.07]
  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: [-149.52, 0.0, 161.2]
    translation: [0.17, 0.5, 1.01]
  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: [-154.44, 0.0, 126.27]
    translation: [0.31, 0.23, 0.91]
  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: [-147.43, 0.0, 170.0]
    translation: [0.09, 0.53, 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_14
  renderer_class: RenderEngineVtk
  renderer_name: renderer_1
  rgb: true
- X_PB:
    base_frame: manipuland_table::table_top_center
    rotation: !Rpy
      deg: [-153.02, 0.0, 173.51]
    translation: [0.05, 0.45, 0.98]
  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: [-163.39, 0.0, 137.73]
    translation: [0.17, 0.19, 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_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: [-1.4807, -1.3436, 43.0481]
      translation: [0.6586, 0.1677, 0.1094]
    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: [-0.4968, -0.3597, -47.1347]
      translation: [0.6579, -0.1973, 0.0943]
    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: [-143.64306076326346, 7.447447807500457, 99.19332130728682]
      translation: [0.5488539623302436, 0.19174260854143854, 0.834067241117883]
    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: [-143.26190710630584, -17.52109218297588, 73.77878468602188]
      translation: [0.4924298719888843, -0.3587679663548917, 0.782702733745241]
    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/food_prep/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/food_prep/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_frame:
    X_PF:
      base_frame: shelving::plywood_top_center__z_up
      rotation: !Rpy
        deg: [0.0, 0.0, 90.0]
      translation: [-0.14, -0.049, 0.0001]
    name: shelving::cereal_box_0_start
- add_frame:
    X_PF:
      base_frame: cereal_box_0_start
      rotation: !Rpy
        deg: [0.0, 0.0, 180.0]
      translation: [0.0, 0.0, 0.0]
    name: cereal_box_0_start_180
- add_model:
    default_free_body_pose:
      punyos_cereal_box:
        base_frame: cereal_box_0_start
        rotation: {}
        translation: [0.0, 0.0, 0.0]
    default_joint_positions: {}
    file: package://anzu/models/food/cereal/punyos_cereal_box.sdf
    name: cereal_box_0
- add_frame:
    X_PF:
      base_frame: cereal_box_0_start
      rotation: {}
      translation: [0.0, 0.0, 0.0]
    name: cereal_box_0_target
- add_frame:
    X_PF:
      base_frame: shelving::shelf_top_center__z_up
      rotation: !Rpy
        deg: [0.0, 0.0, 90.0]
      translation: [0.0, 0.0, 0.0]
    name: shelving::cereal_box_1_start
- add_frame:
    X_PF:
      base_frame: cereal_box_1_start
      rotation: !Rpy
        deg: [0.0, 0.0, 180.0]
      translation: [0.0, 0.0, 0.0]
    name: cereal_box_1_start_180
- add_frame:
    X_PF:
      base_frame: cereal_box_0_start
      rotation: {}
      translation: [0.0, -0.0505, 0.0]
    name: cereal_box_1_target
- add_model:
    default_free_body_pose:
      punyos_cereal_box:
        base_frame: cereal_box_1_start
        rotation: !Rpy
          deg: [0.0, 0.0, 21.208658277467705]
        translation: [-0.00614404760473544, 0.02221990603883034, 0.0]
    default_joint_positions: {}
    file: package://anzu/models/food/cereal/punyos_cereal_box.sdf
    name: cereal_box_1
- 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, 20.28491323612947]
      translation: [-0.20041532444612115, 0.5586994484084131, 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_model:
    default_free_body_pose:
      center__z_up:
        base_frame: bell_pepper_start
        rotation: !Rpy
          deg: [101.50481223211028, 14.68409377372663, -66.23764154183036]
        translation: [-0.07009056102088021, 0.05865966895756264, 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/bowls/generic_fruit_bowl.sdf
    name: fruit_bowl
- add_weld:
    X_PC:
      rotation: {}
      translation: [0.13657929515956452, -0.4613336625175956, 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: [97.01933062241153, 59.513817548625354, 110.8781319328952]
        translation: [0.004060790888708234, -0.015791814784963096, 0.08]
    default_joint_positions: {}
    file: package://anzu/models/fruits/avocados/fuerte_avocado.sdf
    name: fruit_0
- add_model:
    default_free_body_pose:
      mass_center__z_up:
        base_frame: fruit_bowl::origin
        rotation: !Rpy
          deg: [95.40761068096367, 42.0835327027703, -56.042074747094176]
        translation: [0.004619176010482916, -0.01733630639414216, 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/BimanualStoreCerealBoxUnderShelf/riverway/sim/bc/teleop/2025-03-13T08-14-05+00-00/demonstration_64/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-5, time_step: 10e-3}
preconditions:
  constraints:
    CerealBoxDoesntIntersectShelf:
      forbid_collision_between: ['shelving::.*', 'cereal_box_0::.*']
    FruitDoesntIntersectBowl:
      forbid_collision_between: ['fruit_bowl::.*', 'fruit_0::.*', 'fruit_1::.*']
    RedBellPepperDoesntIntersectBowl:
      forbid_collision_between: ['bell_pepper_0::.*', 'fruit_bowl::.*']
random_seed: 164
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}
