| { | |
| "end_effector_frame_name": "right_gripper", | |
| "maximum_substep_size" : 0.00167, | |
| "ignore_robot_state_updates" : true, | |
| "relative_asset_paths": { | |
| "robot_description_path" : "robot_descriptor.yaml", | |
| "urdf_path": "../lula_franka_gen.urdf", | |
| "rmpflow_config_path" : "franka_rmpflow_common.yaml" | |
| } | |
| } | |