FactoryEnvInsertion.yaml

# See schema in factory_schema_config_env.py for descriptions of common parameters.

defaults:
    - FactoryBase
    - _self_
    - /factory_schema_config_env

sim:
    disable_franka_collisions: False

env:
    env_name: 'FactoryEnvInsertion'

    desired_subassemblies: ['round_peg_hole_4mm_loose', 
                            'round_peg_hole_8mm_loose', 
                            'round_peg_hole_12mm_loose', 
                            'round_peg_hole_16mm_loose',
                            'rectangular_peg_hole_4mm_loose', 
                            'rectangular_peg_hole_8mm_loose', 
                            'rectangular_peg_hole_12mm_loose', 
                            'rectangular_peg_hole_16mm_loose']
    plug_lateral_offset: 0.1  # Y-axis offset of plug before initial reset to prevent initial interpenetration with socket

    # Subassembly options:
    # {round_peg_hole_4mm_tight, round_peg_hole_4mm_loose,
    # round_peg_hole_8mm_tight, round_peg_hole_8mm_loose,
    # round_peg_hole_12mm_tight, round_peg_hole_12mm_loose,
    # round_peg_hole_16mm_tight, round_peg_hole_16mm_loose,
    # rectangular_peg_hole_4mm_tight, rectangular_peg_hole_4mm_loose,
    # rectangular_peg_hole_8mm_tight, rectangular_peg_hole_8mm_loose,
    # rectangular_peg_hole_12mm_tight, rectangular_peg_hole_12mm_loose,
    # rectangular_peg_hole_16mm_tight, rectangular_peg_hole_16mm_loose,
    # bnc, dsub, usb}
    #
    # NOTE: BNC, D-sub, and USB are currently unavailable while we await approval from manufacturers.