cpf_config.yaml

active_link_idx:
  - 5
  - 6

number_of_particles: 50
tau_detection_margin: 2.0
belief_confidence_margin: 5

tau_low_pass_filter_config:
  h: 0.01
  w_cutoff: "inf"  #62.831 # 10 * 2 * pi

friction_coefficient: 1.0

standard_deviation: 0.1

mesh_relative_paths:
  - "/iiwa7_shifted_meshes/link_0.obj"
  - "/iiwa7_shifted_meshes/link_1.obj"
  - "/iiwa7_shifted_meshes/link_2.obj"
  - "/iiwa7_shifted_meshes/link_3.obj"
  - "/iiwa7_shifted_meshes/link_4.obj"
  - "/iiwa7_shifted_meshes/link_5.obj"
  - "/iiwa7_shifted_meshes/link_6.obj"
  - "/iiwa7_shifted_meshes/link_7_w_ball.obj"

mesh_translation:
  - #0
    - 0.
    - 0.
    - 0.
  - #1
    - 0.
    - 0.
    - 0.
  - #2
    - 0.
    - 0.
    - 0.
  - #3
    - 0.
    - 0.
    - 0.
  - #4
    - 0.
    - 0.
    - 0.
  - #5
    - 0.
    - 0.
    - 0.
  - #6
    - 0.
    - 0.
    - 0.
  - #7
    - 0.
    - 0.
    - 0.