analytical_rigid123:
  attached_to_manipulator: denso_suction_cup2
  constraint_coeffs_file: analytical_rigid1234.npz
  id: analytical_rigid123
  orientation:
  - [1, 0, 0]
  - [0, 1, 0]
  - [0, 0, 1]
  params: {N: 6, PA: 20.0, fmax: 33.333333333333336, mu: 0.3, r: 0.0125, simplify: true}
  position: [0, 0, 0]

analytical_rigid:
  attached_to_manipulator: denso_suction_cup2
  constraint_coeffs_file: analytical_rigid.npz
  id: analytical_rigid
  orientation:
  - [1, 0, 0]
  - [0, 1, 0]
  - [0, 0, 1]
  params: {N: 6, PA: 15.0, fmax: 16.666666666666668, mu: 0.25, r: 0.0105, simplify: false}
  position: [0, 0, 0]
  description: No simplification.
