bt_sim:
  gui: True
  gripper_force: 100
  # scene: random
  # scene: manual
  scene: $(find active_grasp)/cfg/pkl_scene/scene_0
hw:
  roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
  scene_file: $(find active_grasp)/cfg/hw/scene01.yaml

grasp_controller:
  base_frame_id: panda_link0
  ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065]  # offset to panda_link8
  control_rate: 100
  linear_vel: 0.05
  move_to_target_threshold: 0.01 # meter
  camera:
    frame_id: camera_depth_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_rect_raw
    seg_topic: /camera/segmentation/image_rect_raw
    min_z_dist: 0.3

cartesian_velocity_controller:
  topic: /cartesian_velocity_controller/set_command

vgn:
  model: $(find vgn)/assets/models/vgn_conv.pth
  finger_depth: 0.05
  qual_threshold: 0.9

policy:
  rate: 2
  window_size: 12

nbv_grasp:
  max_views: 80
  min_gain: 10
  downsample: 10  # 10/20 for sim/hw respectively

ap_grasp:
  max_views: 80
  ap_config_path: $(find active_grasp)/src/active_grasp/active_perception/configs/local_inference_config.yaml
  max_inference_num: 50
  crop_min_radius: 0.2
  crop_radius_step: 0.05
  crop_max_radius: 0.5
  num_knn_neighbours: 5
  gsnet_grasp_offset: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, -0.01], [0, 0, 0, 1]] 

