bt_sim:
  gui: False
  cam_noise: False
  gripper_force: 10
  scene: scene1.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: 30
  linear_vel: 0.05
  camera:
    frame_id: camera_depth_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_rect_raw
    min_z_dist: 0.3

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

policy:
  rate: 2
  window_size: 6

nbv_grasp:
  max_views: 40
  min_gain: 0.0