bt_sim:
  gui: False
  cam_noise: True
  calib_error: True

grasp_controller:
  base_frame_id: panda_link0
  ee_frame_id: panda_hand
  ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
  linear_vel: 0.1
  qual_threshold: 0.9
  camera:
    frame_id: camera_optical_frame
    info_topic: /camera/depth/camera_info
    depth_topic: /camera/depth/image_raw
    min_z_dist: 0.22
    
vgn:
  model: $(find vgn)/assets/models/vgn_conv.pth
  finger_depth: 0.05