runner:
  general:
    seed: 0
    device: cuda
    cuda_visible_devices: "0,1,2,3,4,5,6,7"
    
  experiment:
    name: simulation_debug
    root_dir: "experiments"

simulation:
  robot:
    urdf_path: "assets/franka_panda/panda.urdf"
    initial_position: [0, 0, 0]  # 机械臂基座位置
    initial_orientation: [0, 0, 0]  # 机械臂基座朝向(欧拉角)
  
  turntable:
    radius: 0.3  # 转盘半径(米)
    height: 0.1  # 转盘高度
    center_position: [0.8, 0, 0.4]  
  
  target:
    obj_dir: /media/hofee/data/project/python/nbv_reconstruction/nbv_reconstruction/assets/object_meshes
    obj_name: "google_scan-box_0185"        
    scale: 1.0  # 缩放系数
    mass: 0.1   # 质量(kg)
    rgba_color: [0.8, 0.8, 0.8, 1.0]  # 目标物体颜色
  
  camera:
    width: 640
    height: 480
    fov: 40
    near: 0.01
    far: 5.0

displaytable: