config.hjson

{
    # type of end effector perception, can be auroco or icp
    eef_perception_type: icp
    pbvs_settings: {
        seg_range: 0.02
        max_joint_velo: 1.5
    }

    # max position error before terminating (m)
    max_pos_error: 0.03
    # max rotation error before terminating (radian)
    max_rot_error: 0.1
    # timeout if the desired position and rotation error are never achieved
    timeout: 60

    # do debug visualizations
    vis: true
    
    pbvs_hz: 10
    sim_hz: 240

    # std dev of noise in executed eef twist angular (rad/s)
    twist_execution_noise: 0.0
    # point cloud noise
    use_depth_noise: false
    
    servo_configs: [
        {
            camera_pos: [1.0, -0.5, 0.0]
            camera_look: [0.5, 0.1, 0.6]
            target_pos: [0.5, 0.6, 1.0]
            target_rot: [0.706, 0.0, 0.0, 0.706] 
            arm_states: [0.0, 0.0, 0.0, 0.5, 0.5, 0.1, 0.0]
        },
        {
            camera_pos: [1.0, -1.0, 1.0]
            camera_look: [1.0, 0.0, 1.1]
            target_pos: [0.5, 0.5, 0.5]
            target_rot: [0, 0.3824995, 0, 0.9239557]
            arm_states: [0.0, 0.2, 2.0, 1.0, 0.0, 0.0, 0.0]
        },
        {
            camera_pos: [1.0, -1.0, 1.0]
            camera_look: [1.0, 0.0, 1.5]
            target_pos: [0.5, 0.5, 1.8]
            target_rot: [0.6635853, 0.3472763, 0, 0.6626112]
            arm_states: [0.5, 0.7, 0.7, 0.3, -0.8, 0.0, 0.0]
        },
        {
            camera_pos: [1.0, -1.0, 1.0]
            camera_look: [1.0, 0.0, 1.0]
            target_pos: [0.5, 0.5, 1.5]
            target_rot: [0.0, 0.0, 0.0, 1.0] 
            arm_states: [1.5, 0.7, 0.7, 0.0, 0.0, 0.0, 0.0]
        },
        {
            camera_pos: [2.4, 0.0, 1.0]
            camera_look: [0.0, 0.0, 1.0]
            target_pos: [0.9, 0.2, 1.2]
            target_rot: [0.6635853, 0.3472763, 0, 0.6626112]
            arm_states: [0.0, 0.1, 0.0, 1.0, 0.2, 0.1, 0.9]
        },
        {
            camera_pos: [2.4, 0.0, 1.0]
            camera_look: [0.0, 0.0, 1.0]
            target_pos: [0.9, 0.2, 1.2]
            target_rot: [0, 0.3824995, 0, 0.9239557]
            arm_states: [0.0, 0.1, 0.0, 1.0, 0.2, 0.1, 0.9]
        },
        {
            camera_pos: [2.4, 0.0, 1.0]
            camera_look: [0.0, 0.0, 1.0]
            target_pos: [0.9, 0.5, 1.2]
            target_rot: [0.0, 0.706, 0.0, 0.706] 
            arm_states: [0.0, 0.1, 0.0, 1.0, 0.2, 0.1, 0.9]
        },
        {
            camera_pos: [1.0, -1.0, 1.0]
            camera_look: [1.0, 0.0, 1.0]
            target_pos: [0.5, 0.5, 0.5]
            target_rot: [0.0, 0.0, 0.0, 1.0] 
            arm_states: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
        },
        {
            camera_pos: [0.0, 0.0, 1.5]
            camera_look: [2.0, 0.2, 0.5]
            target_pos: [1.0, 0.3, 1.3]
            target_rot: [0.706, 0.0, 0.0, 0.706] 
            arm_states: [0.5, 0.3, 0.2, 0.0, 0.1, 0.0, 0.0]
        },
        
        {
            camera_pos: [1.0, -1.0, 1.0]
            camera_look: [1.0, 0.0, 1.0]
            target_pos: [0.5, 0.5, 0.5]
            target_rot: [0.0, 0.0, 0.0, 1.0] 
            arm_states: [1.5, 0.7, 0.7, 0.0, 0.0, 0.0, 0.0]
        },
    ]


}