services:
  nuwa:
    base_url: http://localhost:8877
    timeout_s: 5.0
    api_key: null
  marker_finder:
    base_url: http://localhost:8082
    timeout_s: 5.0
  yolo:
    base_url: http://localhost:8879
    timeout_s: 10.0
  g1:
    base_url: http://localhost:8765
    timeout_s: 5.0
    write_timeout_s: 30.0
  h1:
    base_url: http://localhost:8767
    timeout_s: 5.0
    write_timeout_s: 30.0
  sam21:
    base_url: http://localhost:8002
    timeout_s: 10.0
  open3dmodel:
    base_url: http://localhost:8878
    timeout_s: 30.0
    api_key_env: OPEN3D_API_KEY
    max_stl_bytes: 20000000
  front_camera:
    base_url: http://192.168.123.99:8878
    timeout_s: 5.0
aruco:
  dictionary: DICT_4X4_50
  wrist_marker:
    id: 10
    size_mm: 40.0
robot:
  wrist_side: right
  active: g1
tab_right_arm:
  yolo_class: pestello
  yolo_conf_front: 0.4
  yolo_conf_wrist: 0.4
  move_offset_camera_mm:
    x: 100.0
    y: 0.0
    z: 100.0
  axis_sign_cam_to_wrist:
    x: 1
    y: -1
    z: -1
  cam_to_wrist_perm:
  - z
  - x
  - y
  camera_offset_wrist_mm:
    x: 0.0
    y: 0.0
    z: 100.0
  cluster_depth_window_m: 0.2
  verify_marker:
    id: 1
    size_mm: 40.0
  max_step_m: 0.15
  z_floor_m: null
  home_pose:
    position:
    - 0.3
    - -0.2
    - 0.3
    rpy_deg:
    - 0
    - 0
    - 0
  custom_pose:
    position:
    - 0.3
    - -0.2
    - 0.3
    rpy_deg:
    - 0
    - 0
    - 0
pose_3d:
  live_max_step_m: 0.15
  tag_offset:
    save_dir: /home/harry/robot/logging/wrist-tag-offset
  right_wrist_camera:
    enabled: true
    mesh_url: /static/assets/nuwa/nuwa-hp60c.stl
    offset_m:
    - 0.05
    - 0
    - 0.1
    rpy_deg:
    - 0
    - -90
    - -90
  clouds:
    nuwa:
      use_nuwa_camera_transform: true
      extra_offset_m:
      - 0.0
      - 0.0
      - 0.0
      extra_rpy_deg:
      - 0
      - 0
      - 0
    d435:
      offset_m:
      - -0.01
      - 0.015
      - -0.005
      rpy_deg:
      - -90
      - 90
      - 0
      transform_pelvis_4x4:
      - - 0.03273746934835532
        - -0.9960477706629303
        - -0.0825657111522212
        - -0.00771413467718246
      - - -0.7734929889294071
        - 0.027067579810660346
        - -0.633226612043623
        - 0.37547513731967447
      - - 0.6329588092267278
        - 0.08459423550455474
        - -0.7695498431821574
        - 0.33337005199505626
      - - 0.0
        - 0.0
        - 0.0
        - 1.0
  named_poses:
    Base:
      side: left
      position:
      - 0.2561414814483791
      - 0.14648003458557432
      - 0.10874469031742239
      quaternion:
      - -0.005339006082777725
      - -0.047703617194205114
      - -0.005110044879619669
      - 0.9988341941293186
  cloud_params:
    step: 2
    max_depth_mm: 1000
    nuwa_size_mm: 5
    d435_size_mm: 5
    d435_scale_xy: 1
    flip_nuwa:
    - false
    - false
    - false
    flip_d435:
    - false
    - false
    - false
    d435_use_handeye: false
grasp:
  approach_offset_m: 0.1
  pre_grasp_clearance_m: 0.05
  max_object_width_m: 0.08
  pointcloud_step: 1
  pointcloud_max_depth_mm: 2000
  use_sam21: true
  visual_servo:
    min_distance_m: 0.1
    step_fraction: 0.5
    wrist_marker_rvec:
    - 0
    - 0
    - 0
  find_model:
    sample_points: 2000
    min_fitness: 0.5
    max_rmse_mm: 5.0
calibration:
  min_samples: 5
  method: DANIILIDIS
  file: data/calibration.yaml
  samples_file: data/samples.json