scene:
  # mode: without_gripper # with_gripper automatically adds the tool camera
  mode: with_gripper # without_gripper automatically adds the tool camera
  backend: gpu # gpu on a machine with a supported GPU
  viewer: true
  dt: 0.008333333333333333 # 120 Hz simulation clock
  seed: 42

robot:
  position: [-0.263, 0.0, 0.815]
  euler: [0.0, 0.0, 0.0] # degrees
  joints: # radians
    joint1: 0.0
    joint2: 0.0
    joint3: 0.0
    joint4: 0.0
    joint5: 0.0
    joint6: 0.0
    joint7: 0.0

table:
  position: [0.0, 0.0, 0.0]
  euler: [0.0, 0.0, 0.0]

tools:
  # Exactly one name is chosen per launch. Names are OBJ/MTL stems in tools/hammer.
  # allowed: [hammer1, hammer2, hammer3, hammer4, hammer5]
  allowed: [hammer5]

  # null: new random tool, position and yaw each launch; integer: repeatable spawn.
  # Independent of scene.seed (which controls simulation/camera randomness).
  seed: null

cameras:
  overhead:
    position: [-0.263, 0.0, 2.8]
    lookat: [-0.263, 0.0, 1.2]
    up: [1.0, 0.0, 0.0]
    resolution: [640, 480]
    fps: 30
    horizontal_fov: 1.3089969 # radians, legacy simulated profile
    min_range: 0.01
    max_range: 6.0
    depth_resolution: 0.001
    noise:
      enabled: false
      rgb_stddev: 0.005 # fraction of full RGB scale
      depth_stddev: 0.02 # metres
  tool:
    link: camera_optical_frame
    # Existing optical link is at the CAD housing origin. Place the simulated
    # aperture in front of its 26 mm deep body, avoiding self-hits.
    position: [0.0, 0.014, 0.027]
    lookat: [0.0, 0.014, 1.027]
    up: [0.0, -1.0, 0.0]
    resolution: [640, 480]
    fps: 30
    horizontal_fov: 1.3089969
    min_range: 0.01
    max_range: 6.0
    depth_resolution: 0.001
    noise:
      enabled: false
      rgb_stddev: 0.005
      depth_stddev: 0.02

output:
  save_frames: false
  directory: ../outputs # relative to this YAML
  preview: true # RGB and colour-mapped depth windows when viewer is enabled
  pointcloud: false # optional optical-frame XYZ in each NPZ