TEST_CONFIG = {
    'agent_config': {
        'action': {'h_rotation': 45.0},
        'agent_class': 'MosAgentBasic2D',
        'agent_type': 'local',
        'belief': {},
        'detectable_objects': ['book'],
        'foref_model_map_name': 'honolulu',
        'foref_models_dir': '/home/kaiyu/repo/robotdev/shared/ros/genmos_object_search/genmos_object_search/models',
        'no_look': True,
        'object_symbol_map': {'NovelBook': 'book'},
        'objects': {'book': {'class': 'book',
                             'color': [200, 100, 80],
                             'transition': {'class': 'genmos_object_search.oopomdp.StaticObjectTransitionModel'}}},
        'robot': {'detectors': {'book': {'class': 'genmos_object_search.oopomdp.FanModelSimpleFPLabelOnly',
                                         'params': {"sensor": {'fov': 61,
                                                               'max_range': 5,
                                                               'min_range': 1},
                                                    "quality": [0.7, 0.05]}}},
                  'id': 'robot0',
                  'action': {'func': 'genmos_object_search.oopomdp.domain.action.basic_discrete_moves2d',
                             'params': {'h_rotation': 45.0,
                                        'step_size': 1}}},
        'spacy_model': 'en_core_web_lg',
        'targets': ['book'],
        'topo_map_args': {'degree': [3, 5],
                          'node_coverage_radius': 3.0,
                          'num_place_samples': 10,
                          'resample_prob_thres': 0.25,
                          'seed': 1509,
                          'sep': 4.0},
        'topo_trans_args': {'h_angle_res': 45.0},
        'visualizer': 'genmos_object_search.oopomdp.agent.VizGenMOSTopo',
        'viz_params': {'init': {'res': 20},
                       'render': {'show_img_flip_horizontally': True}}},
    'planner_config': {'high_level_planner_args': {'exploration_const': 1000,
                                                   'max_depth': 20,
                                                   'num_sims': 600},
                       'local_search': {'planner': 'pomdp_py.POUCT',
                                        'planner_args': {'exploration_const': 1000,
                                                         'max_depth': 10,
                                                         'num_sims': 600}},
                       'plan_nav_actions': False,
                       'planner': 'genmos_object_search.oopomdp.planner.hier2d.HierarchicalPlanner'},
    'task_config': {'map_name': 'lab121_lidar', 'max_steps': 100}}
