##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
##
## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
## property and proprietary rights in and to this material, related
## documentation and any modifications thereto. Any use, reproduction,
## disclosure or distribution of this material and related documentation
## without an express license agreement from NVIDIA CORPORATION or
## its affiliates is strictly prohibited.
##

robot_cfg:
  kinematics:
    usd_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.usd"
    usd_robot_root: "/robot"
    isaac_usd_path: ""
    usd_flip_joints: {}
    usd_flip_joint_limits: []

    urdf_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.urdf"
    asset_root_path: "robot"

    base_link: "arm_base"
    ee_link: "link6"

    # lock_joints: {"joint7": 0.0, "joint8": 0.0}
    extra_links: {"attached_object":{"parent_link_name": "link6" ,
    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
    "joint_name": "attach_joint" }}


    collision_link_names:
      [
        "arm_base",
        "link1",
        "link2",
        "link3",
        "link4",
        "link5",
        "link6",
        "link7",
        "link8",
        "attached_object",
      ]
    collision_spheres:
      arm_base:
        - "center": [-0.016, -0.02, 0.028]
          "radius": 0.01497
      link1:
        - "center": [-0.005, -0.01, -0.007]
          "radius": 0.03343
      link2:
        - "center": [0.258, -0.005, -0.009]
          "radius": 0.03
        - "center": [0.058, 0.0, 0.013]
          "radius": 0.03
        - "center": [0.163, -0.014, -0.004]
          "radius": 0.03
      link3:
        - "center": [-0.186, 0.051, -0.003]
          "radius": 0.03
        - "center": [-0.04, 0.02, -0.007]
          "radius": 0.03
        - "center": [-0.107, 0.036, -0.004]
          "radius": 0.03
      link4:
        - "center": [-0.005, -0.0, -0.001]
          "radius": 0.03
      link5:
        - "center": [-0.004, 0.053, -0.001]
          "radius": 0.03
      link6:
        - "center": [-0.001, -0.002, 0.011]
          "radius": 0.03
      link7:
        - "center": [0.017, -0.055, -0.015]
          "radius": 0.0155
        - "center": [-0.017, -0.057, -0.008]
          "radius": 0.0155
      link8:
        - "center": [0.018, 0.055, -0.011]
          "radius": 0.01601
        - "center": [-0.019, 0.061, -0.007]
          "radius": 0.0149
    collision_sphere_buffer: 0.004
    extra_collision_spheres: {"attached_object": 4}
    self_collision_ignore:
      {
        "arm_base": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
        "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
        "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
        "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
        "link4": ["link5", "link6", "link7", "link8", "attached_object"],
        "link5": ["link6", "link7", "link8", "attached_object"],
        "link6": ["link7", "link8", "attached_object"],
        "link7": ["link8", "attached_object"]
      }
    self_collision_buffer:
      {
        "arm_base": 0.1,
        "link1": 0.05,
        "link2": 0.05,
        "link3": 0.05,
        "link4": 0.05,
        "link5": 0.05,
        "link6": 0.05,
        "link7": 0.02,
        "link8": 0.02,
        "attached_object": 0.0,
      }
    use_global_cumul: True
    mesh_link_names:
      [
        "arm_base",
        "link1",
        "link2",
        "link3",
        "link4",
        "link5",
        "link6",
        "link7",
        "link8"
      ]
    external_asset_path: null # Use this to add path for externally located assets/robot folder.
    lock_joints: {"joint7": 0.05, "joint8": -0.05}

    cspace:
      joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
      # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
      null_space_weight: [1,1,1,1,1,1,1,1]
      cspace_distance_weight: [1,1,1,1,1,1,1,1]
      max_acceleration: 15.0
      max_jerk: 500.0