##
## 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:
    use_usd_kinematics: False
    # isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
    # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
    # usd_robot_root: "/panda"
    # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
    #   "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
    # usd_flip_joints: {
    # "panda_joint1": "Z",
    # "panda_joint2": "Z",
    # "panda_joint3": "Z",
    # "panda_joint4": "Z",
    #  "panda_joint5": "Z",
    # "panda_joint6": "Z",
    # "panda_joint7": "Z",
    # "panda_finger_joint1": "Y",
    #  "panda_finger_joint2":  "Y",
    # }

    # usd_flip_joint_limits: ["panda_finger_joint2"]
    urdf_path: panda.urdf
    asset_root_path: null #"robot/franka_description"
    base_link: "panda_link0"
    ee_link: "panda_hand"
    collision_link_names:
      [
        "panda_link1",
        "panda_link2",
        "panda_link3",
        "panda_link4",
        "panda_link5",
        "panda_link6",
        "panda_link7",
        "panda_hand"
      ]
    collision_spheres: collision_franka.yml
    collision_sphere_buffer: 0.004 # 0.0025
    use_global_cumul: True
    self_collision_ignore:
      {
        "panda_link0": ["panda_link1", "panda_link2"],
        "panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
        "panda_link2": ["panda_link3", "panda_link4"],
        "panda_link3": ["panda_link4", "panda_link6"],
        "panda_link4":
          ["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
        "panda_link5": ["panda_link6", "panda_link7", "panda_hand"],
        "panda_link6": ["panda_link7", "panda_hand"],
        "panda_link7": ["panda_hand"],
        "panda_hand": [],
      }

    self_collision_buffer:
      {
        "panda_link0": 0.1,
        "panda_link1": 0.05,
        "panda_link2": 0.0,
        "panda_link3": 0.0,
        "panda_link4": 0.0,
        "panda_link5": 0.0,
        "panda_link6": 0.0,
        "panda_link7": 0.0,
        "panda_hand": 0.02,
      }
    #link_names: ["panda_link4"]
    mesh_link_names:
      [
        "panda_link0",
        "panda_link1",
        "panda_link2",
        "panda_link3",
        "panda_link4",
        "panda_link5",
        "panda_link6",
        "panda_link7",
        "panda_hand",
      ]
    cspace:
      joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5", "panda_joint6","panda_joint7"]
      retract_config: [0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099]
      null_space_weight: [1,1,1,1,1,1,1]
      cspace_distance_weight: [1,1,1,1,1,1,1]
      max_acceleration: 15.0
      max_jerk: 500.0
planner:
  frame_bias: [0., 0., 0.]