##
## 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: "robot/ur_description/ur5e.usd"
    usd_robot_root: "/robot"
    isaac_usd_path: ""
    usd_flip_joints: {}
    usd_flip_joint_limits: []

    urdf_path: "robot/ur_description/ur5e.urdf"
    asset_root_path: "robot/ur_description"
    
    base_link: "base_link"
    ee_link: "tool0"
    link_names: null
    lock_joints: null
    extra_links: null

    
    collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 
    'wrist_2_link' ,'wrist_3_link', 'tool0'] # List[str]
    collision_spheres:
      shoulder_link:
        - "center": [0.0, 0.0, 0.0]
          "radius": 0.1
      upper_arm_link:
        - "center": [-0.416, -0.0, 0.143]
          "radius": 0.078
        - "center": [-0.015, 0.0, 0.134]
          "radius": 0.077
        - "center": [-0.14, 0.0, 0.138]
          "radius": 0.062
        - "center": [-0.285, -0.001, 0.139]
          "radius": 0.061
        - "center": [-0.376, 0.001, 0.138]
          "radius": 0.077
        - "center": [-0.222, 0.001, 0.139]
          "radius": 0.061
        - "center": [-0.055, 0.008, 0.14]
          "radius": 0.07
        - "center": [-0.001, -0.002, 0.143]
          "radius": 0.08
      forearm_link:
        - "center": [-0.01, 0.002, 0.031]
          "radius": 0.072
        - "center": [-0.387, 0.0, 0.014]
          "radius": 0.057
        - "center": [-0.121, -0.0, 0.006]
          "radius": 0.057
        - "center": [-0.206, 0.001, 0.007]
          "radius": 0.057
        - "center": [-0.312, -0.001, 0.006]
          "radius": 0.056
        - "center": [-0.057, 0.003, 0.008]
          "radius": 0.065
        - "center": [-0.266, 0.0, 0.006]
          "radius": 0.057
        - "center": [-0.397, -0.001, -0.018]
          "radius": 0.052
        - "center": [-0.164, -0.0, 0.007]
          "radius": 0.057
      wrist_1_link:
        - "center": [-0.0, 0.0, -0.009]
          "radius": 0.047
        - "center": [-0.0, 0.0, -0.052]
          "radius": 0.047
        - "center": [-0.002, 0.027, -0.001]
          "radius": 0.045
        - "center": [0.001, -0.01, 0.0]
          "radius": 0.046
      wrist_2_link:
        - "center": [0.0, -0.01, -0.001]
          "radius": 0.047
        - "center": [0.0, 0.008, -0.001]
          "radius": 0.047
        - "center": [0.001, -0.001, -0.036]
          "radius": 0.047
        - "center": [0.001, -0.03, -0.0]
          "radius": 0.047
      wrist_3_link:
        - "center": [0.001, 0.001, -0.029]
          "radius": 0.043
      tool0:
        - "center": [0.001, 0.001, 0.05]
          "radius": 0.05


    collision_sphere_buffer: 0.005
    extra_collision_spheres: {}
    self_collision_ignore: {
      "upper_arm_link": ["forearm_link", "shoulder_link"],
      "forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"],
      "wrist_1_link": ["wrist_2_link","wrist_3_link","tool0"],
      "wrist_2_link": ["wrist_3_link", "tool0"],
      "wrist_3_link": ["tool0"],
      }
    self_collision_buffer: {'upper_arm_link': 0, 
      'forearm_link': 0, 
      'wrist_1_link': 0, 
      'wrist_2_link': 0,
      'wrist_3_link' : 0,
      } 
      
    use_global_cumul: True
    mesh_link_names:  ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 
    'wrist_2_link' ,'wrist_3_link'] # List[str]

    cspace:
      joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
      retract_config:  [0.0, -2.2, 1.9, -1.383, -1.57, 0.00]
      null_space_weight:  [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
      cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
      max_jerk: 500.0
      max_acceleration: 12.0
      position_limit_clip: 0.1
