##
## 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
    urdf_path: "robot/ur_description/ur10e.urdf"
    asset_root_path: "robot/ur_description"
    isaac_usd_path: "/Isaac/Robots/UR10/ur10_long_suction.usd"
    usd_robot_root: "/ur10"
    usd_path: "robot/ur_description/ur10e.usd"
    base_link: "base_link"
    ee_link: "tool0"
    link_names: null 
    collision_link_names: ['shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link', 'tool0']
    collision_spheres: 'spheres/ur10e.yml'
    collision_sphere_buffer: 0.01
    self_collision_ignore: {
      "upper_arm_link": ["forearm_link", "shoulder_link"],
      "forarm_link": ["wrist_1_link"],
      "wrist_1_link": ["wrist_2_link","wrist_3_link"],
      "wrist_2_link": ["wrist_3_link", "tool0"],
      "wrist_3_link": ["tool0"],
      "camera_mount": ["tool0", "wrist_3_link"],
      }
    self_collision_buffer: {
      'shoulder_link': 0.07,
      'upper_arm_link': 0, 
      'forearm_link': 0, 
      'wrist_1_link': 0, 
      'wrist_2_link': 0,
      'wrist_3_link' : 0, 
      'tool0': 0,
    }
    mesh_link_names: [ 'shoulder_link','upper_arm_link', 'forearm_link', 'wrist_1_link', 'wrist_2_link' ,'wrist_3_link' ]
    lock_joints: null

    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] #[2.5, 1.75, 1.5, 1.25, 0.7, 0.4]
      max_jerk: 500.0
      max_acceleration: 12.0
      position_limit_clip: 0.1
      # add velocity scaling
      # add joint position limit clipping
