frequency: 300
urdf_root: "./urdf"
world: "empty" #"gazebo_racetrack_day" #
render: True
on_rack: False
foot_contacts: True

camera: False
pointcloud_enabled: False
camera_frame: "camera_frame"
camera_freq: 10
pixel_width: 100
pixel_height: 100
camera_rgb_topic: "camera/rgb/image_raw"
camera_rgb_info_topic: "camera/rgb/camera_info"
camera_depth_image_topic: "camera/depth/image_raw"
camera_depth_points_topic: "camera/depth/points"
camera_depth_info_topic: "camera/depth/camera_info"
# pointcloud_topic: "pointcloud/points"

lidar: True
lidar_render: False
lidar_freq: 10
lidar_angle_min: -3.14 #-2.2689
lidar_angle_max: 3.14 #2.2689
# lidar_angle_increment: -0.00436752
lidar_time_increment: 0
lidar_point_num: 760
lidar_range_min: 0.15
lidar_range_max: 12.0
lidar_frame: "scan_frame"
lidar_topic: "scan"

lateral_friction: 1.0
spinning_friction: 0.0065

accurate_motor_model_enabled: False
simple_motor_model_enabled: False
torque_control_enabled: False

external_disturbance: False
external_disturbance_value: 4000 # newtons
external_disturbance_duration: 0.02 # seconds
external_disturbance_interval: 2 # seconds

ros_whole_body_state: False
ros_whole_body_state_topic: "wb_state"

ros_imu_topic: "imu/data"
ros_joint_states_topic: "joint_states"
ros_contact_flags_topic: "foot_contacts"
ros_robot_odom_topic: "robot_odom"
lcm_servo_cmd_channel: "SERVO_CMD"
lcm_servo_state_channel: "SERVO_STATE"

joint_dir: [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
joint_offset: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]