# Robot Configuration
ROBOT_TYPE: 'g1_29dof'
END_EFFECTOR: "dex1"  # "dex1" parallel grippers, "dex3" articulated hands, or "dummy" for none
ROBOT_SCENE: "assets/scene_33dof.xml"  # Selected automatically from END_EFFECTOR

# DDS Communication
DOMAIN_ID: 0
INTERFACE: "lo"  # "lo" for simulation, network interface with "192.168.123.222" for real robot
SIMULATOR: "mujoco"

# Joystick (auto-detected at startup; these are defaults when a controller is found)
JOYSTICK_TYPE: "xbox"  # "xbox" or "switch"
JOYSTICK_DEVICE: 0

# Simulation Settings
FREE_BASE: False
enable_waist: False  # False = band on torso, True = band on pelvis
ENABLE_ELASTIC_BAND: True

# Timing
SIMULATE_DT: 0.004  # 250Hz physics
VIEWER_DT: 0.02     # 50Hz viewer update
IMAGE_DT: 0.033333  # ~30Hz camera

# Rendering
ENABLE_ONSCREEN: true
ENABLE_OFFSCREEN: false
MP_START_METHOD: "spawn"
CAMERAS: ["head_camera", "left_wrist_cam", "right_wrist_cam"]

# Sensors
USE_SENSOR: False
PRINT_SCENE_INFORMATION: True

# Robot Dimensions
NUM_MOTORS: 29
NUM_JOINTS: 29
NUM_HAND_MOTORS: 2
NUM_HAND_JOINTS: 2

# Selected automatically per mode: 29 body + 4 gripper = 33 total.
# Revolute joint torque limits in Nm; prismatic finger force limits in N.
motor_effort_limit_list: [
    88.0, 88.0, 88.0, 139.0, 50.0, 50.0,   # left leg
    88.0, 88.0, 88.0, 139.0, 50.0, 50.0,   # right leg
    88.0, 50.0, 50.0,                       # waist
    25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, # left arm
    20.0, 20.0,                            # left gripper
    25.0, 25.0, 25.0, 25.0, 25.0, 5.0, 5.0, # right arm
    20.0, 20.0                             # right gripper
]