# Schema example only. Use `pixi run dwarl robot init` for guided creation.
schema: dwarl_robot/1
id: my_robot

description:
  urdf: package://my_robot_description/urdf/robot.urdf.xacro
  base_link: base_link
  xacro_args: {}

drive:
  type: diff
  left_wheel_joint: left_wheel_joint
  right_wheel_joint: right_wheel_joint
  actuator: {kv: 1.0, max_wheel_speed: 20.0, max_torque: 5.0}

limits:
  v_min: 0.0           # m/s; set negative only if your robot should reverse
  v_max: 0.5          # m/s
  w_max: 1.0          # rad/s
  a_max: 0.5          # m/s²
  alpha_max: 1.0      # rad/s²

footprint:
  polygon: [[0.3, 0.2], [0.3, -0.2], [-0.3, -0.2], [-0.3, 0.2]]

lidar:
  link: laser_link
  num_rays: 360
  fov_deg: 360.0
  min_range: 0.05
  max_range: 10.0
  noise_std: 0.01
  dropout_prob: 0.005

# Add collision/physics overrides for your actual support and caster geometry.
# See the guide before setting chassis_z, supports, or additional chassis_mass.

ros:
  base_frame: base_link
  odom_frame: odom
  map_frame: map
  scan_topic: /scan
  odom_topic: /odom
  cmd_vel_topic: /cmd_vel
  cmd_vel_stamped: true
  # Uncomment BEFORE training if you have implemented the Gazebo adapter:
  # sim_launch: {package: my_robot_dwarl, file: simulation.launch.py}

deployment:
  policy_directory: policies
  selected_policy: selected_policy.yaml
  # Optional: your launch that reads the selection and starts navigation.
  # launch: {package: my_robot_dwarl, file: navigation.launch.py}