# Constrained pipeline (the sim_action_aug algorithm, ROLLOUT_REPORT sec. 3):
# arm joints 1-6 + mobile base + torso are PINNED to the recorded MuJoCo state
# path for the whole episode; the policy owns ONLY the wrist (joint-7 servo
# around a searched dj7_init offset) and the gripper during the grasp window.
# Transport = relative replay with dj7 frozen + recorded opening schedule.
mode: constrained

# perturbation (NOTE: the pinned arm cannot chase a translated object -- this
# mode suits yaw-dominant perturbations and small translations)
n_perturbs: 5
rot_deg: 60.0
trans_m: 0.02
trans_min_m: 0.0
seed: 7

n_samples: 3         # N policy samples per (perturbation, dj7_init) cell
port: 8801
save: success

constrained:
  dj7_init_deg: [0, 30, -30, 60, -60, 90, -90]   # searched wrist offsets
  pre_buffer: 4      # policy inference starts at grasp_t - pre_buffer (frames)
  k_post: 12         # ... and keeps control this many frames after grasp_t
  replan: 8          # re-query the policy every N control steps
  # WHICH joints the policy controls (1-indexed Franka arm joints). Joints not
  # listed stay pinned to the recording. The GRIPPER is always the policy's
  # (unless gripper_mode: recorded).
  policy_joints: [6, 7]
  step_cap: 0.05           # rad per control step, every servoed joint
  servo_caps: {6: 0.30, 7: 0.60}   # total authority per joint (rad)
  servo_cap_default: 0.30  # for listed joints missing from servo_caps
  j7_total_cap: 3.14159    # |dj7_init + servo| (joint 7 only)
  gripper_mode: threshold   # bit | threshold | continuous
  grip_tau: 0.35     # threshold mode: latch full close once policy asks >= tau
  settle_frames: 30
  qvel_mode: finitediff     # finitediff | zero (pinned-joint qvel each substep)
  # rel-6D weld (sim_action_aug simfix): weld the object rigidly to the eef once
  # the grasp is real (both pads + lift >= weld_lift_m + commanded closed); drop
  # it when the gripper is commanded open. Without it the pinned-arm carry slips
  # (~33% ceiling in the old robocasa pin-sweep).
  rel6d: true
  weld_lift_m: 0.004   # engage EARLY: a 15mm gate let the object sag ~19mm in
                       # the jaw and catch the cabinet-shelf edge (ep0 finding)
  weld_solref: "0.005 1"   # stiff -- contact must not stretch the weld
  weld_open_frac: 0.5
  weld_open_floor: 0.10