# Copyright 2023 The Kubric Authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# Copyright 2023 The Kubric Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    https://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

URDF_TEMPLATE = """
<robot name="{id}">
    <link name="base">
        <inertial>
            <origin xyz="{center_mass[0]} {center_mass[1]} {center_mass[2]}" />
            <mass value="{mass}" />
            <inertia ixx="{inertia[0][0]}" ixy="{inertia[0][1]}" 
                     ixz="{inertia[0][2]}" iyy="{inertia[1][1]}" 
                     iyz="{inertia[1][2]}" izz="{inertia[2][2]}" />
        </inertial>
        <visual>
            <origin xyz="{center_mass[0]} {center_mass[1]} {center_mass[2]}" />
            <geometry>
                <mesh filename="collision_geometry.obj" />
            </geometry>
        </visual>
        <collision>
            <origin xyz="{center_mass[0]} {center_mass[1]} {center_mass[2]}" />
            <geometry>
                <mesh filename="collision_geometry.obj" />
            </geometry>
        </collision>
    </link>
</robot>
"""
