robot_cfg:
  kinematics:
    use_usd_kinematics: False
    # usd_path: "FILL_THIS"
    # usd_robot_root: "/robot"
    # isaac_usd_path: ""
    # usd_flip_joints: {}
    # usd_flip_joint_limits: []
    urdf_path: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/urdf/arx5_description_isaac.urdf
    asset_root_path: null

    base_link: "fr_base_link"
    ee_link: "fr_link6"
    collision_link_names: 
      [
        "fr_base_link",
        "fr_link1",
        "fr_link2",
        "fr_link3",
        "fr_link4",
        "fr_link5",
        "fr_link6",
        "fr_link7",
        "fr_link8",
        "right_camera"
      ]
    collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_right.yml
    collision_sphere_buffer: 0.004
    extra_collision_spheres: {}
    use_global_cumul: True
    self_collision_ignore:
      {
        "fr_base_link": ["fr_link1"],
        "fr_link1": ["fr_link2"],
        "fr_link2": ["fr_link3"],
        "fr_link3": ["fr_link4"],
        "fr_link4": ["fr_link5", "fr_link7", "right_camera", "fr_link8"],
        "fr_link5": ["fr_link6", "fr_link7", "right_camera", "fr_link8"],
        "fr_link6": ["fr_link7", "right_camera", "fr_link8"],
        "fr_link7": ["fr_link8", "right_camera"]
      }
    self_collision_buffer:
      {
        "fr_base_link": 0.00,
        "fr_link1": 0.00,
        "fr_link2": 0.00,
        "fr_link3": 0.00,
        "fr_link4": 0.00,
        "fr_link5": 0.00,
        "fr_link6": 0.00,
        "fr_link7": 0.00,
        "fr_link8": 0.00,
        "right_camera": 0.00
      }

    mesh_link_names: [
        "fr_base_link",
        "fr_link1",
        "fr_link2",
        "fr_link3",
        "fr_link4",
        "fr_link5",
        "fr_link6",
        "fr_link7",
        "fr_link8",
        "right_camera"
      ]
    lock_joints: {"fr_joint7": 0.04, "fr_joint8": 0.04}
    extra_links: null

    cspace:
      joint_names: [
        "fr_joint1",
        "fr_joint2",
        "fr_joint3",
        "fr_joint4",
        "fr_joint5",
        "fr_joint6",
        "fr_joint7",
        "fr_joint8"
      ]
      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.04]
      null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
      cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
      max_jerk: 100.0
      max_acceleration: 3.0
planner:
  frame_bias: [-0.2315, 0.3063, -0.781]