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: "fl_base_link"
    ee_link: "fl_link6"
    collision_link_names: 
      [
        "fl_base_link",
        "fl_link1",
        "fl_link2",
        "fl_link3",
        "fl_link4",
        "fl_link5",
        "fl_link6",
        "fl_link7",
        "fl_link8",
        "left_camera"
      ]
    collision_spheres: ${ASSETS_PATH}/assets/embodiments/aloha-agilex/collision_aloha_left.yml
    collision_sphere_buffer: 0.004
    extra_collision_spheres: {}
    use_global_cumul: True
    self_collision_ignore:
      {
        "fl_base_link": ["fl_link1"],
        "fl_link1": ["fl_link2"],
        "fl_link2": ["fl_link3"],
        "fl_link3": ["fl_link4"],
        "fl_link4": ["fl_link5", "fl_link7", "left_camera", "fl_link8"],
        "fl_link5": ["fl_link6", "fl_link7", "left_camera", "fl_link8"],
        "fl_link6": ["fl_link7", "left_camera", "fl_link8"],
        "fl_link7": ["fl_link8", "left_camera"]
      }
    self_collision_buffer:
      {
        "fl_base_link": 0.00,
        "fl_link1": 0.00,
        "fl_link2": 0.00,
        "fl_link3": 0.00,
        "fl_link4": 0.00,
        "fl_link5": 0.00,
        "fl_link6": 0.00,
        "fl_link7": 0.00,
        "fl_link8": 0.00,
        "left_camera": 0.00
      }

    mesh_link_names: [
        "fl_base_link",
        "fl_link1",
        "fl_link2",
        "fl_link3",
        "fl_link4",
        "fl_link5",
        "fl_link6",
        "fl_link7",
        "fl_link8",
        "left_camera"
      ]
    lock_joints: {"fl_joint7": 0.04, "fl_joint8": 0.04}
    extra_links: null

    cspace:
      joint_names: [
        "fl_joint1",
        "fl_joint2",
        "fl_joint3",
        "fl_joint4",
        "fl_joint5",
        "fl_joint6",
        "fl_joint7",
        "fl_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: [-0.2305, -0.297, -0.782]