robot_cfg:
  kinematics:
    use_usd_kinematics: False
    usd_path: null
    usd_robot_root: null
    isaac_usd_path: null
    usd_flip_joints: {}
    usd_flip_joint_limits: {}
    
    urdf_path: ${ASSETS_PATH}/assets/embodiments/piper/piper.urdf
    asset_root_path: null
    base_link: "base_link"
    ee_link: "link6"
    collision_link_names:
      [
        "base_link",
        "link1",
        "link2",
        "link3",
        "link4",
        "link5",
        "link6",
        "link7",
        "link8"
      ]
    collision_spheres: ${ASSETS_PATH}/assets/embodiments/piper/collision_piper.yml
    collision_sphere_buffer: 0.004 # 0.0025
    extra_collision_spheres: null
    use_global_cumul: True
    self_collision_ignore:
      {
        "base_link": ["link1", "link2", "link3"],
        "link1": ["link2", "link3"],
        "link2": ["link3", "link4"],
        "link3": ["link4", "link5", "link6", "link7", "link8"],
        "link4": ["link5", "link6", "link7", "link8"],
        "link5": ["link6", "link7", "link8"],
        "link6": ["link7", "link8"],
        "link7": ["link8"]
      }

    self_collision_buffer:
      {
        "base_link": 0.0,
        "link1": 0.0,
        "link2": 0.0,
        "link3": 0.0,
        "link4": 0.0,
        "link5": 0.0,
        "link6": 0.0,
        "link7": 0.0,
        "link8": 0.0
      }
    #link_names: ["panda_link4"]
    mesh_link_names:
      [
        "base_link",
        "link1",
        "link2",
        "link3",
        "link4",
        "link5",
        "link6",
        "link7",
        "link8"
      ]
    lock_joints: {"joint7": 0.0, "joint8": 0.0}
    extra_links: null
    cspace:
      joint_names: ["joint1","joint2","joint3","joint4", "joint5",
      "joint6","joint7","joint8"]

      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00, 0.0]
      null_space_weight: [1,1,1,1,1,1,1,1,1]
      cspace_distance_weight: [1,1,1,1,1,1,1,1,1]
      max_acceleration: 15.0
      max_jerk: 500.0
planner:
  frame_bias: [0., 0., 0.]