robot_cfg:
  kinematics:
    use_usd_kinematics: False
    usd_path: null
    usd_robot_root: null
    isaac_usd_path: ""
    usd_flip_joints: {}
    usd_flip_joint_limits: []

    urdf_path: "ur5e.urdf"
    asset_root_path: ""

    base_link: "base_link"
    ee_link: "gripper_base"
    link_names: null
    lock_joints: null
    extra_links: null

    collision_link_names: ["shoulder_link", "upper_arm_link", "forearm_link", "wrist_1_link", "wrist_2_link", "wrist_3_link"]
    collision_spheres: "collision_ur5e.yml"
    collision_sphere_buffer: 0.005
    extra_collision_spheres: {}
    self_collision_ignore: 
      "upper_arm_link": ["forearm_link", "shoulder_link"]
      "forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"]
      "wrist_1_link": ["wrist_2_link","wrist_3_link"]
      "wrist_2_link": ["wrist_3_link"]
    self_collision_buffer: 
      'upper_arm_link': 0
      'forearm_link': 0
      'wrist_1_link': 0
      'wrist_2_link': 0
      'wrist_3_link': 0

    use_global_cumul: True
    mesh_link_names: null

    cspace:
      joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
      retract_config: [0.0, -1.57, 2.618, -0.873, 1.57, 0.0]
      null_space_weight: [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]
      max_jerk: 500.0
      max_acceleration: 15.0

planner:
  frame_bias: [0., 0., 0.]