kinematics:
  add_object_link: false
  asset_root_path: /home/shuo/research/resources/mlspaces_assets/robots/linearbot/curobo_config/urdf
  base_link: world
  collision_link_names: &id001
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  - arm_link2_R
  - arm_link3_L
  - arm_link3_R
  - arm_link4_L
  - arm_link4_R
  - arm_link5_L
  - arm_link5_R
  - base
  - gripper_L
  - gripper_R
  - lift_link
  - tip_left_L
  - tip_left_R
  - tip_right_L
  - tip_right_R
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    tip_left_L: []
    tip_left_R: []
    tip_right_L: []
    tip_right_R: []
  cspace:
    acceleration_scale:
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    cspace_distance_weight:
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    default_joint_position:
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    jerk_scale:
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    joint_names:
    - base_x
    - base_y
    - base_theta
    - lift_joint
    - joint1_R
    - joint2_R
    - joint3_R
    - joint4_R
    - joint5_R
    - joint6_R
    - joint7_R
    - joint8_R
    - joint1_L
    - joint2_L
    - joint3_L
    - joint4_L
    - joint5_L
    - joint6_L
    - joint7_L
    - joint8_L
    max_acceleration:
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    max_jerk:
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    null_space_maximum_distance:
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    null_space_weight:
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    position_limit_clip: 0.0
    velocity_scale:
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  debug: null
  external_asset_path: null
  external_robot_configs_path: null
  extra_collision_spheres: null
  extra_links: {}
  format_version: 2.0
  grasp_contact_link_names: null
  load_meshes: false
  load_tool_frames_with_mesh: false
  lock_joints:
    joint7_R: 0.0
    joint8_R: 0.0
    joint7_L: 0.0
    joint8_L: -0.0475
  mesh_link_names: *id001
  self_collision_buffer:
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    arm_base_R: 0.0
    arm_link1_L: 0.0
    arm_link1_R: 0.0
    arm_link2_L: 0.0
    arm_link2_R: 0.0
    arm_link3_L: 0.0
    arm_link3_R: 0.0
    arm_link4_L: 0.0
    arm_link4_R: 0.0
    arm_link5_L: 0.0
    arm_link5_R: 0.0
    base: 0.0
    gripper_L: 0.0
    gripper_R: 0.0
    lift_link: 0.0
    tip_left_L: 0.0
    tip_left_R: 0.0
    tip_right_L: 0.0
    tip_right_R: 0.0
  self_collision_ignore:
    arm_base_L:
    - lift_link
    - arm_link1_L
    - arm_link2_L
    arm_base_R:
    - lift_link
    - arm_link1_R
    - arm_link2_R
    - arm_base_L
    - arm_link1_L
    - arm_link2_L
    - arm_link3_L
    arm_link1_L:
    - arm_base_L
    - arm_link2_L
    arm_link1_R:
    - arm_base_R
    - arm_link2_R
    - arm_base_L
    - arm_link1_L
    - arm_link2_L
    - arm_link3_L
    arm_link2_L:
    - arm_link1_L
    - arm_link3_L
    arm_link2_R:
    - arm_link1_R
    - arm_link3_R
    - arm_base_L
    - arm_link1_L
    arm_link3_L:
    - arm_link2_L
    - arm_link4_L
    - arm_link5_L
    - gripper_L
    arm_link3_R:
    - arm_link2_R
    - arm_link4_R
    - gripper_R
    - arm_base_L
    - arm_link1_L
    arm_link4_L:
    - arm_link3_L
    - arm_link5_L
    arm_link4_R:
    - arm_link3_R
    - arm_link5_R
    arm_link5_L:
    - arm_link4_L
    - gripper_L
    arm_link5_R:
    - arm_link4_R
    - gripper_R
    base:
    - world_xy
    - lift_link
    - arm_base_R
    - arm_link1_R
    - arm_base_L
    - arm_link1_L
    gripper_L:
    - arm_link5_L
    gripper_R:
    - arm_link5_R
    lift_link:
    - base
    - arm_base_R
    - arm_base_L
    - arm_link1_R
    - arm_link2_R
    - arm_link1_L
    - arm_link2_L
    world:
    - world_x
    world_x:
    - world
    - world_xy
    world_xy:
    - world_x
    - base
  tool_frames:
  - gripper_L
  - gripper_R
  urdf_path: /home/shuo/research/resources/mlspaces_assets/robots/linearbot/curobo_config/urdf/linearbot_holobase_curobo.urdf
  use_external_assets: false
  use_global_cumul: true