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: assembly.urdf
    asset_root_path: null
    external_asset_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper-assembly/assembly
    external_robot_configs_path: /home/wangpengyue/code/DynamicAug/assets/embodiments/piper-assembly/assembly
    base_link: piper_description_v100
    ee_link: piper_description_v100_link6
    collision_link_names: &id001
    - piper_description_v100
    - piper_description_v100_link1
    - piper_description_v100_link2
    - piper_description_v100_link3
    - piper_description_v100_link4
    - piper_description_v100_link5
    - piper_description_v100_link6
    - piper_description_v100_link7
    - piper_description_v100_link8
    collision_spheres: collision_piper_dynamicaug.yml
    collision_sphere_buffer: 0.004
    extra_collision_spheres: null
    use_global_cumul: true
    self_collision_ignore:
      piper_description_v100:
      - piper_description_v100_link1
      - piper_description_v100_link2
      - piper_description_v100_link3
      piper_description_v100_link1:
      - piper_description_v100_link2
      - piper_description_v100_link3
      piper_description_v100_link2:
      - piper_description_v100_link3
      - piper_description_v100_link4
      piper_description_v100_link3:
      - piper_description_v100_link4
      - piper_description_v100_link5
      - piper_description_v100_link6
      - piper_description_v100_link7
      - piper_description_v100_link8
      piper_description_v100_link4:
      - piper_description_v100_link5
      - piper_description_v100_link6
      - piper_description_v100_link7
      - piper_description_v100_link8
      piper_description_v100_link5:
      - piper_description_v100_link6
      - piper_description_v100_link7
      - piper_description_v100_link8
      piper_description_v100_link6:
      - piper_description_v100_link7
      - piper_description_v100_link8
      piper_description_v100_link7:
      - piper_description_v100_link8
    self_collision_buffer:
      piper_description_v100: 0.0
      piper_description_v100_link1: 0.0
      piper_description_v100_link2: 0.0
      piper_description_v100_link3: 0.0
      piper_description_v100_link4: 0.0
      piper_description_v100_link5: 0.0
      piper_description_v100_link6: 0.0
      piper_description_v100_link7: 0.0
      piper_description_v100_link8: 0.0
    mesh_link_names: *id001
    lock_joints:
      piper_description_v100_joint7: 0.0
      piper_description_v100_joint8: 0.0
    extra_links: null
    cspace:
      joint_names:
      - piper_description_v100_joint1
      - piper_description_v100_joint2
      - piper_description_v100_joint3
      - piper_description_v100_joint4
      - piper_description_v100_joint5
      - piper_description_v100_joint6
      - piper_description_v100_joint7
      - piper_description_v100_joint8
      retract_config:
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 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
  - 0.0
  - 0.0