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world_collision_checker_cfg:
  cache: null #{"cube": 41, "capsule": 0, "sphere": 0}
  checker_type: "PRIMITIVE" # ["PRIMITIVE", "BLOX", "MESH"]
  max_distance: 0.1
 

cost:
  pose_cfg:
    vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
    weight: [0.0, 0.0]
    vec_convergence: [0.0, 0.00] # orientation, position
    terminal: False
    
 
  bound_cfg:
    weight: 000.0
    activation_distance: [0.0,0.0,0.0,0.0]

constraint:
  primitive_collision_cfg:
    weight: 2000.0
    use_sweep: False
    classify: True
  self_collision_cfg:
    weight: 1000.0
    classify: True
  bound_cfg:
    weight: [5000.0, 5000.0, 5000.0,5000.0]
    activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk


convergence:
  pose_cfg:
    vec_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
    weight: [1.0, 1.0]
    vec_convergence: [0.0, 0.00] # orientation, position
    terminal: False
    
  cspace_cfg:
    weight: 1.0
    terminal: True
    run_weight: 1.0
  null_space_cfg:
    weight: 1.0
    terminal: True
    run_weight: 1.0