Add files using upload-large-folder tool

assets/miscs/curobo/R5a/R5a.urdf

@@ -0,0 +1,511 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="R5a">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00013359 6.672E-05 0.031672"
+        rpy="0 0 0" />
+      <mass
+        value="0.42272" />
+      <inertia
+        ixx="0.00019"
+        ixy="0.00000"
+        ixz="0.00000"
+        iyy="0.00019"
+        iyz="0.00000"
+        izz="0.00020" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.0050395 -0.0077407 0.020897"
+        rpy="0 0 0" />
+      <mass
+        value="0.096804" />
+      <inertia
+        ixx="0.00011"
+        ixy="-0.00001"
+        ixz="0.00001"
+        iyy="0.00005"
+        iyz="-0.00001"
+        izz="0.00010" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.56471 0.56471 0.56471 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.0565"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.094"
+      upper="3.1416"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="-0.12992 -0.0011822 -2.6366E-05"
+        rpy="0 0 0" />
+      <mass
+        value="1.1988" />
+      <inertia
+        ixx="0.00065"
+        ixy="0.00008"
+        ixz="0.00000"
+        iyy="0.01647"
+        iyz="0.00000"
+        izz="0.01646" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0.02 0 0.047"
+      rpy="0 0 0" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.1"
+      upper="3.665"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.16181 0.0011723 -0.05455"
+        rpy="0 0 0" />
+      <mass
+        value="0.84082" />
+      <inertia
+        ixx="0.00082"
+        ixy="0.00008"
+        ixz="-0.00074"
+        iyy="0.00849"
+        iyz="0.00001"
+        izz="0.00834" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="-0.264 0 0"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.1"
+      upper="3.24"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.041751 0.0054236 -0.03337"
+        rpy="0 0 0" />
+      <mass
+        value="0.12432" />
+      <inertia
+        ixx="0.00022"
+        ixy="-0.00002"
+        ixz="-0.00009"
+        iyy="0.00025"
+        iyz="0.00002"
+        izz="0.00017" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.245 -5E-05 -0.06"
+      rpy="0 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.671"
+      upper="1.671"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-8.3435E-05 -1.5428E-05 0.052216"
+        rpy="0 0 0" />
+      <mass
+        value="0.63601" />
+      <inertia
+        ixx="0.00084"
+        ixy="0.00000"
+        ixz="0.00007"
+        iyy="0.00082"
+        iyz="0.00000"
+        izz="0.00026" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.69804 0.69804 0.69804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0.073914 5E-05 -0.083391"
+      rpy="0 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.671"
+      upper="1.671"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="0.041697 2.4368E-05 0.00014464"
+        rpy="0 0 0" />
+      <mass
+        value="0.44089" />
+      <inertia
+        ixx="0.00038"
+        ixy="0.00000"
+        ixz="0.00000"
+        iyy="0.00028"
+        iyz="0.00000"
+        izz="0.00050" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.89804 0.91765 0.92941 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0.025286 0 0.083391"
+      rpy="3.1416 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-2.094"
+      upper="2.094"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.00035522 -0.007827 -0.0029883"
+        rpy="0 0 0" />
+      <mass
+        value="0.064798" />
+      <inertia
+        ixx="0.00002"
+        ixy="0.00000"
+        ixz="0.00000"
+        iyy="0.00003"
+        iyz="0.00000"
+        izz="0.00003" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0.08657 0.024896 -0.0002436"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.044"
+      effort="100"
+      velocity="1000" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
+        rpy="0 0 0" />
+      <mass
+        value="0.0647981725781684" />
+      <inertia
+        ixx="0.00002"
+        ixy="0.00000"
+        ixz="0.00000"
+        iyy="0.00003"
+        iyz="0.00000"
+        izz="0.00003" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0.08657 -0.0249 -0.00024366"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="0"
+      upper="0.044"
+      effort="100"
+      velocity="1000" />
+  </joint>
+</robot>

assets/miscs/curobo/R5a/config/joint_names_R5a.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ]

assets/miscs/curobo/R5a/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find R5a)/urdf/R5a.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find R5a)/urdf.rviz" />
+</launch>

assets/miscs/curobo/R5a/urdf/R5a.csv

@@ -0,0 +1,10 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.00013359,6.672E-05,0.031672,0,0,0,0.42272,0.00018295,3.3215E-07,1.3234E-07,0.00018416,-7.784E-07,0.00019923,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/base_link.STL,,底座融合版V2.0-V0(A)KDzpros-1;DMDzpros-1/DMDDzpros-1;DMDzpros-1/DMSDzpros-1,Baselink,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.0050395,-0.0077407,0.020897,0,0,0,0.096804,7.0654E-05,8.3266E-06,-1.1857E-05,4.5067E-05,1.7469E-05,6.235E-05,0,0,0,0,0,0,package://R5a/meshes/link1.STL,0.56471,0.56471,0.56471,1,0,0,0,0,0,0,package://R5a/meshes/link1.STL,,link1底座cZDKDzpros-1;link1底座轴承侧KDzpros-1,coordinate1,A1,joint1,revolute,0,0,0.0565,0,0,0,base_link,0,0,1,100,1000,-10,10,,,,,,,,
+link2,-0.12992,-0.0011822,-2.6366E-05,0,0,0,1.1988,0.00051785,2.9809E-08,2.2388E-08,0.0017846,4.325E-08,0.0016414,0,0,0,0,0,0,package://R5a/meshes/link2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://R5a/meshes/link2.STL,,大臂装配-vaaaZDKDzpros-1/120mm大臂ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/电机盖板ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-2/大电机通用座ZDKDzpros-1;电机转轴Dzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-1/大电机通用座ZDKDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-1/motorDpros-2/DMDzpros-1;大臂装配-vaaaZDKDzpros-1/通用大电机ZDKDzpros-2/motorDpros-2/DMDzpros-1;bigA.-1;bigB.-1,coordinate2,A2,joint2,revolute,0.02,0,0.047,0,0,0,link1,0,1,0,100,1000,-10,10,,,,,,,,
+link3,0.16181,0.0011723,-0.05455,0,0,0,0.84082,0.00044368,-2.2473E-06,1.4667E-05,0.0015594,1.4355E-06,0.0013263,0,0,0,0,0,0,package://R5a/meshes/link3.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/link3.STL,,bs连接件aKDzpros-1;120mm大臂ZDKDzpros-1;bs连接件bKDzpros-1;轴承固定件KDzpros-1;688ZZZDKDzpros-1;smallApros-1;灯条板pros-2;灯条板pros-1;smallB.pros-1;电机盖板ZDKDzprobs-1;通用大电机ZDKDzpros-1/motorDpros-2/DMDzpros-1;通用大电机ZDKDzpros-1/大电机通用座ZDKDzpros-1,coordinate3,A3,joint3,revolute,-0.264,0,0,-3.1416,0,0,link2,0,1,0,100,1000,-10,10,,,,,,,,
+link4,0.041751,0.0054236,-0.03337,0,0,0,0.12432,8.8559E-05,1.2788E-05,8.8818E-06,7.3635E-05,-7.3672E-06,9.2749E-05,0,0,0,0,0,0,package://R5a/meshes/link4.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://R5a/meshes/link4.STL,,kk1Dzpros-1/link5电机固定a-V0(A)..通用(B)ZDKDzpros-1;kk1Dzpros-1/link4连接B-V0(A).(B)ZDKzpros-1;kk1Dzpros-1/小臂link4束线czpros-1,coordinate4,A4,joint4,revolute,0.245,-5E-05,-0.06,0,0,0,link3,0,1,0,100,1000,-10,10,,,,,,,,
+link5,-8.3435E-05,-1.5428E-05,0.052216,0,0,0,0.63601,0.00024899,2.8411E-07,7.0733E-06,0.00021719,-3.8928E-07,0.0002502,0,0,0,0,0,0,package://R5a/meshes/link5.STL,0.69804,0.69804,0.69804,1,0,0,0,0,0,0,package://R5a/meshes/link5.STL,,kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/motor2KDzpros-1;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/motor2KDzpros-2;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/夹爪限位(A).1.通用(B)ZDKDzpros-2;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/链接二合一pros-1;kk1Dzpros-1/爪子-link5安装-V0(A).1.通用(B)ZDKDzpros-1/束线2zpros-1,coordinate5,A5,joint5,revolute,0.073914,5E-05,-0.083391,0,0,0,link4,0,0,1,100,1000,-10,10,,,,,,,,
+link6,0.041697,2.4368E-05,0.00014464,0,0,0,0.44089,0.00037449,-1.1802E-08,2.1487E-07,0.00012436,1.641E-06,0.00034725,0,0,0,0,0,0,package://R5a/meshes/link6.STL,0.89804,0.91765,0.92941,1,0,0,0,0,0,0,package://R5a/meshes/link6.STL,,平行夹爪final-1/motor2akk1kbDzjy-1;平行夹爪final-1/机械臂连接接口.-V0(A).1.通用CHNkk1kbDzjy-1;平行夹爪final-1/夹爪固定接口D(N)Nkk1kbDzjy-1;平行夹爪final-1/夹爪固定件-D(N)Nkk1kbDzjy-1;平行夹爪final-1/00-齿条约束kbDzjy-1;平行夹爪final-1/圆柱齿轮24×1.25.-V0(A).1.通用CHNkk1kbDzjy-1;平行夹爪final-1/滑轨 MGN9C_-V0(A).1.通用CHNkk1kbDzjy-1,coordinate6,A6,joint6,revolute,0.025286,0,0.083391,3.1416,0,0,link5,1,0,0,100,1000,-10,10,,,,,,,,
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assets/miscs/curobo/R5a/urdf/R5a.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+  name="R5a">
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+        rpy="0 0 0" />
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+          filename="package://R5a/meshes/base_link.STL" />
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+        rpy="0 0 0" />
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+    type="revolute">
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+    <axis
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+      upper="10"
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
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+      rpy="-3.1416 0 0" />
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+    <child
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+    <axis
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+      velocity="1000" />
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+        rpy="0 0 0" />
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+    <visual>
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+        rpy="0 0 0" />
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+</robot>

assets/miscs/curobo/piper100/piper100.urdf

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+        <limit lower="-0.1" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link3">
+        <inertial>
+        <origin
+            xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+            rpy="0 0 0" />
+        <mass value="0.290847697793211" />
+        <inertia
+            ixx="0.000107879011637167"
+            ixy="2.92669521203626E-05"
+            ixz="6.825922326238E-07"
+            iyy="0.000214751671792086"
+            iyz="-7.78469047878196E-07"
+            izz="0.000241923439340319" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link3.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -1.75" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="link2" />
+        <child link="link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0.1" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link4">
+        <inertial>
+        <origin
+            xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
+            rpy="0 0 0" />
+        <mass value="0.127087348341362" />
+        <inertia
+            ixx="3.82011730423416E-05"
+            ixy="-4.92358350897513E-08"
+            ixz="4.89589432973119E-08"
+            iyy="4.87048555222578E-05"
+            iyz="6.70802942500512E-08"
+            izz="4.10592077565559E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link4.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="link3" />
+        <child link="link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link5">
+        <inertial>
+        <origin
+            xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+            rpy="0 0 0" />
+        <mass value="0.144711242639457" />
+        <inertia
+            ixx="4.39644313662493E-05"
+            ixy="-3.59259686444846E-08"
+            ixz="-1.89747741386183E-08"
+            iyy="5.63173920951307E-05"
+            iyz="-2.1540716689785E-07"
+            izz="4.88713664675268E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link5.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -3.14" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="link4" />
+        <child link="link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link6">
+        <inertial>
+        <origin
+            xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
+            rpy="0 0 0" />
+        <mass value="0.195187143240719" />
+        <inertia
+            ixx="6.43790256535539E-05"
+            ixy="-1.2366166157046E-06"
+            ixz="1.97664606328472E-07"
+            iyy="0.000126146396374301"
+            iyz="2.41157078516408E-06"
+            izz="0.000154087076816444" />
+        </inertial>
+        <visual>
+        <origin xyz="-0.002 -0.008 0" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.002 -0.008 0" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="link5" />
+        <child link="link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link7">
+        <inertial>
+        <origin
+            xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
+            rpy="0 0 0" />
+        <mass value="0.02648229234527" />
+        <inertia
+            ixx="9.99787479924589E-06"
+            ixy="-1.57548495096104E-07"
+            ixz="-2.71342775003487E-08"
+            iyy="6.1795212293655E-06"
+            iyz="-1.58939803580081E-06"
+            izz="1.42102717246564E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link7.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.001 0 0.0003" rpy="0 3.14 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="link6" />
+        <child link="link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="link8">
+        <inertial>
+        <origin
+            xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
+            rpy="0 0 0" />
+        <mass value="0.0264822021416248" />
+        <inertia
+            ixx="9.99779119357223E-06"
+            ixy="-1.57542283433504E-07"
+            ixz="2.71367446701359E-08"
+            iyy="6.17952441557932E-06"
+            iyz="1.58939319453383E-06"
+            izz="1.4210192754512E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link8.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.001 0 0.0003" rpy="3.14 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="link6" />
+        <child link="link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+
+</robot>

assets/miscs/curobo/piper100/piper100_left_arm.yml

@@ -0,0 +1,134 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    usd_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.usd"
+    usd_robot_root: "/robot"
+    isaac_usd_path: ""
+    usd_flip_joints: {}
+    usd_flip_joint_limits: []
+
+    urdf_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.urdf"
+    asset_root_path: "robot"
+
+    base_link: "arm_base"
+    ee_link: "link6"
+
+    # lock_joints: {"joint7": 0.0, "joint8": 0.0}
+    extra_links: {"attached_object":{"parent_link_name": "link6" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+
+
+    collision_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8",
+        "attached_object",
+      ]
+    collision_spheres:
+      arm_base:
+        - "center": [-0.016, -0.02, 0.028]
+          "radius": 0.01497
+      link1:
+        - "center": [-0.005, -0.01, -0.007]
+          "radius": 0.03343
+      link2:
+        - "center": [0.258, -0.005, -0.009]
+          "radius": 0.03
+        - "center": [0.058, 0.0, 0.013]
+          "radius": 0.03
+        - "center": [0.163, -0.014, -0.004]
+          "radius": 0.03
+      link3:
+        - "center": [-0.186, 0.051, -0.003]
+          "radius": 0.03
+        - "center": [-0.04, 0.02, -0.007]
+          "radius": 0.03
+        - "center": [-0.107, 0.036, -0.004]
+          "radius": 0.03
+      link4:
+        - "center": [-0.005, -0.0, -0.001]
+          "radius": 0.03
+      link5:
+        - "center": [-0.004, 0.053, -0.001]
+          "radius": 0.03
+      link6:
+        - "center": [-0.001, -0.002, 0.011]
+          "radius": 0.03
+      link7:
+        - "center": [0.017, -0.055, -0.015]
+          "radius": 0.0155
+        - "center": [-0.017, -0.057, -0.008]
+          "radius": 0.0155
+      link8:
+        - "center": [0.018, 0.055, -0.011]
+          "radius": 0.01601
+        - "center": [-0.019, 0.061, -0.007]
+          "radius": 0.0149
+    collision_sphere_buffer: 0.004
+    extra_collision_spheres: {"attached_object": 4}
+    self_collision_ignore:
+      {
+        "arm_base": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link4": ["link5", "link6", "link7", "link8", "attached_object"],
+        "link5": ["link6", "link7", "link8", "attached_object"],
+        "link6": ["link7", "link8", "attached_object"],
+        "link7": ["link8", "attached_object"]
+      }
+    self_collision_buffer:
+      {
+        "arm_base": 0.1,
+        "link1": 0.05,
+        "link2": 0.05,
+        "link3": 0.05,
+        "link4": 0.05,
+        "link5": 0.05,
+        "link6": 0.05,
+        "link7": 0.02,
+        "link8": 0.02,
+        "attached_object": 0.0,
+      }
+    use_global_cumul: True
+    mesh_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8"
+      ]
+    external_asset_path: null # Use this to add path for externally located assets/robot folder.
+    lock_joints: {"joint7": 0.05, "joint8": -0.05}
+
+    cspace:
+      joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
+      # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
+      retract_config: [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]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0

assets/miscs/curobo/piper100/piper100_right_arm.yml

@@ -0,0 +1,134 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    usd_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.usd"
+    usd_robot_root: "/robot"
+    isaac_usd_path: ""
+    usd_flip_joints: {}
+    usd_flip_joint_limits: []
+
+    urdf_path: "${ASSETS_DIR}/miscs/curobo/piper100/piper100.urdf"
+    asset_root_path: "robot"
+
+    base_link: "arm_base"
+    ee_link: "link6"
+
+    # lock_joints: {"joint7": 0.0, "joint8": 0.0}
+    extra_links: {"attached_object":{"parent_link_name": "link6" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+
+
+    collision_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8",
+        "attached_object",
+      ]
+    collision_spheres:
+      arm_base:
+        - "center": [-0.016, -0.02, 0.028]
+          "radius": 0.01497
+      link1:
+        - "center": [-0.005, -0.01, -0.007]
+          "radius": 0.03343
+      link2:
+        - "center": [0.258, -0.005, -0.009]
+          "radius": 0.03
+        - "center": [0.058, 0.0, 0.013]
+          "radius": 0.03
+        - "center": [0.163, -0.014, -0.004]
+          "radius": 0.03
+      link3:
+        - "center": [-0.186, 0.051, -0.003]
+          "radius": 0.03
+        - "center": [-0.04, 0.02, -0.007]
+          "radius": 0.03
+        - "center": [-0.107, 0.036, -0.004]
+          "radius": 0.03
+      link4:
+        - "center": [-0.005, -0.0, -0.001]
+          "radius": 0.03
+      link5:
+        - "center": [-0.004, 0.053, -0.001]
+          "radius": 0.03
+      link6:
+        - "center": [-0.001, -0.002, 0.011]
+          "radius": 0.03
+      link7:
+        - "center": [0.017, -0.055, -0.015]
+          "radius": 0.0155
+        - "center": [-0.017, -0.057, -0.008]
+          "radius": 0.0155
+      link8:
+        - "center": [0.018, 0.055, -0.011]
+          "radius": 0.01601
+        - "center": [-0.019, 0.061, -0.007]
+          "radius": 0.0149
+    collision_sphere_buffer: 0.004
+    extra_collision_spheres: {"attached_object": 4}
+    self_collision_ignore:
+      {
+        "arm_base": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link4": ["link5", "link6", "link7", "link8", "attached_object"],
+        "link5": ["link6", "link7", "link8", "attached_object"],
+        "link6": ["link7", "link8", "attached_object"],
+        "link7": ["link8", "attached_object"]
+      }
+    self_collision_buffer:
+      {
+        "arm_base": 0.1,
+        "link1": 0.05,
+        "link2": 0.05,
+        "link3": 0.05,
+        "link4": 0.05,
+        "link5": 0.05,
+        "link6": 0.05,
+        "link7": 0.02,
+        "link8": 0.02,
+        "attached_object": 0.0,
+      }
+    use_global_cumul: True
+    mesh_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8"
+      ]
+    external_asset_path: null # Use this to add path for externally located assets/robot folder.
+    lock_joints: {"joint7": 0.05, "joint8": -0.05}
+
+    cspace:
+      joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
+      # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
+      retract_config: [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]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0

assets/object_usds/custom_usd/ebench_usds/apple/ready/5948de6770a5491ea158cd9e921ebce9/.collect.mapping.json

@@ -0,0 +1,17 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/5948de6770a5491ea158cd9e921ebce9/usd/5948de6770a5491ea158cd9e921ebce9.usd",
+            "source_hash": "8f8502b95f928330dff81af5cc344e4f80d4e6a8",
+            "target_url": "./5948de6770a5491ea158cd9e921ebce9.usd",
+            "target_hash": "39b2dd20e587863ea6ceb05bf8bf9b30ea1bcb77"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/5948de6770a5491ea158cd9e921ebce9/usd/textures/5948de6770a5491ea158cd9e921ebce9_texture0.png",
+            "source_hash": "1180ce69df17c82dde95de020be6568e543ab0e1",
+            "target_url": "./SubUSDs/textures/5948de6770a5491ea158cd9e921ebce9_texture0.png",
+            "target_hash": "00f88bf8c6ecb3f506653320739c1b93a0814c35"
+        }
+    ]
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/5948de6770a5491ea158cd9e921ebce9/5948de6770a5491ea158cd9e921ebce9_annotation.json

@@ -0,0 +1,18 @@
+{
+    "uid": "5948de6770a5491ea158cd9e921ebce9",
+    "category": "apple",
+    "description": "Apple with a round shape, vibrant red and yellow skin, and smooth texture.",
+    "material": "skin, flesh, stem",
+    "dimensions": "0.1 * 0.1 * 0.1",
+    "mass": 0.15,
+    "placement": [
+        "OnFloor",
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 8.12,
+    "usd_size": 11.04,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/object_usds/custom_usd/ebench_usds/apple/ready/b0bedc070e1941f789294bd0fb4853f3/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
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assets/object_usds/custom_usd/ebench_usds/bottle/79323a7f09b74d898ae7fb7ebff5414f/79323a7f09b74d898ae7fb7ebff5414f_annotation.json

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+    "dimensions": "0.12 * 0.08 * 0.22",
+    "mass": 0.15,
+    "placement": [
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+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 0.41,
+    "usd_size": 0.54,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/object_usds/custom_usd/ebench_usds/bottle/a58d45fd-f351-41e5-a244-fc7b2030a591/.collect.mapping.json

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