Add files using upload-large-folder tool

assets/miscs/curobo/R5a/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find R5a)/urdf/R5a.urdf -urdf -model R5a"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

assets/miscs/curobo/piper100/piper_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(piper_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

assets/miscs/curobo/piper100/piper_description/launch/piper_no_gripper/display_no_gripper_urdf.launch

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

assets/miscs/curobo/piper100/piper_description/launch/piper_no_gripper/display_no_gripper_xacro.launch

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

assets/miscs/curobo/piper100/piper_description/launch/piper_with_gripper/display_urdf.launch

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_description_v100_camera.urdf" />
+  
+  <!-- <arg name="jnt_stat_source" default="[/joint_states_origin]" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list" subst_value="True">$(arg jnt_stat_source)</rosparam>
+  </node> -->
+
+  <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 $(arg rviz_config)" />
+</launch>

assets/miscs/curobo/piper100/piper_description/launch/piper_with_gripper/display_urdf_new.launch

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_description_new.urdf" />
+  
+  <!-- <arg name="jnt_stat_source" default="[/joint_states_origin]" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list" subst_value="True">$(arg jnt_stat_source)</rosparam>
+  </node> -->
+
+  <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 $(arg rviz_config)" />
+</launch>

assets/miscs/curobo/piper100/piper_description/launch/piper_with_gripper/display_xacro.launch

@@ -0,0 +1,25 @@
+<launch>
+  <arg
+    name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_description.xacro" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui">
+    <param name="rate" value="100" />
+  </node>
+  <node
+    name="$(anon robot_state_publisher)"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" >
+    <param name="rate" value="100" />
+  </node>
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

assets/miscs/curobo/piper100/piper_description/mujoco_model/piper_description.xml

@@ -0,0 +1,70 @@
+<mujoco model="piper">
+    <compiler angle="radian" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <mesh name="base_link" file="../meshes/base_link.STL" />
+        <mesh name="link1" file="../meshes/link1.STL" />
+        <mesh name="link2" file="../meshes/link2.STL" />
+        <mesh name="link3" file="../meshes/link3.STL" />
+        <mesh name="link4" file="../meshes/link4.STL" />
+        <mesh name="link5" file="../meshes/link5.STL" />
+        <mesh name="link6" file="../meshes/link6.STL" />
+        <mesh name="gripper_base" file="../meshes/gripper_base.STL" />
+        <mesh name="link7" file="../meshes/link7.STL" />
+        <mesh name="link8" file="../meshes/link8.STL" />
+    </asset>
+    <worldbody>
+        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" />
+        <body name="link1" pos="0 0 0.123">
+            <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" />
+            <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/>
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" />
+            <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+                <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" />
+                <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/>
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" />
+                <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+                    <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" />
+                    <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/>
+                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" />
+                    <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+                        <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" />
+                        <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/>
+                        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" />
+                        <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                            <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" />
+                            <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/>
+                            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" />
+                            <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                                <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" />
+                                <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/>
+                                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" />
+                                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="gripper_base" />
+                                <body name="link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" />
+                                    <joint name="joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 0.035" damping="100"/>
+                                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link7" />
+                                </body>
+                                <body name="link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" />
+                                    <joint name="joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-0.035 0" damping="100"/>
+                                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link8" />
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/>
+        <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/>
+        <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/>
+        <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/>
+        <position name="joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="joint7" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/>
+        <position name="joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="joint8" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/>
+    </actuator>
+</mujoco>

assets/miscs/curobo/piper100/piper_description/mujoco_model/piper_no_gripper_description.xml

@@ -0,0 +1,54 @@
+<mujoco model="piper">
+    <compiler angle="radian" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <mesh name="base_link" file="../meshes/base_link.STL" />
+        <mesh name="link1" file="../meshes/link1.STL" />
+        <mesh name="link2" file="../meshes/link2.STL" />
+        <mesh name="link3" file="../meshes/link3.STL" />
+        <mesh name="link4" file="../meshes/link4.STL" />
+        <mesh name="link5" file="../meshes/link5.STL" />
+        <mesh name="link6" file="../meshes/link6.STL" />
+    </asset>
+    <worldbody>
+        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" />
+        <body name="link1" pos="0 0 0.123">
+            <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" />
+            <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/>
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" />
+            <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+                <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" />
+                <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/>
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" />
+                <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+                    <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" />
+                    <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/>
+                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" />
+                    <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+                        <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" />
+                        <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/>
+                        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" />
+                        <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                            <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" />
+                            <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/>
+                            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" />
+                            <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                                <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" />
+                                <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/>
+                                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/>
+        <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/>
+        <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/>
+        <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/>
+    </actuator>
+</mujoco>

assets/miscs/curobo/piper100/piper_description/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>piper_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for piper_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for piper_description robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

assets/miscs/curobo/piper100/piper_description/rviz/piper_ctrl.rviz

@@ -0,0 +1,181 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: true
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: arm_base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.985201120376587
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4603983163833618
+      Target Frame: <Fixed Frame>
+      Yaw: 1.340397596359253
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 27

assets/miscs/curobo/piper100/piper_description/rviz/piper_no_gripper.rviz

@@ -0,0 +1,186 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.1567115783691406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 27

assets/miscs/curobo/piper100/piper_description/urdf/piper_description.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,-0.00473641164191482,2.56829134630247E-05,0.041451518036016,0,0,0,0.333893486740112,0.000254953479570424,2.06931238580746E-07,7.30912474718368E-06,0.00027202099920186,2.65131745382267E-07,0.000276534627629623,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.000121504734057468,0.000104632162460536,-0.00438597309559853,0,0,0,0.215052383265765,0.000109639007860341,2.50631260865109E-07,-1.89352789149844E-07,9.95612262461418E-05,1.00634716976093E-08,0.000116363910317385,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,,link1-1,axis1,基准轴1,joint1,revolute,0,0,0.123,0,0,0,base_link,0,0,1,100,5,-2.618,2.168,,,,,,,,
+link2,0.198666145229743,-0.010926924140076,0.00142121714502687,0,0,0,0.463914239236335,0.000214137415059993,7.26120579340088E-05,-9.88224861011274E-07,0.00100030277518254,-1.32818212212246E-06,0.00104417184176783,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,,link2-1,axis2,基准轴2,joint2,revolute,0,0,0,1.5708,-0.10095,-3.1416,link1,0,0,1,100,5,0,3.14,,,,,,,,
+link3,-0.0202737662122021,-0.133914995944595,-0.000458682652737356,0,0,0,0.219942452993132,0.00018953849076141,-8.05719205057736E-06,5.10255053956334E-07,7.1424497082494E-05,8.89044974368937E-07,0.000201212938725775,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,,link3-1,axis3,基准轴3,joint3,revolute,0.28503,0,0,0,0,-1.759,link2,0,0,1,100,5,-2.697,0,,,,,,,,
+link4,-9.66635791618542E-05,0.000876064475651083,-0.00496880904640868,0,0,0,0.131814339939458,3.96965423235175E-05,-2.32268338444837E-08,-1.14702090783249E-07,5.13319789853892E-05,9.92852686264567E-08,4.14768131680711E-05,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,,link4-1,axis4,基准轴4,joint4,revolute,-0.021984,-0.25075,0,1.5708,0,0,link3,0,0,1,100,5,-1.832,1.832,,,,,,,,
+link5,-4.10554118924211E-05,-0.0566486692356075,-0.0037205791677906,0,0,0,0.134101341225523,4.10994130543451E-05,-2.06433983793957E-08,1.29591347668502E-10,5.27723004189144E-05,1.9140716904272E-07,4.60418752810541E-05,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,,link5-1,axis5,基准轴5,joint5,revolute,0,0,0,-1.5708,0,0,link4,0,0,1,100,5,-1.22,1.22,,,,,,,,
+link6,-8.82590762930069E-05,9.0598378529832E-06,-0.002,0,0,0,0.007,5.43015540542155E-07,-1.98305403089247E-22,-7.2791893904596E-23,5.43015540542155E-07,-3.4146026640245E-24,1.06738869138926E-06,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,,link6-1,axis6,基准轴6,joint6,revolute,8.8259E-05,-0.091,0,1.5708,0,0,link5,0,0,1,100,5,-2.0944,2.0944,,,,,,,,
+link7,0.000651231850428001,0.0491929869132543,-0.00972258769184212,0,0,0,0.0303534920715453,1.13870358990681E-05,-4.28534109923149E-07,6.45170690452229E-08,6.26108891787295E-06,1.57290362128572E-06,1.57822030592225E-05,0,0,0,0,0,0,package://gripper_description/meshes/link7.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://gripper_description/meshes/link7.STL,,爪夹-夹子-1,坐标系2,基准轴2,joint7,prismatic,0,-0.035,0.1358,-1.5708,0,0,base_link,0,0,1,10,1,0,0.035,,,,,,,,
+link8,0.000651231850427983,0.0491929869132549,-0.00972258769184214,0,0,0,0.0303534920715448,1.13870358990674E-05,-4.28534109923206E-07,6.45170690452328E-08,6.26108891787295E-06,1.5729036212857E-06,1.57822030592218E-05,0,0,0,0,0,0,package://gripper_description/meshes/link8.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://gripper_description/meshes/link8.STL,,爪夹-夹子-2,坐标系3,基准轴2,joint8,prismatic,0,0.035,0.1358,-1.5708,0,-3.1416,base_link,0,0,-1,10,1,-0.035,0,,,,,,,,

assets/miscs/curobo/piper100/piper_description/urdf/piper_description.urdf

@@ -0,0 +1,572 @@
+<?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="piper">
+  <link name="dummy_link"/>
+  <joint name="base_to_dummy" type="fixed">
+    <parent link="dummy_link"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin 
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.02" />
+      <inertia 
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <link
+    name="link1">
+    <inertial>
+      <origin 
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.71" />
+      <inertia 
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin 
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.17" />
+      <inertia 
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin 
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.5" />
+      <inertia 
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin 
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.38" />
+      <inertia 
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin 
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.383" />
+      <inertia 
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin 
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.007" />
+      <inertia 
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22" 
+        ixz="-7.2791893904596E-23" 
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24" 
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </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="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link> 
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </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="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </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="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description.xacro

@@ -0,0 +1,635 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <!-- <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint> -->
+<!-- piper -->
+<link
+    name="arm_base">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="arm_base" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </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="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link> 
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </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="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </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="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+ 
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo> -->
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_gazebo.xacro

@@ -0,0 +1,635 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="gazebo"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- gazebo -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </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="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link> 
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </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="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </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="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/gazebo</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+ 
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo> -->
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_left.xacro

@@ -0,0 +1,342 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <xacro:macro name="left_arm" params="namespace">
+
+    <link name="${namespace}/arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="${namespace}/link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.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="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="${namespace}/arm_base" />
+        <child link="${namespace}/link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.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="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="${namespace}/link1" />
+        <child link="${namespace}/link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="${namespace}/link2" />
+        <child link="${namespace}/link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="${namespace}/link3" />
+        <child link="${namespace}/link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="${namespace}/link4" />
+        <child link="${namespace}/link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.dae"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.002 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="${namespace}/link5" />
+        <child link="${namespace}/link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://piper_description/meshes/dae/link7.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="package://piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="${namespace}/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="package://piper_description/meshes/dae/link8.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="package://piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+</xacro:macro>
+
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_old.urdf

@@ -0,0 +1,564 @@
+<?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="piper">
+  <link
+    name="base_link">
+    <inertial>
+      <origin 
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.02" />
+      <inertia 
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin 
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.71" />
+      <inertia 
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin 
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687" 
+        rpy="0 0 0" />
+      <mass 
+        value="1.17" />
+      <inertia 
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin 
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.5" />
+      <inertia 
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.759" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin 
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.38" />
+      <inertia 
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin 
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.383" />
+      <inertia 
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin 
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" 
+        rpy="0 0 0" />
+      <mass 
+        value="0.007" />
+      <inertia 
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22" 
+        ixz="-7.2791893904596E-23" 
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24" 
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </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="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link> 
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </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="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </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="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_right.xacro

@@ -0,0 +1,343 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <xacro:macro name="right_arm" params="namespace">
+
+    <link name="${namespace}/arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="${namespace}/link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.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="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="${namespace}/arm_base" />
+        <child link="${namespace}/link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.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="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="${namespace}/link1" />
+        <child link="${namespace}/link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="${namespace}/link2" />
+        <child link="${namespace}/link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="${namespace}/link3" />
+        <child link="${namespace}/link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="${namespace}/link4" />
+        <child link="${namespace}/link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.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" />
+        <origin xyz="-0.002 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="${namespace}/link5" />
+        <child link="${namespace}/link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://piper_description/meshes/dae/link7.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="package://piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="${namespace}/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="package://piper_description/meshes/dae/link8.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="package://piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+</xacro:macro>
+
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_v100.urdf

@@ -0,0 +1,339 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <link name="arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.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="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 1.5708" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="arm_base" />
+        <child link="link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0.1" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="link1" />
+        <child link="link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" 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="package://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="package://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" 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="package://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="package://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="package://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="package://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 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.dae"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.002 -0.0078 0.06" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/gripper_base_100_v2.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="package://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="package://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="package://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="package://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/piper_description/urdf/piper_description_v100_camera.urdf

@@ -0,0 +1,339 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <link name="arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.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="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 1.5708" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="arm_base" />
+        <child link="link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0.1" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="link1" />
+        <child link="link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" 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="package://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="package://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" 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="package://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="package://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="package://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="package://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="package://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="package://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="package://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="package://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="package://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="package://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/piper_description/urdf/piper_description_with_camera_left.xacro

@@ -0,0 +1,343 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <xacro:macro name="left_arm" params="namespace">
+
+
+    <link name="${namespace}/arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="${namespace}/link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 1.5708" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="${namespace}/arm_base" />
+        <child link="${namespace}/link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0.1" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="${namespace}/link1" />
+        <child link="${namespace}/link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="${namespace}/link2" />
+        <child link="${namespace}/link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="${namespace}/link3" />
+        <child link="${namespace}/link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="${namespace}/link4" />
+        <child link="${namespace}/link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="${namespace}/link5" />
+        <child link="${namespace}/link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+</xacro:macro>
+
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_description_with_camera_right.xacro

@@ -0,0 +1,343 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <xacro:macro name="right_arm" params="namespace">
+
+
+    <link name="${namespace}/arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="${namespace}/link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 1.5708" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="${namespace}/arm_base" />
+        <child link="${namespace}/link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0.1" />
+            <geometry>
+                <mesh filename="package://piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="${namespace}/link1" />
+        <child link="${namespace}/link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="${namespace}/link2" />
+        <child link="${namespace}/link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="${namespace}/link3" />
+        <child link="${namespace}/link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="${namespace}/link4" />
+        <child link="${namespace}/link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="${namespace}/link5" />
+        <child link="${namespace}/link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="${namespace}/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="package://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="package://piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="${namespace}/joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="${namespace}/link6" />
+        <child link="${namespace}/link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+</xacro:macro>
+
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description.csv

@@ -0,0 +1,8 @@
+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,-0.00473641164191482,2.56829134630247E-05,0.041451518036016,0,0,0,0.333893486740112,0.000254953479570424,2.06931238580746E-07,7.30912474718368E-06,0.00027202099920186,2.65131745382267E-07,0.000276534627629623,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.000121504734057468,0.000104632162460536,-0.00438597309559853,0,0,0,0.215052383265765,0.000109639007860341,2.50631260865109E-07,-1.89352789149844E-07,9.95612262461418E-05,1.00634716976093E-08,0.000116363910317385,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,,link1-1,axis1,基准轴1,joint1,revolute,0,0,0.123,0,0,0,base_link,0,0,1,100,5,-2.618,2.168,,,,,,,,
+link2,0.198666145229743,-0.010926924140076,0.00142121714502687,0,0,0,0.463914239236335,0.000214137415059993,7.26120579340088E-05,-9.88224861011274E-07,0.00100030277518254,-1.32818212212246E-06,0.00104417184176783,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,,link2-1,axis2,基准轴2,joint2,revolute,0,0,0,1.5708,-0.10095,-3.1416,link1,0,0,1,100,5,0,3.14,,,,,,,,
+link3,-0.0202737662122021,-0.133914995944595,-0.000458682652737356,0,0,0,0.219942452993132,0.00018953849076141,-8.05719205057736E-06,5.10255053956334E-07,7.1424497082494E-05,8.89044974368937E-07,0.000201212938725775,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,,link3-1,axis3,基准轴3,joint3,revolute,0.28503,0,0,0,0,-1.759,link2,0,0,1,100,5,-2.697,0,,,,,,,,
+link4,-9.66635791618542E-05,0.000876064475651083,-0.00496880904640868,0,0,0,0.131814339939458,3.96965423235175E-05,-2.32268338444837E-08,-1.14702090783249E-07,5.13319789853892E-05,9.92852686264567E-08,4.14768131680711E-05,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,,link4-1,axis4,基准轴4,joint4,revolute,-0.021984,-0.25075,0,1.5708,0,0,link3,0,0,1,100,5,-1.832,1.832,,,,,,,,
+link5,-4.10554118924211E-05,-0.0566486692356075,-0.0037205791677906,0,0,0,0.134101341225523,4.10994130543451E-05,-2.06433983793957E-08,1.29591347668502E-10,5.27723004189144E-05,1.9140716904272E-07,4.60418752810541E-05,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,,link5-1,axis5,基准轴5,joint5,revolute,0,0,0,-1.5708,0,0,link4,0,0,1,100,5,-1.22,1.22,,,,,,,,
+link6,-8.82590762930069E-05,9.0598378529832E-06,-0.002,0,0,0,0.007,5.43015540542155E-07,-1.98305403089247E-22,-7.2791893904596E-23,5.43015540542155E-07,-3.4146026640245E-24,1.06738869138926E-06,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,,link6-1,axis6,基准轴6,joint6,revolute,8.8259E-05,-0.091,0,1.5708,0,0,link5,0,0,1,100,5,-2.0944,2.0944,,,,,,,,

assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description.urdf

@@ -0,0 +1,405 @@
+<?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="piper">
+  <link name="dummy_link"/>
+  <joint name="base_to_dummy" type="fixed">
+    <parent link="dummy_link"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description.xacro

@@ -0,0 +1,430 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- piper -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description_gazebo.xacro

@@ -0,0 +1,430 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="gazebo"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- gazebo -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/gazebo</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+</robot>

assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description_old.urdf

@@ -0,0 +1,397 @@
+<?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="piper">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433" 
+        ixy="-0.00000073" 
+        ixz="-0.00017389" 
+        iyy="0.00282612" 
+        iyz="0.0000004" 
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </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="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916" 
+        ixy="-0.00000036" 
+        ixz="-0.00000224" 
+        iyy="0.00040472" 
+        iyz="-0.00000242" 
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </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="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918" 
+        ixy="-0.00180037" 
+        ixz="0.00025146" 
+        iyy="0.06785384" 
+        iyz="-0.00000455" 
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </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="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711" 
+        ixy="0.00165794" 
+        ixz="-0.00000048" 
+        iyy="0.00045024" 
+        iyz="-0.00000045" 
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </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="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.759" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501" 
+        ixy="0.00000054" 
+        ixz="0.00000120" 
+        iyy="0.00018965" 
+        iyz="-0.00000841" 
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </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="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169" 
+        ixy="0.00000006" 
+        ixz="-0.00000007" 
+        iyy="0.00018510" 
+        iyz="0.00001026" 
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </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="package://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="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07" 
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07" 
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+</robot>

assets/miscs/mdl/ebench/mdl/KooPbr.mdl

@@ -0,0 +1,462 @@
+// auto generated by pbrjson2mdl
+// version = cc4b850
+mdl 1.6;
+
+import ::anno::*;
+import ::df::*;
+import ::df::color_weighted_layer;
+import ::math::*;
+import ::state::*;
+
+export material KooMtl2Sided(
+    material frontMtl = material() [[
+        anno::in_group("Parameters"),
+        anno::display_name("Front material")
+    ]],
+    material backMtl = frontMtl [[
+        anno::in_group("Parameters"),
+        anno::display_name("Back material")
+    ]],
+    uniform bool use_backMtl = false [[
+        anno::in_group("Parameters"),
+        anno::display_name("Use back material")
+    ]],
+    color translucency = color(0.5f, 0.5f, 0.5f) [[
+        anno::in_group("Basic parameters"),
+        anno::display_name("Translucency")
+    ]],
+    color front_tint = color(1.f, 1.f, 1.f) [[
+        anno::in_group("Parameters"),
+        anno::display_name("Front tint"),
+        anno::hidden()
+    ]],
+    color back_tint = color(1.f, 1.f, 1.f) [[
+        anno::in_group("Parameters"),
+        anno::display_name("Back tint"),
+        anno::hidden()
+    ]],
+    uniform bool multiply_by_front_diffuse = false [[
+        anno::in_group("Basic parameters"),
+        anno::display_name("Multiply by front diffuse"),
+        anno::unused(),
+        anno::hidden()
+    ]])
+[[
+    anno::author("KooLab")
+]]
+ =
+    let {
+        bsdf transmission_bsdf =
+            df::diffuse_transmission_bsdf(tint: (front_tint + back_tint)*0.5f);
+
+        bsdf front_bsdf =
+            df::color_weighted_layer
+            (
+                weight  : translucency,
+                layer   : transmission_bsdf,
+                base    : frontMtl.surface.scattering
+            );
+
+        bsdf back_bsdf =
+            df::color_weighted_layer
+            (
+                weight  : translucency,
+                layer   : transmission_bsdf,
+                base    : backMtl.surface.scattering
+            );
+    } in
+        material(
+            thin_walled: true,
+            ior: frontMtl.ior,
+            surface: material_surface(scattering: front_bsdf),
+            backface: material_surface(scattering: use_backMtl ? back_bsdf : front_bsdf),
+            volume: frontMtl.volume,
+            geometry: frontMtl.geometry
+        );
+
+float emissive_multiplier() uniform
+[[
+    anno::description("unit conversion from pbrjson emission to mdl"),
+    anno::noinline()
+]]
+{
+    return 2560.f;
+}
+
+export material KooLightMtl(
+    color emission = color(1.f, 1.f, 1.f) [[
+        anno::in_group("Parameters"),
+        anno::display_name("Emission")
+    ]],
+    uniform float emission_mult = 1.f [[
+        anno::in_group("Parameters"),
+        anno::display_name("Mutliplier")
+    ]],
+    color opacity = color(1.f, 1.f, 1.f) [[
+        anno::in_group("Parameters"),
+        anno::display_name("Opacity")
+    ]],
+    uniform bool emit_on_backside = false [[
+        anno::in_group("Parameters"),
+        anno::display_name("Emit light on back side")
+    ]])
+[[
+    anno::author("KooLab")
+]]
+ =
+    let {
+        color emission_color = (emission*opacity)*emission_mult * emissive_multiplier();
+
+        bsdf surface_bsdf  =
+            df::simple_glossy_bsdf
+            (
+                mode: df::scatter_transmit,
+                tint: color(1.f) - opacity,
+                roughness_u: 0
+            );
+
+        material_surface emit_surface = material_surface(
+            scattering: surface_bsdf,
+            emission: material_emission(
+                emission: df::diffuse_edf(),
+                intensity: emission_color)
+            );
+    } in
+        material(
+            thin_walled: emit_on_backside,
+            ior: color(1.f),
+            surface: emit_surface,
+            backface: emit_on_backside ? emit_surface : material_surface()
+        );
+
+export material KooMtl(
+    color diffuse = color(0.5f, 0.5f, 0.5f) [[
+        anno::in_group("Diffuse Parameters"),
+        anno::display_name("diffuse")
+    ]],
+    color reflect = color(0.f, 0.f, 0.f) [[
+        anno::in_group("Reflections"),
+        anno::display_name("reflect")
+    ]],
+    float reflect_glossiness = 1.f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Glossiness"),
+        anno::hard_range(0.f, 1.f)
+    ]],
+    uniform bool fresnel = true [[
+        anno::in_group("Reflections"),
+        anno::display_name("Fresnel reflections")
+    ]],
+    float fresnel_ior = 1.6f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Fresnel IOR"),
+        anno::hard_range(0.2f, 5.f)
+    ]],
+    uniform bool fresnel_ior_lock = true [[
+        anno::in_group("Reflections"),
+        anno::display_name("Lock IOR")
+    ]],
+    uniform bool invert_reflection_ior = false [[
+        anno::in_group("Reflections"),
+        anno::hidden()
+    ]],
+    float reflection_metalness = 0.f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Metalness"),
+        anno::hard_range(0.f, 1.f)
+    ]],
+    uniform float refract_ior = 1.6f [[
+        anno::in_group("Refractions"),
+        anno::display_name("IOR"),
+        anno::soft_range(0.2f, 5.f),
+        anno::hard_range(1.0e-06f, 100.f)
+    ]],
+    uniform bool invert_refraction_ior = false [[
+        anno::in_group("Refractions"),
+        anno::hidden()
+    ]],
+    color self_illumination = color(0.f, 0.f, 0.f) [[
+        anno::in_group("Self-Illumination"),
+        anno::display_name("Self-illumination")
+    ]],
+    uniform float self_illumination_multiplier = 1.f [[
+        anno::in_group("Self-Illumination"),
+        anno::display_name("Self-Illumination Intensity")
+    ]],
+    float anisotropy = 0.f [[
+        anno::in_group("BRDF"),
+        anno::display_name("Anisotropy"),
+        anno::hard_range(-1.f, 1.f),
+        anno::unused(),
+        anno::hidden()
+    ]],
+    float anisotropy_rotation = 0.f [[
+        anno::in_group("BRDF"),
+        anno::display_name("Rotation"),
+        anno::hard_range(-10000.f, 10000.f),
+        anno::unused(),
+        anno::hidden()
+    ]],
+    float3 texmap_bump = state::normal() [[
+        anno::in_group("Maps"),
+        anno::display_name("Bump Map")
+    ]],
+    float opacity = 1.f [[
+        anno::in_group("Maps"),
+        anno::display_name("Opacity Map")
+    ]],
+    uniform bool thin_walled = false [[
+        anno::in_group("Options"),
+        anno::hidden()
+    ]])
+[[
+    anno::author("KooLab")
+]]
+ =
+    let {
+        float reflection_roughness =  math::pow((1.f - reflect_glossiness), 2.f);
+
+        float refl_ior = invert_reflection_ior ? 1.f/(fresnel_ior + 0.01f) : fresnel_ior;
+        float refr_ior = invert_refraction_ior ? 1.f/(refract_ior + 0.01f) : refract_ior;
+
+        float ior = fresnel_ior_lock ? refr_ior : refl_ior;
+        float R0 = math::pow((1.f - ior)/(1.f + ior), 2.f);
+
+        bsdf diffuse_bsdf  =
+            df::weighted_layer
+            (
+                weight  : 1.f,
+                layer   : df::diffuse_reflection_bsdf
+                (
+                    tint      : diffuse,
+                    roughness : 0.0f
+                ),
+                normal  : texmap_bump
+            );
+
+        bsdf glossy_reflection_bsdf =
+            df::simple_glossy_bsdf(
+                mode: df::scatter_reflect,
+                tint: fresnel ? reflect : color(1.f),
+                roughness_u: reflection_roughness
+            );
+
+        bsdf diffuse_glossy_reflection_bsdf =
+            df::simple_glossy_bsdf(
+                mode: df::scatter_reflect,
+                tint: diffuse,
+                roughness_u: reflection_roughness
+            );
+
+        bsdf surface_bsdf =
+            df::color_custom_curve_layer
+            (
+                normal_reflectivity : fresnel ? color(R0) : reflect,
+                grazing_reflectivity: fresnel ? color(1.f) : reflect,
+                layer               : glossy_reflection_bsdf,
+                base                :
+                    df::weighted_layer
+                    (
+                        weight  : reflection_metalness,
+                        layer   : diffuse_glossy_reflection_bsdf,
+                        base    : diffuse_bsdf,
+                        normal  : texmap_bump
+                    ),
+                normal              : texmap_bump
+            );
+    } in
+        material
+        (
+                ior         : color(refr_ior),
+                thin_walled : thin_walled,
+                surface     : material_surface
+                (
+                    scattering  : surface_bsdf,
+                    emission    : material_emission
+                    (
+                        emission  : df::diffuse_edf(),
+                        intensity : self_illumination*self_illumination_multiplier
+                    )
+                ),
+                geometry    : material_geometry
+                (
+                    cutout_opacity: opacity
+                )
+        );
+
+export material KooTranslucentMtl(
+    color diffuse = color(0.5f, 0.5f, 0.5f) [[
+        anno::in_group("Diffuse Parameters"),
+        anno::display_name("Diffuse")
+    ]],
+    color reflect = color(0.f, 0.f, 0.f) [[
+        anno::in_group("Reflections"),
+        anno::display_name("Reflect")
+    ]],
+    float reflect_glossiness = 1.f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Glossiness"),
+        anno::hard_range(0.f, 1.f)
+    ]],
+    uniform bool fresnel = true [[
+        anno::in_group("Reflections"),
+        anno::display_name("Fresnel reflections")
+    ]],
+    float fresnel_ior = 1.6f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Fresnel IOR"),
+        anno::soft_range(0.2, 5.f),
+        anno::hard_range(1.0e-06f, 100.f)
+    ]],
+    uniform bool fresnel_ior_lock = true [[
+        anno::in_group("Reflections"),
+        anno::display_name("Lock IOR")
+    ]],
+    uniform bool invert_reflection_ior = false [[
+        anno::in_group("Reflections"),
+        anno::hidden()
+    ]],
+    float reflection_metalness = 0.f [[
+        anno::in_group("Reflections"),
+        anno::display_name("Metalness"),
+        anno::hard_range(0.f, 1.f)
+    ]],
+    color refract = color(0.f, 0.f, 0.f) [[
+        anno::in_group("Refractions"),
+        anno::display_name("Refract")
+    ]],
+    float refract_glossiness = 1.f [[
+        anno::in_group("Refractions"),
+        anno::display_name("Glossiness"),
+        anno::hard_range(0.f, 1.f)
+    ]],
+    uniform float refract_ior = 1.6f [[
+        anno::in_group("Refractions"),
+        anno::display_name("IOR"),
+        anno::soft_range(0.2f, 5.f),
+        anno::hard_range(1.0e-06f, 100.f)
+    ]],
+    uniform bool invert_refraction_ior = false [[
+        anno::in_group("Refractions"),
+        anno::hidden()
+    ]],
+    color self_illumination = color(0.f, 0.f, 0.f) [[
+        anno::in_group("Self-Illumination"),
+        anno::display_name("Self-illumination")
+    ]],
+    uniform float self_illumination_multiplier = 1.f [[
+        anno::in_group("Self-Illumination"),
+        anno::display_name("Multiplier")
+    ]],
+    float anisotropy = 0.f [[
+        anno::in_group("BRDF"),
+        anno::display_name("Anisotropy"),
+        anno::hard_range(-1.f, 1.f),
+        anno::unused(),
+        anno::hidden()
+    ]],
+    float anisotropy_rotation = 0.f [[
+        anno::in_group("BRDF"),
+        anno::display_name("Rotation"),
+        anno::hard_range(-10000.f, 10000.f),
+        anno::unused(),
+        anno::hidden()
+    ]],
+    float3 texmap_bump = state::normal() [[
+        anno::in_group("Maps"),
+        anno::display_name("Bump Map")
+    ]],
+    float texmap_opacity = 1.f [[
+        anno::in_group("Maps"),
+        anno::display_name("Opacity Map")
+    ]],
+    uniform bool thin_walled = false [[
+        anno::in_group("Options"),
+        anno::hidden()
+    ]])
+[[
+    anno::author("KooLab")
+]]
+ =
+    let {
+        float reflection_roughness =  math::pow((1.f - reflect_glossiness), 2.f);
+
+        float refraction_roughness = math::pow((1.f - refract_glossiness), 2.f);
+
+        float refl_ior = invert_reflection_ior ? 1.f/(fresnel_ior + 0.01f) : fresnel_ior;
+        float refr_ior = invert_refraction_ior ? 1.f/(refract_ior + 0.01f) : refract_ior;
+
+        float ior = fresnel_ior_lock ? refr_ior : refl_ior;
+        float R0 = math::pow((1.f - ior)/(1.f + ior), 2.f);
+
+        bsdf diffuse_bsdf  =
+            df::weighted_layer
+            (
+                weight  : 1.f,
+                layer   : df::diffuse_reflection_bsdf
+                (
+                    tint      : diffuse,
+                    roughness : 0.f
+                ),
+                normal  : texmap_bump
+            );
+
+        bsdf glossy_transmission_bsdf =
+            df::simple_glossy_bsdf(
+                mode: df::scatter_transmit,
+                tint: color(1.f),
+                roughness_u: refraction_roughness
+            );
+
+        bsdf glossy_reflection_bsdf =
+            df::simple_glossy_bsdf(
+                mode: df::scatter_reflect,
+                tint: fresnel ? reflect : color(1.f),
+                roughness_u: reflection_roughness
+            );
+
+        bsdf diffuse_glossy_reflection_bsdf =
+            df::simple_glossy_bsdf(
+                mode: df::scatter_reflect,
+                tint: diffuse,
+                roughness_u: reflection_roughness
+            );
+
+        bsdf surface_bsdf =
+            df::color_custom_curve_layer
+            (
+                normal_reflectivity : fresnel ? color(R0) : reflect,
+                grazing_reflectivity: fresnel ? color(1.f) : reflect,
+                layer               : glossy_reflection_bsdf,
+                base                :
+                    df::weighted_layer
+                    (
+                        weight  : reflection_metalness,
+                        layer   : diffuse_glossy_reflection_bsdf,
+                        base    :
+                            df::color_weighted_layer
+                            (
+                                weight  : refract,
+                                layer   : glossy_transmission_bsdf,
+                                base    : diffuse_bsdf,
+                                normal  : texmap_bump
+                            ),
+                        normal  : texmap_bump
+                    ),
+                normal              : texmap_bump
+            );
+    } in
+        material(
+            thin_walled : thin_walled,
+            ior         : color(refr_ior),
+            surface     : material_surface
+            (
+                scattering  : surface_bsdf,
+                emission    : material_emission
+                (
+                    emission  : df::diffuse_edf(),
+                    intensity : self_illumination*self_illumination_multiplier
+                )
+            ),
+            geometry    : material_geometry(cutout_opacity: texmap_opacity)
+        );