Backfill missing files batch 5

ROBOTS/dualarm_piper/piper_description_dualarm_new.urdf

@@ -0,0 +1,535 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm_piper">
+
+  <!-- ========================== WORLD LINK ========================== -->
+  <link name="base_link"/>
+
+  <!-- ========================== LEFT ARM ========================== -->
+  <!-- Left arm base -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.792 0.819 0.933 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_left_base" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="left_base_link"/>
+  </joint>
+
+  <!-- Left arm joint chain -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="left_base_link"/>
+    <child link="left_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="left_link1"/>
+    <child link="left_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="left_link2"/>
+    <child link="left_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="left_link3"/>
+    <child link="left_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="left_link4"/>
+    <child link="left_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.898 0.917 0.929 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="left_link5"/>
+    <child link="left_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_link6"/>
+    <child link="left_gripper_base"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+
+  <!-- ========================== RIGHT ARM ========================== -->
+  <!-- Mirror copy all left arm structures for the right arm, only modify the name prefix and base position -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_right_base" type="fixed">
+    <origin xyz="0 -0.6 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="right_base_link"/>
+  </joint>
+
+  <!-- Right arm joint chain -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="right_base_link"/>
+    <child link="right_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="right_link1"/>
+    <child link="right_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="right_link2"/>
+    <child link="right_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="right_link3"/>
+    <child link="right_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="right_link4"/>
+    <child link="right_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba="0.898 0.917 0.929 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="right_link5"/>
+    <child link="right_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_link6"/>
+    <child link="right_gripper_base"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+</robot>

ROBOTS/dualarm_piper/piper_description_dualarm_new_textured.urdf

@@ -0,0 +1,525 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm_piper">
+
+  <!-- ========================== WORLD LINK ========================== -->
+  <link name="base_link"/>
+
+  <!-- ========================== LEFT ARM ========================== -->
+  <!-- Left arm base -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_left_base" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="left_base_link"/>
+  </joint>
+
+  <!-- Left arm joint chain -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="left_base_link"/>
+    <child link="left_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="left_link1"/>
+    <child link="left_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="left_link2"/>
+    <child link="left_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="left_link3"/>
+    <child link="left_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="left_link4"/>
+    <child link="left_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae_linear/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="left_link5"/>
+    <child link="left_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry> -->
+    <!-- </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_link6"/>
+    <child link="left_gripper_base"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+
+  <!-- ========================== RIGHT ARM ========================== -->
+  <!-- Mirror copy all left arm structures for the right arm, only modify the name prefix and base position -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_right_base" type="fixed">
+    <origin xyz="0 -0.6 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="right_base_link"/>
+  </joint>
+
+  <!-- Right arm joint chain -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="right_base_link"/>
+    <child link="right_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="right_link1"/>
+    <child link="right_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="right_link2"/>
+    <child link="right_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="right_link3"/>
+    <child link="right_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="right_link4"/>
+    <child link="right_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae_linear/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="right_link5"/>
+    <child link="right_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_link6"/>
+    <child link="right_gripper_base"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+</robot>

ROBOTS/dualarm_piper/piper_description_dualarm_new_textured_large_stroke.urdf

@@ -0,0 +1,525 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm_piper">
+
+  <!-- ========================== WORLD LINK ========================== -->
+  <link name="base_link"/>
+
+  <!-- ========================== LEFT ARM ========================== -->
+  <!-- Left arm base -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_left_base" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="left_base_link"/>
+  </joint>
+
+  <!-- Left arm joint chain -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="left_base_link"/>
+    <child link="left_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="left_link1"/>
+    <child link="left_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="left_link2"/>
+    <child link="left_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="left_link3"/>
+    <child link="left_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="left_link4"/>
+    <child link="left_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae_linear/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="left_link5"/>
+    <child link="left_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry> -->
+    <!-- </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_link6"/>
+    <child link="left_gripper_base"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.05" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.05" upper="0" effort="10" velocity="1"/>
+  </joint>
+
+  <!-- ========================== RIGHT ARM ========================== -->
+  <!-- Mirror copy all left arm structures for the right arm, only modify the name prefix and base position -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_right_base" type="fixed">
+    <origin xyz="0 -0.6 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="right_base_link"/>
+  </joint>
+
+  <!-- Right arm joint chain -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="right_base_link"/>
+    <child link="right_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="right_link1"/>
+    <child link="right_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="right_link2"/>
+    <child link="right_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="right_link3"/>
+    <child link="right_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="right_link4"/>
+    <child link="right_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae_linear/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="right_link5"/>
+    <child link="right_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_link6"/>
+    <child link="right_gripper_base"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.05" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae_linear/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.05" upper="0" effort="10" velocity="1"/>
+  </joint>
+</robot>

ROBOTS/dualarm_piper/piper_description_dualarm_new_textured_old.urdf

@@ -0,0 +1,525 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="dual_arm_piper">
+
+  <!-- ========================== WORLD LINK ========================== -->
+  <link name="base_link"/>
+
+  <!-- ========================== LEFT ARM ========================== -->
+  <!-- Left arm base -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_left_base" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="left_base_link"/>
+  </joint>
+
+  <!-- Left arm joint chain -->
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="left_base_link"/>
+    <child link="left_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="left_link1"/>
+    <child link="left_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="left_link2"/>
+    <child link="left_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="left_link3"/>
+    <child link="left_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="left_link4"/>
+    <child link="left_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="left_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="left_link5"/>
+    <child link="left_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry> -->
+    <!-- </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="left_link6"/>
+    <child link="left_gripper_base"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="left_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>
+      <geometry>
+        <mesh filename="package://dae/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="left_gripper_base"/>
+    <child link="left_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+
+  <!-- ========================== RIGHT ARM ========================== -->
+  <!-- Mirror copy all left arm structures for the right arm, only modify the name prefix and base position -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="base_link_to_right_base" type="fixed">
+    <origin xyz="0 -0.6 0" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="right_base_link"/>
+  </joint>
+
+  <!-- Right arm joint chain -->
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link1_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint1" type="revolute">
+    <origin xyz="0 0 0.123" rpy="0 0 0"/>
+    <parent link="right_base_link"/>
+    <child link="right_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.618" upper="2.168" effort="100" velocity="5"/>
+  </joint>
+
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link2_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 -0.1359 -3.1416"/>
+    <parent link="right_link1"/>
+    <child link="right_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="3.14" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link3_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint3" type="revolute">
+    <origin xyz="0.28503 0 0" rpy="0 0 -1.7939"/>
+    <parent link="right_link2"/>
+    <child link="right_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.967" upper="0" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link4_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint4" type="revolute">
+    <origin xyz="-0.021984 -0.25075 0" rpy="1.5708 0 0"/>
+    <parent link="right_link3"/>
+    <child link="right_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.745" upper="1.745" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link5_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="right_link4"/>
+    <child link="right_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.22" upper="1.22" effort="100" velocity="5"/>
+  </joint>
+
+  <link name="right_link6">
+    <inertial>
+      <origin xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002" rpy="0 0 0"/>
+      <mass value="0.00699089613564366"/>
+      <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>
+      <geometry>
+        <mesh filename="package://dae/link6_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6" type="revolute">
+    <origin xyz="8.8259E-05 -0.091 0" rpy="1.5708 0 0"/>
+    <parent link="right_link5"/>
+    <child link="right_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.0944" upper="2.0944" effort="100" velocity="3"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </visual> -->
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/gripper_base.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint6_to_gripper" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="right_link6"/>
+    <child link="right_gripper_base"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link7_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link7.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint7" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 0"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.035" effort="10" velocity="1"/>
+  </joint>
+
+  <link name="right_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>
+      <geometry>
+        <mesh filename="package://dae/link8_rot.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/link8.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_joint8" type="prismatic">
+    <origin xyz="0 0 0.1358" rpy="1.5708 0 -3.1416"/>
+    <parent link="right_gripper_base"/>
+    <child link="right_link8"/>
+    <axis xyz="0 0 -1"/>
+    <limit lower="-0.035" upper="0" effort="10" velocity="1"/>
+  </joint>
+</robot>

ROBOTS/dualarm_piper/usd/.asset_hash

@@ -0,0 +1 @@
+3f67ce2d1caf48df6bdf54bf65230dc4

ROBOTS/dualarm_piper/usd/config.yaml

@@ -0,0 +1,63 @@
+asset_path: /horizon-bucket/robot_lab/assets/ROBOTS/dualarm_piper/piper_description_dualarm_new_textured_large_stroke.urdf
+usd_dir: /tmp/IsaacLab/piper/usd
+usd_file_name: piper_description_dualarm_new_textured_large_stroke
+force_usd_conversion: false
+make_instanceable: true
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    natural_frequency: 30.0
+    damping_ratio: 0.005
+collider_type: convex_decomposition
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+func: isaaclab.sim.spawners.from_files.from_files:spawn_from_urdf
+visible: true
+semantic_tags:
+- !!python/tuple
+  - class
+  - dualarm_piper
+copy_from_source: true
+mass_props: null
+deformable_props: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: false
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: 5.0
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props: null
+activate_contact_sensors: false
+scale: null
+articulation_props:
+  articulation_enabled: null
+  enabled_self_collisions: false
+  solver_position_iteration_count: 8
+  solver_velocity_iteration_count: 0
+  sleep_threshold: null
+  stabilization_threshold: null
+  fix_root_link: true
+fixed_tendons_props: null
+joint_drive_props: null
+visual_material_path: material
+visual_material: null
+##
+# Generated by UrdfConverter on 2025-12-22 at 11:05:28.
+##

ROBOTS/mobile_aloha_sim-2.0.0/.gitignore

@@ -0,0 +1 @@
+.vscode

ROBOTS/mobile_aloha_sim-2.0.0/README.MD

@@ -0,0 +1,15 @@
+# 新版aloha的sim
+
+执行`display_aloha.launch`
+
+![aloha_v2](image.png)
+
+## 注意URDF版本(以零点区分)
+
+若您的机械臂,上电后使用上位机使能回零,j2、j3关节非触碰到限位位置,则为旧版零点
+
+旧版本零点以j2、j3的限位位置偏移2度得到,参
+
+`aloha_new_v00.urdf`
+
+执行`display_aloha_v00.launch`

ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(aloha_new_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)

ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/README.MD

@@ -0,0 +1,3 @@
+# 新版aloha的纯urdf
+
+该文件夹仅为urdf说明，不含gazebo等其它仿真

ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/collision/piper_mesh.yaml

@@ -0,0 +1,145 @@
+# The robot description defines the generalized coordinates and how to map those
+# to the underlying URDF dofs.
+
+# api_version: 1.0
+
+# # Defines the generalized coordinates. Each generalized coordinate is assumed
+# # to have an entry in the URDF.
+# # Lula will only use these joints to control the robot position.
+# cspace:
+#     - fl_joint1
+#     - fl_joint2
+#     - fl_joint3
+#     - fl_joint4
+#     - fl_joint5
+#     - fl_joint6
+#     - fl_joint7
+#     - fl_joint8
+# default_q: [
+#     -0.05,1.59,-2.697,0.0,-0.0004,0.0,0.04,-0.04
+# ]
+
+# acceleration_limits: [
+#    10,10,10,10,10,10,10,10
+# ]
+
+# jerk_limits: [
+#    10000,10000,10000,10000,10000,10000,10000,10000
+# ]
+
+# # Most dimensions of the cspace have a direct corresponding element
+# # in the URDF. This list of rules defines how unspecified coordinates
+# # should be extracted or how values in the URDF should be overwritten.
+
+# cspace_to_urdf_rules:
+
+# # Lula uses collision spheres to define the robot geometry in order to avoid
+# # collisions with external obstacles.  If no spheres are specified, Lula will
+# # not be able to avoid obstacles.
+
+collision_spheres:
+  footprint:
+    - "center": [-0.005, -0.0, 0.054]
+      "radius": 0.03455
+  fl_link1:
+    - "center": [-0.015, -0.0, -0.006]
+      "radius": 0.02397
+    - "center": [0.013, 0.004, -0.005]
+      "radius": 0.02298
+  fl_link2:
+    - "center": [0.274, 0.014, -0.002]
+      "radius": 0.04
+    - "center": [0.028, -0.0, 0.002]
+      "radius": 0.02
+    - "center": [0.241, -0.016, -0.001]
+      "radius": 0.02
+    - "center": [0.064, -0.003, 0.002]
+      "radius": 0.02
+    - "center": [0.099, -0.005, 0.001]
+      "radius": 0.02
+    - "center": [0.135, -0.008, 0.0]
+      "radius": 0.02
+    - "center": [0.17, -0.011, -0.0]
+      "radius": 0.02
+    - "center": [0.206, -0.013, -0.001]
+      "radius": 0.02
+  fl_link3:
+    - "center": [-0.184, 0.056, 0.0]
+      "radius": 0.025
+    - "center": [-0.028, 0.017, 0.0]
+      "radius": 0.025
+    - "center": [-0.153, 0.048, 0.0]
+      "radius": 0.025
+    - "center": [-0.122, 0.04, 0.0]
+      "radius": 0.025
+    - "center": [-0.091, 0.032, 0.0]
+      "radius": 0.025
+    - "center": [-0.06, 0.025, 0.0]
+      "radius": 0.025
+  fl_link4:
+    - "center": [-0.002, -0.003, -0.005]
+      "radius": 0.028
+  fl_link5:
+    - "center": [0.001, 0.066, 0.002]
+      "radius": 0.025
+    - "center": [-0.0, 0.038, 0.001]
+      "radius": 0.025
+  fl_link6:
+    - "center": [0.001, 0.003, 0.026]
+      "radius": 0.028
+    - "center": [-0.064, -0.0, 0.056]
+      "radius": 0.01
+    - "center": [0.065, 0.001, 0.055]
+      "radius": 0.01
+    - "center": [-0.042, -0.0, 0.056]
+      "radius": 0.01
+    - "center": [-0.021, -0.0, 0.056]
+      "radius": 0.01
+    - "center": [0.001, 0.0, 0.055]
+      "radius": 0.01
+    - "center": [0.022, 0.0, 0.055]
+      "radius": 0.01
+    - "center": [0.044, 0.0, 0.055]
+      "radius": 0.01
+    - "center": [-0.018, 0.018, 0.047]
+      "radius": 0.01
+    - "center": [0.014, 0.017, 0.047]
+      "radius": 0.01
+    - "center": [0.014, -0.015, 0.047]
+      "radius": 0.01
+    - "center": [-0.014, -0.014, 0.047]
+      "radius": 0.01
+  fl_link7:
+    - "center": [0.001, -0.001, -0.005]
+      "radius": 0.004
+    - "center": [-0.014, -0.058, -0.013]
+      "radius": 0.011
+    - "center": [0.015, -0.057, -0.014]
+      "radius": 0.011
+    - "center": [-0.001, -0.051, -0.01]
+      "radius": 0.01
+    - "center": [0.0, -0.007, -0.005]
+      "radius": 0.0048
+    - "center": [0.0, -0.016, -0.006]
+      "radius": 0.00577
+    - "center": [-0.0, -0.025, -0.007]
+      "radius": 0.00693
+    - "center": [-0.001, -0.037, -0.009]
+      "radius": 0.00833
+  fl_link8:
+    - "center": [-0.001, 0.059, -0.012]
+      "radius": 0.01
+    - "center": [0.0, -0.001, -0.004]
+      "radius": 0.004
+    - "center": [-0.001, 0.042, -0.01]
+      "radius": 0.00833
+    - "center": [-0.0, 0.028, -0.008]
+      "radius": 0.00693
+    - "center": [-0.0, 0.017, -0.006]
+      "radius": 0.00577
+    - "center": [0.0, 0.007, -0.005]
+      "radius": 0.0048
+    - "center": [-0.015, 0.057, -0.012]
+      "radius": 0.01
+    - "center": [0.016, 0.057, -0.012]
+      "radius": 0.01

ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/launch/display_aloha.launch

@@ -0,0 +1,21 @@
+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_new.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>

ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/launch/display_aloha_v00.launch

@@ -0,0 +1,21 @@
+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_new_v00.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>