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index 0000000000000000000000000000000000000000..ddd916beb99fc2f1828f59afe31be785f567b336
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diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_description.urdf b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description.urdf
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+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+      velocity="5" />
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+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
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+      upper="3.14"
+      effort="100"
+      velocity="5" />
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+    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>
\ No newline at end of file
diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_description.xacro b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..08e0e38e2eb6260ba741d18e8c7c5ce5107f34d6
--- /dev/null
+++ b/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>
\ No newline at end of file
diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_gazebo.xacro b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ccdfdb5dae9294139481d01a8d4ef5cc3bb6ca34
--- /dev/null
+++ b/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>
\ No newline at end of file
diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_right.xacro b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_right.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..8693e0a35761a72bebb1c58c48170c2a5ec10625
--- /dev/null
+++ b/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="${namespace}/link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+</xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_with_camera_right.xacro b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_with_camera_right.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..128bd5a4cb8f7686ac7b8c1149acfac0f9e6bb96
--- /dev/null
+++ b/assets/miscs/curobo/piper100/piper_description/urdf/piper_description_with_camera_right.xacro
@@ -0,0 +1,343 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <xacro:macro name="right_arm" params="namespace">
+
+
+    <link name="${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="${namespace}/link3">
+        <inertial>
+        <origin
+            xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+            rpy="0 0 0" />
+        <mass value="0.290847697793211" />
+        <inertia
+            ixx="0.000107879011637167"
+            ixy="2.92669521203626E-05"
+            ixz="6.825922326238E-07"
+            iyy="0.000214751671792086"
+            iyz="-7.78469047878196E-07"
+            izz="0.000241923439340319" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/dae/link3.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -1.75" />
+        <geometry>
+            <mesh filename="package://piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
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+        <visual>
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+        <geometry>
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+        <material name="">
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+        <visual>
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+        <geometry>
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+    </link>
+    <joint name="${namespace}/joint7" type="prismatic">
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+        <child link="${namespace}/link7" />
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+    <link name="${namespace}/link8">
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+
+</xacro:macro>
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+</robot>
\ No newline at end of file
diff --git a/assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description.csv b/assets/miscs/curobo/piper100/piper_description/urdf/piper_no_gripper_description.csv
new file mode 100644
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--- /dev/null
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