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+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    cspace_distance_weight:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
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+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    default_joint_position:
+    - 0.0
+    - 0.0
+    - 0.0
+    - -0.1991870105266571
+    - -0.21817004680633545
+    - -1.5707950592041016
+    - -1.5707950592041016
+    - 0.0
+    - 0.0
+    - 0.0
+    - -0.023749999701976776
+    - -0.023749999701976776
+    - -0.21817004680633545
+    - 1.5707950592041016
+    - 1.5707950592041016
+    - 0.0
+    - 0.0
+    - 0.0
+    - 0.023749999701976776
+    - -0.023749999701976776
+    jerk_scale:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
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+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    joint_names:
+    - base_x
+    - base_y
+    - base_theta
+    - lift_joint
+    - joint1_R
+    - joint2_R
+    - joint3_R
+    - joint4_R
+    - joint5_R
+    - joint6_R
+    - joint7_R
+    - joint8_R
+    - joint1_L
+    - joint2_L
+    - joint3_L
+    - joint4_L
+    - joint5_L
+    - joint6_L
+    - joint7_L
+    - joint8_L
+    max_acceleration:
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
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+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    - 10.0
+    max_jerk:
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
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+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    - 500.0
+    null_space_maximum_distance:
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
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+    - 1.0
+    - 1.0
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+    - 1.0
+    - 1.0
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+    null_space_weight:
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+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
+    - 1.0
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+    - 1.0
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+    position_limit_clip: 0.0
+    velocity_scale:
+    - 1.0
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+    - 1.0
+    - 1.0
+    - 1.0
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+    - 1.0
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+  debug: null
+  external_asset_path: null
+  external_robot_configs_path: null
+  extra_collision_spheres: null
+  extra_links: {}
+  format_version: 2.0
+  grasp_contact_link_names: null
+  load_meshes: false
+  load_tool_frames_with_mesh: false
+  lock_joints:
+    joint7_R: 0.0
+    joint8_R: 0.0
+    joint7_L: 0.0
+    joint8_L: -0.0475
+  mesh_link_names: *id001
+  self_collision_buffer:
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+    arm_base_R: 0.0
+    arm_link1_L: 0.0
+    arm_link1_R: 0.0
+    arm_link2_L: 0.0
+    arm_link2_R: 0.0
+    arm_link3_L: 0.0
+    arm_link3_R: 0.0
+    arm_link4_L: 0.0
+    arm_link4_R: 0.0
+    arm_link5_L: 0.0
+    arm_link5_R: 0.0
+    base: 0.0
+    gripper_L: 0.0
+    gripper_R: 0.0
+    lift_link: 0.0
+    tip_left_L: 0.0
+    tip_left_R: 0.0
+    tip_right_L: 0.0
+    tip_right_R: 0.0
+  self_collision_ignore:
+    arm_base_L:
+    - lift_link
+    - arm_link1_L
+    - arm_link2_L
+    arm_base_R:
+    - lift_link
+    - arm_link1_R
+    - arm_link2_R
+    - arm_base_L
+    - arm_link1_L
+    - arm_link2_L
+    - arm_link3_L
+    arm_link1_L:
+    - arm_base_L
+    - arm_link2_L
+    arm_link1_R:
+    - arm_base_R
+    - arm_link2_R
+    - arm_base_L
+    - arm_link1_L
+    - arm_link2_L
+    - arm_link3_L
+    arm_link2_L:
+    - arm_link1_L
+    - arm_link3_L
+    arm_link2_R:
+    - arm_link1_R
+    - arm_link3_R
+    - arm_base_L
+    - arm_link1_L
+    arm_link3_L:
+    - arm_link2_L
+    - arm_link4_L
+    - arm_link5_L
+    - gripper_L
+    arm_link3_R:
+    - arm_link2_R
+    - arm_link4_R
+    - gripper_R
+    - arm_base_L
+    - arm_link1_L
+    arm_link4_L:
+    - arm_link3_L
+    - arm_link5_L
+    arm_link4_R:
+    - arm_link3_R
+    - arm_link5_R
+    arm_link5_L:
+    - arm_link4_L
+    - gripper_L
+    arm_link5_R:
+    - arm_link4_R
+    - gripper_R
+    base:
+    - world_xy
+    - lift_link
+    - arm_base_R
+    - arm_link1_R
+    - arm_base_L
+    - arm_link1_L
+    gripper_L:
+    - arm_link5_L
+    gripper_R:
+    - arm_link5_R
+    lift_link:
+    - base
+    - arm_base_R
+    - arm_base_L
+    - arm_link1_R
+    - arm_link2_R
+    - arm_link1_L
+    - arm_link2_L
+    world:
+    - world_x
+    world_x:
+    - world
+    - world_xy
+    world_xy:
+    - world_x
+    - base
+  tool_frames:
+  - gripper_L
+  - gripper_R
+  urdf_path: /home/shuo/research/resources/mlspaces_assets/robots/linearbot/curobo_config/urdf/linearbot_holobase_curobo.urdf
+  use_external_assets: false
+  use_global_cumul: true

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robots/linearbot/curobo_config/urdf/linearbot_holobase_curobo.urdf

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+<?xml version="1.0" ?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape document_id: a46db25adb1f3ef15157e9fe -->
+<robot name="LinearBot">
+  <!-- Holonomic base: virtual joints for x, y, yaw -->
+  <link name="world"/>
+  <link name="world_x"/>
+  <link name="world_xy"/>
+  <joint name="base_x" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
+    <parent link="world"/>
+    <child link="world_x"/>
+  </joint>
+  <joint name="base_y" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
+    <parent link="world_x"/>
+    <child link="world_xy"/>
+  </joint>
+  <joint name="base_theta" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0 0.12"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="287.0" lower="-3.14159" upper="3.14159" velocity="1.0471975512"/>
+    <parent link="world_xy"/>
+    <child link="base"/>
+  </joint>
+  <!-- END: Holonomic base virtual joints -->
+
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
+      <origin xyz="-0.000869021 -0.0019276 0.369731" rpy="0 0 0"/>
+      <mass value="82.8021"/>
+      <inertia ixx="18.335" ixy="0.00396282" ixz="0.083126" iyy="18.1812" iyz="0.09574" izz="2.62218"/>
+    </inertial>
+    <!-- Part linear_lift -->
+    <visual>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+      <material name="linear_lift_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part linear_cable_cover -->
+    <visual>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+      <material name="linear_cable_cover_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part base -->
+    <visual>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+      <material name="base_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link lift_link -->
+  <link name="lift_link">
+    <inertial>
+      <origin xyz="-0 -0.12333 0.0358393" rpy="0 0 0"/>
+      <mass value="3.6"/>
+      <inertia ixx="0.0154304" ixy="0" ixz="0" iyy="0.104973" iyz="0.00382801" izz="0.11072"/>
+    </inertial>
+    <!-- Part linear_lift_holder -->
+    <visual>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+      <material name="lift_link_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_base_R -->
+  <link name="arm_base_R">
+    <inertial>
+      <origin xyz="0.0540477 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_2 -->
+    <visual>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_R_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_R -->
+  <link name="arm_link1_R">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_R_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_R -->
+  <link name="arm_link2_R">
+    <inertial>
+      <origin xyz="0.129165 0.000134497 -0.0321253" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="-2.89124e-07" ixz="2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2 -->
+    <visual>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_R_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_R -->
+  <link name="arm_link3_R">
+    <inertial>
+      <origin xyz="-0.135083 0.0556042 0.0340514" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="0.000535247" ixz="9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3 -->
+    <visual>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_R_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_R -->
+  <link name="arm_link4_R">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_R_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_R -->
+  <link name="arm_link5_R">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_R_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_R -->
+  <link name="gripper_R">
+    <inertial>
+      <origin xyz="-0.000249372 -3.57061e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper -->
+    <visual>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_R_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_R -->
+  <link name="tip_left_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_left_R -->
+  <joint name="joint7_R" type="prismatic">
+    <origin xyz="0.0450619 0.0225 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_left_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Link tip_right_R -->
+  <link name="tip_right_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_right_R -->
+  <joint name="joint8_R" type="prismatic">
+    <origin xyz="-0.0450619 -0.0225 -0.0573" rpy="-0 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_right_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_R to gripper_R -->
+  <joint name="joint6_R" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 -0 0"/>
+    <parent link="arm_link5_R"/>
+    <child link="gripper_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_R to arm_link5_R -->
+  <joint name="joint5_R" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_R"/>
+    <child link="arm_link5_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_R to arm_link4_R -->
+  <joint name="joint4_R" type="revolute">
+    <origin xyz="-0.244999 0.0600003 0.00205" rpy="0 0 0"/>
+    <parent link="arm_link3_R"/>
+    <child link="arm_link4_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_R to arm_link3_R -->
+  <joint name="joint3_R" type="revolute">
+    <origin xyz="0.264 4.08431e-07 0.00205" rpy="3.14159 0 0"/>
+    <parent link="arm_link2_R"/>
+    <child link="arm_link3_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link1_R to arm_link2_R -->
+  <joint name="joint2_R" type="revolute">
+    <origin xyz="-0.033279 0.0195056 -0.0394" rpy="1.5708 0 -1.5708"/>
+    <parent link="arm_link1_R"/>
+    <child link="arm_link2_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_base_R to arm_link1_R -->
+  <joint name="joint1_R" type="revolute">
+    <origin xyz="0.054 0 -0.0741" rpy="-0 0 0"/>
+    <parent link="arm_base_R"/>
+    <child link="arm_link1_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_R -->
+  <joint name="joint0_R" type="fixed">
+    <origin xyz="-0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Link arm_base_L -->
+  <link name="arm_base_L">
+    <inertial>
+      <origin xyz="-0.0539523 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_3 -->
+    <visual>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_L_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_L -->
+  <link name="arm_link1_L">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1_2 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_L_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_L -->
+  <link name="arm_link2_L">
+    <inertial>
+      <origin xyz="0.129165 -0.000134497 -0.0336247" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="2.89124e-07" ixz="-2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2_2 -->
+    <visual>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_L_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_L -->
+  <link name="arm_link3_L">
+    <inertial>
+      <origin xyz="-0.135083 -0.0556042 0.0357986" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="-0.000535247" ixz="-9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3_2 -->
+    <visual>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_L_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_L -->
+  <link name="arm_link4_L">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4_2 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_L_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_L -->
+  <link name="arm_link5_L">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5_2 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_L_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_L -->
+  <link name="gripper_L">
+    <inertial>
+      <origin xyz="-0.00267181 8.62109e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper_2 -->
+    <visual>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_L_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_L -->
+  <link name="tip_left_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left_2 -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_left_L -->
+  <joint name="joint7_L" type="prismatic">
+    <origin xyz="-0.0048605 0.0226219 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_left_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0" upper="0.0475"/>
+  </joint>
+  <!-- Link tip_right_L -->
+  <link name="tip_right_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right_2 -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_right_L -->
+  <joint name="joint8_L" type="prismatic">
+    <origin xyz="-0.0474844 -0.0223781 -0.0573" rpy="0 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_right_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_L to gripper_L -->
+  <joint name="joint6_L" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 0 0"/>
+    <parent link="arm_link5_L"/>
+    <child link="gripper_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_L to arm_link5_L -->
+  <joint name="joint5_L" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_L"/>
+    <child link="arm_link5_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_L to arm_link4_L -->
+  <joint name="joint4_L" type="revolute">
+    <origin xyz="-0.244999 -0.0600003 0.0678" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link3_L"/>
+    <child link="arm_link4_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_L to arm_link3_L -->
+  <joint name="joint3_L" type="revolute">
+    <origin xyz="0.264 -4.08431e-07 0.00205" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link2_L"/>
+    <child link="arm_link3_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_link1_L to arm_link2_L -->
+  <joint name="joint2_L" type="revolute">
+    <origin xyz="0.032471 0.0195056 -0.0394" rpy="-1.5708 -0 -1.5708"/>
+    <parent link="arm_link1_L"/>
+    <child link="arm_link2_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_base_L to arm_link1_L -->
+  <joint name="joint1_L" type="revolute">
+    <origin xyz="-0.054 -0 -0.0741" rpy="0 -0 0"/>
+    <parent link="arm_base_L"/>
+    <child link="arm_link1_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_L -->
+  <joint name="joint0_L" type="fixed">
+    <origin xyz="0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Joint from base to lift_link -->
+  <joint name="lift_joint" type="prismatic">
+    <origin xyz="4.49505e-06 -0.0448218 1.04769" rpy="-0 -0 0"/>
+    <parent link="base"/>
+    <child link="lift_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.729187" upper="0.330813"/>
+  </joint>
+  <!-- Wheel links fixed to base (no DOF, visual/collision only) -->
+  <!-- Link rr_steer_link -->
+  <link name="rr_steer_link">
+    <inertial>
+      <origin xyz="-0.00784441 -0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="-3.06168e-05" iyy="0.000225514" iyz="-3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+      <material name="rr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rr_wheel_link -->
+  <link name="rr_wheel_link">
+    <inertial>
+      <origin xyz="-0.00057187 -0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="-5.45511e-07" iyy="0.000204306" iyz="-4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+      <material name="rr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rr_steer_joint" type="fixed">
+    <origin xyz="-0.2 0.2 -0" rpy="0 -0 3.14159"/>
+    <parent link="base"/>
+    <child link="rr_steer_link"/>
+  </joint>
+  <joint name="rr_wheel_joint" type="fixed">
+    <origin xyz="-0.0249502 -0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="rr_steer_link"/>
+    <child link="rr_wheel_link"/>
+  </joint>
+  <!-- Link rl_steer_link -->
+  <link name="rl_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894046 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+      <material name="rl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rl_wheel_link -->
+  <link name="rl_wheel_link">
+    <inertial>
+      <origin xyz="0 0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+      <material name="rl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rl_steer_joint" type="fixed">
+    <origin xyz="0.2 0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="rl_steer_link"/>
+  </joint>
+  <joint name="rl_wheel_joint" type="fixed">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="1.5708 -0 -1.5708"/>
+    <parent link="rl_steer_link"/>
+    <child link="rl_wheel_link"/>
+  </joint>
+  <!-- Link fr_steer_link -->
+  <link name="fr_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894047 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+      <material name="fr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fr_wheel_link -->
+  <link name="fr_wheel_link">
+    <inertial>
+      <origin xyz="-0 -0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="-0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+      <material name="fr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr_steer_joint" type="fixed">
+    <origin xyz="-0.2 -0.2 0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fr_steer_link"/>
+  </joint>
+  <joint name="fr_wheel_joint" type="fixed">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="fr_steer_link"/>
+    <child link="fr_wheel_link"/>
+  </joint>
+  <!-- Link fl_steer_link -->
+  <link name="fl_steer_link">
+    <inertial>
+      <origin xyz="0.00784441 0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="3.06168e-05" iyy="0.000225514" iyz="3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+      <material name="fl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fl_wheel_link -->
+  <link name="fl_wheel_link">
+    <inertial>
+      <origin xyz="0.00057187 0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="5.45511e-07" iyy="0.000204306" iyz="4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+      <material name="fl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fl_steer_joint" type="fixed">
+    <origin xyz="0.2 -0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fl_steer_link"/>
+  </joint>
+  <joint name="fl_wheel_joint" type="fixed">
+    <origin xyz="0.0249502 0.02 -0.075" rpy="1.5708 -0 1.5708"/>
+    <parent link="fl_steer_link"/>
+    <child link="fl_wheel_link"/>
+  </joint>
+</robot>

robots/linearbot/linearbot.urdf

@@ -0,0 +1,925 @@
+<?xml version="1.0" ?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape document_id: a46db25adb1f3ef15157e9fe -->
+<robot name="LinearBot">
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
+      <origin xyz="-0.000869021 -0.0019276 0.369731" rpy="0 0 0"/>
+      <mass value="82.8021"/>
+      <inertia ixx="18.335" ixy="0.00396282" ixz="0.083126" iyy="18.1812" iyz="0.09574" izz="2.62218"/>
+    </inertial>
+    <!-- Part linear_lift -->
+    <visual>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+      <material name="linear_lift_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part linear_cable_cover -->
+    <visual>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+      <material name="linear_cable_cover_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part base -->
+    <visual>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+      <material name="base_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link lift_link -->
+  <link name="lift_link">
+    <inertial>
+      <origin xyz="-0 -0.12333 0.0358393" rpy="0 0 0"/>
+      <mass value="3.6"/>
+      <inertia ixx="0.0154304" ixy="0" ixz="0" iyy="0.104973" iyz="0.00382801" izz="0.11072"/>
+    </inertial>
+    <!-- Part linear_lift_holder -->
+    <visual>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+      <material name="lift_link_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_base_R -->
+  <link name="arm_base_R">
+    <inertial>
+      <origin xyz="0.0540477 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_2 -->
+    <visual>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_R_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_R -->
+  <link name="arm_link1_R">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_R_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_R -->
+  <link name="arm_link2_R">
+    <inertial>
+      <origin xyz="0.129165 0.000134497 -0.0321253" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="-2.89124e-07" ixz="2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2 -->
+    <visual>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_R_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_R -->
+  <link name="arm_link3_R">
+    <inertial>
+      <origin xyz="-0.135083 0.0556042 0.0340514" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="0.000535247" ixz="9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3 -->
+    <visual>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_R_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_R -->
+  <link name="arm_link4_R">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_R_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_R -->
+  <link name="arm_link5_R">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_R_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_R -->
+  <link name="gripper_R">
+    <inertial>
+      <origin xyz="-0.000249372 -3.57061e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper -->
+    <visual>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_R_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_R -->
+  <link name="tip_left_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_left_R -->
+  <joint name="joint7_R" type="prismatic">
+    <origin xyz="0.0450619 0.0225 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_left_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Link tip_right_R -->
+  <link name="tip_right_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_right_R -->
+  <joint name="joint8_R" type="prismatic">
+    <origin xyz="-0.0450619 -0.0225 -0.0573" rpy="-0 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_right_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_R to gripper_R -->
+  <joint name="joint6_R" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 -0 0"/>
+    <parent link="arm_link5_R"/>
+    <child link="gripper_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_R to arm_link5_R -->
+  <joint name="joint5_R" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_R"/>
+    <child link="arm_link5_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_R to arm_link4_R -->
+  <joint name="joint4_R" type="revolute">
+    <origin xyz="-0.244999 0.0600003 0.00205" rpy="0 0 0"/>
+    <parent link="arm_link3_R"/>
+    <child link="arm_link4_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_R to arm_link3_R -->
+  <joint name="joint3_R" type="revolute">
+    <origin xyz="0.264 4.08431e-07 0.00205" rpy="3.14159 0 0"/>
+    <parent link="arm_link2_R"/>
+    <child link="arm_link3_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link1_R to arm_link2_R -->
+  <joint name="joint2_R" type="revolute">
+    <origin xyz="-0.033279 0.0195056 -0.0394" rpy="1.5708 0 -1.5708"/>
+    <parent link="arm_link1_R"/>
+    <child link="arm_link2_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_base_R to arm_link1_R -->
+  <joint name="joint1_R" type="revolute">
+    <origin xyz="0.054 0 -0.0741" rpy="-0 0 0"/>
+    <parent link="arm_base_R"/>
+    <child link="arm_link1_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_R -->
+  <joint name="joint0_R" type="fixed">
+    <origin xyz="-0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Link arm_base_L -->
+  <link name="arm_base_L">
+    <inertial>
+      <origin xyz="-0.0539523 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_3 -->
+    <visual>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_L_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_L -->
+  <link name="arm_link1_L">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1_2 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_L_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_L -->
+  <link name="arm_link2_L">
+    <inertial>
+      <origin xyz="0.129165 -0.000134497 -0.0336247" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="2.89124e-07" ixz="-2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2_2 -->
+    <visual>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_L_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_L -->
+  <link name="arm_link3_L">
+    <inertial>
+      <origin xyz="-0.135083 -0.0556042 0.0357986" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="-0.000535247" ixz="-9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3_2 -->
+    <visual>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_L_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_L -->
+  <link name="arm_link4_L">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4_2 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_L_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_L -->
+  <link name="arm_link5_L">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5_2 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_L_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_L -->
+  <link name="gripper_L">
+    <inertial>
+      <origin xyz="-0.00267181 8.62109e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper_2 -->
+    <visual>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_L_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_L -->
+  <link name="tip_left_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left_2 -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_left_L -->
+  <joint name="joint7_L" type="prismatic">
+    <origin xyz="-0.0048605 0.0226219 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_left_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0" upper="0.0475"/>
+  </joint>
+  <!-- Link tip_right_L -->
+  <link name="tip_right_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right_2 -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_right_L -->
+  <joint name="joint8_L" type="prismatic">
+    <origin xyz="-0.0474844 -0.0223781 -0.0573" rpy="0 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_right_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_L to gripper_L -->
+  <joint name="joint6_L" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 0 0"/>
+    <parent link="arm_link5_L"/>
+    <child link="gripper_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_L to arm_link5_L -->
+  <joint name="joint5_L" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_L"/>
+    <child link="arm_link5_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_L to arm_link4_L -->
+  <joint name="joint4_L" type="revolute">
+    <origin xyz="-0.244999 -0.0600003 0.0678" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link3_L"/>
+    <child link="arm_link4_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_L to arm_link3_L -->
+  <joint name="joint3_L" type="revolute">
+    <origin xyz="0.264 -4.08431e-07 0.00205" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link2_L"/>
+    <child link="arm_link3_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_link1_L to arm_link2_L -->
+  <joint name="joint2_L" type="revolute">
+    <origin xyz="0.032471 0.0195056 -0.0394" rpy="-1.5708 -0 -1.5708"/>
+    <parent link="arm_link1_L"/>
+    <child link="arm_link2_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_base_L to arm_link1_L -->
+  <joint name="joint1_L" type="revolute">
+    <origin xyz="-0.054 -0 -0.0741" rpy="0 -0 0"/>
+    <parent link="arm_base_L"/>
+    <child link="arm_link1_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_L -->
+  <joint name="joint0_L" type="fixed">
+    <origin xyz="0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Joint from base to lift_link -->
+  <joint name="lift_joint" type="prismatic">
+    <origin xyz="4.49505e-06 -0.0448218 1.04769" rpy="-0 -0 0"/>
+    <parent link="base"/>
+    <child link="lift_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.729187" upper="0.330813"/>
+  </joint>
+  <!-- Link rr_steer_link -->
+  <link name="rr_steer_link">
+    <inertial>
+      <origin xyz="-0.00784441 -0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="-3.06168e-05" iyy="0.000225514" iyz="-3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <!-- Part motor7 -->
+    <visual>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+      <material name="rr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rr_wheel_link -->
+  <link name="rr_wheel_link">
+    <inertial>
+      <origin xyz="-0.00057187 -0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="-5.45511e-07" iyy="0.000204306" iyz="-4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <!-- Part motor8 -->
+    <visual>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+      <material name="rr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from rr_steer_link to rr_wheel_link -->
+  <joint name="rr_wheel_joint" type="revolute">
+    <origin xyz="-0.0249502 -0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="rr_steer_link"/>
+    <child link="rr_wheel_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Joint from base to rr_steer_link -->
+  <joint name="rr_steer_joint" type="revolute">
+    <origin xyz="-0.2 0.2 -0" rpy="0 -0 3.14159"/>
+    <parent link="base"/>
+    <child link="rr_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Link rl_steer_link -->
+  <link name="rl_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894046 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <!-- Part motor1 -->
+    <visual>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+      <material name="rl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rl_wheel_link -->
+  <link name="rl_wheel_link">
+    <inertial>
+      <origin xyz="0 0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <!-- Part motor2 -->
+    <visual>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+      <material name="rl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from rl_steer_link to rl_wheel_link -->
+  <joint name="rl_wheel_joint" type="revolute">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="1.5708 -0 -1.5708"/>
+    <parent link="rl_steer_link"/>
+    <child link="rl_wheel_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Joint from base to rl_steer_link -->
+  <joint name="rl_steer_joint" type="revolute">
+    <origin xyz="0.2 0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="rl_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Link fr_steer_link -->
+  <link name="fr_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894047 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <!-- Part motor5 -->
+    <visual>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+      <material name="fr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fr_wheel_link -->
+  <link name="fr_wheel_link">
+    <inertial>
+      <origin xyz="-0 -0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="-0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <!-- Part motor6 -->
+    <visual>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+      <material name="fr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from fr_steer_link to fr_wheel_link -->
+  <joint name="fr_wheel_joint" type="revolute">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="fr_steer_link"/>
+    <child link="fr_wheel_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Joint from base to fr_steer_link -->
+  <joint name="fr_steer_joint" type="revolute">
+    <origin xyz="-0.2 -0.2 0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fr_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Link fl_steer_link -->
+  <link name="fl_steer_link">
+    <inertial>
+      <origin xyz="0.00784441 0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="3.06168e-05" iyy="0.000225514" iyz="3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <!-- Part motor3 -->
+    <visual>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+      <material name="fl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fl_wheel_link -->
+  <link name="fl_wheel_link">
+    <inertial>
+      <origin xyz="0.00057187 0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="5.45511e-07" iyy="0.000204306" iyz="4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <!-- Part motor4 -->
+    <visual>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+      <material name="fl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from fl_steer_link to fl_wheel_link -->
+  <joint name="fl_wheel_joint" type="revolute">
+    <origin xyz="0.0249502 0.02 -0.075" rpy="1.5708 -0 1.5708"/>
+    <parent link="fl_steer_link"/>
+    <child link="fl_wheel_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+  <!-- Joint from base to fl_steer_link -->
+  <joint name="fl_steer_joint" type="revolute">
+    <origin xyz="0.2 -0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fl_steer_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
+  </joint>
+</robot>

robots/linearbot/linearbot_holobase.urdf

@@ -0,0 +1,921 @@
+<?xml version="1.0" ?>
+<!-- Generated using onshape-to-robot -->
+<!-- Onshape document_id: a46db25adb1f3ef15157e9fe -->
+<robot name="LinearBot">
+  <!-- Holonomic base: virtual joints for x, y, yaw -->
+  <!-- <link name="world"/>
+  <link name="world_x"/>
+  <link name="world_xy"/>
+  <joint name="base_x" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
+    <parent link="world"/>
+    <child link="world_x"/>
+  </joint>
+  <joint name="base_y" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
+    <parent link="world_x"/>
+    <child link="world_xy"/>
+  </joint>
+  <joint name="base_theta" type="continuous">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="287.0" lower="-3.14159" upper="3.14159" velocity="1.0471975512"/>
+    <parent link="world_xy"/>
+    <child link="base"/>
+  </joint> -->
+  <!-- END: Holonomic base virtual joints -->
+
+  <!-- Link base -->
+  <link name="base">
+    <inertial>
+      <origin xyz="-0.000869021 -0.0019276 0.369731" rpy="0 0 0"/>
+      <mass value="82.8021"/>
+      <inertia ixx="18.335" ixy="0.00396282" ixz="0.083126" iyy="18.1812" iyz="0.09574" izz="2.62218"/>
+    </inertial>
+    <!-- Part linear_lift -->
+    <visual>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+      <material name="linear_lift_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part linear_cable_cover -->
+    <visual>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+      <material name="linear_cable_cover_material">
+        <color rgba="0.611765 0.658824 0.670588 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_cable_cover.stl"/>
+      </geometry>
+    </collision>
+    <!-- Part base -->
+    <visual>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+      <material name="base_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link lift_link -->
+  <link name="lift_link">
+    <inertial>
+      <origin xyz="-0 -0.12333 0.0358393" rpy="0 0 0"/>
+      <mass value="3.6"/>
+      <inertia ixx="0.0154304" ixy="0" ixz="0" iyy="0.104973" iyz="0.00382801" izz="0.11072"/>
+    </inertial>
+    <!-- Part linear_lift_holder -->
+    <visual>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+      <material name="lift_link_material">
+        <color rgba="1 0.6 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
+      <geometry>
+        <mesh filename="assets/linear_lift_holder.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_base_R -->
+  <link name="arm_base_R">
+    <inertial>
+      <origin xyz="0.0540477 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_2 -->
+    <visual>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_R_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_R -->
+  <link name="arm_link1_R">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_R_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_R -->
+  <link name="arm_link2_R">
+    <inertial>
+      <origin xyz="0.129165 0.000134497 -0.0321253" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="-2.89124e-07" ixz="2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2 -->
+    <visual>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_R_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_R -->
+  <link name="arm_link3_R">
+    <inertial>
+      <origin xyz="-0.135083 0.0556042 0.0340514" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="0.000535247" ixz="9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3 -->
+    <visual>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_R_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_R -->
+  <link name="arm_link4_R">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_R_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_R -->
+  <link name="arm_link5_R">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_R_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_R -->
+  <link name="gripper_R">
+    <inertial>
+      <origin xyz="-0.000249372 -3.57061e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper -->
+    <visual>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_R_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_R -->
+  <link name="tip_left_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_left_R -->
+  <joint name="joint7_R" type="prismatic">
+    <origin xyz="0.0450619 0.0225 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_left_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Link tip_right_R -->
+  <link name="tip_right_R">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_R_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_R to tip_right_R -->
+  <joint name="joint8_R" type="prismatic">
+    <origin xyz="-0.0450619 -0.0225 -0.0573" rpy="-0 -1.5708 0"/>
+    <parent link="gripper_R"/>
+    <child link="tip_right_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_R to gripper_R -->
+  <joint name="joint6_R" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 -0 0"/>
+    <parent link="arm_link5_R"/>
+    <child link="gripper_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_R to arm_link5_R -->
+  <joint name="joint5_R" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_R"/>
+    <child link="arm_link5_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_R to arm_link4_R -->
+  <joint name="joint4_R" type="revolute">
+    <origin xyz="-0.244999 0.0600003 0.00205" rpy="0 0 0"/>
+    <parent link="arm_link3_R"/>
+    <child link="arm_link4_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_R to arm_link3_R -->
+  <joint name="joint3_R" type="revolute">
+    <origin xyz="0.264 4.08431e-07 0.00205" rpy="3.14159 0 0"/>
+    <parent link="arm_link2_R"/>
+    <child link="arm_link3_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link1_R to arm_link2_R -->
+  <joint name="joint2_R" type="revolute">
+    <origin xyz="-0.033279 0.0195056 -0.0394" rpy="1.5708 0 -1.5708"/>
+    <parent link="arm_link1_R"/>
+    <child link="arm_link2_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
+  </joint>
+  <!-- Joint from arm_base_R to arm_link1_R -->
+  <joint name="joint1_R" type="revolute">
+    <origin xyz="0.054 0 -0.0741" rpy="-0 0 0"/>
+    <parent link="arm_base_R"/>
+    <child link="arm_link1_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_R -->
+  <joint name="joint0_R" type="fixed">
+    <origin xyz="-0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_R"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Link arm_base_L -->
+  <link name="arm_base_L">
+    <inertial>
+      <origin xyz="-0.0539523 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
+      <mass value="0.734557"/>
+      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
+    </inertial>
+    <!-- Part base_3 -->
+    <visual>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+      <material name="arm_base_L_material">
+        <color rgba="0.768627 0.886275 0.952941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/base__2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link1_L -->
+  <link name="arm_link1_L">
+    <inertial>
+      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
+      <mass value="0.0623673"/>
+      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
+    </inertial>
+    <!-- Part link1_2 -->
+    <visual>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+      <material name="arm_link1_L_material">
+        <color rgba="0.72549 0.45098 0.317647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link2_L -->
+  <link name="arm_link2_L">
+    <inertial>
+      <origin xyz="0.129165 -0.000134497 -0.0336247" rpy="0 0 0"/>
+      <mass value="0.982664"/>
+      <inertia ixx="0.000535177" ixy="2.89124e-07" ixz="-2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
+    </inertial>
+    <!-- Part link2_2 -->
+    <visual>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+      <material name="arm_link2_L_material">
+        <color rgba="0 0.4 0.6 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link3_L -->
+  <link name="arm_link3_L">
+    <inertial>
+      <origin xyz="-0.135083 -0.0556042 0.0357986" rpy="0 0 0"/>
+      <mass value="0.820846"/>
+      <inertia ixx="0.000783297" ixy="-0.000535247" ixz="-9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
+    </inertial>
+    <!-- Part link3_2 -->
+    <visual>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+      <material name="arm_link3_L_material">
+        <color rgba="0.552941 0.580392 0.203922 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link4_L -->
+  <link name="arm_link4_L">
+    <inertial>
+      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
+      <mass value="0.231537"/>
+      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
+    </inertial>
+    <!-- Part link4_2 -->
+    <visual>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+      <material name="arm_link4_L_material">
+        <color rgba="0.545098 0.52549 0.419608 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link arm_link5_L -->
+  <link name="arm_link5_L">
+    <inertial>
+      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
+      <mass value="0.152422"/>
+      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
+    </inertial>
+    <!-- Part link5_2 -->
+    <visual>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+      <material name="arm_link5_L_material">
+        <color rgba="0.827451 0.623529 0.784314 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link gripper_L -->
+  <link name="gripper_L">
+    <inertial>
+      <origin xyz="-0.00267181 8.62109e-05 -0.0293133" rpy="0 0 0"/>
+      <mass value="0.177713"/>
+      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
+    </inertial>
+    <!-- Part gripper_2 -->
+    <visual>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+      <material name="gripper_L_material">
+        <color rgba="0.109804 0.286275 0.0117647 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
+      <geometry>
+        <mesh filename="assets/gripper.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link tip_left_L -->
+  <link name="tip_left_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_left_2 -->
+    <visual>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+      <material name="tip_left_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_left_L -->
+  <joint name="joint7_L" type="prismatic">
+    <origin xyz="-0.0048605 0.0226219 -0.0573" rpy="3.14159 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_left_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0" upper="0.0475"/>
+  </joint>
+  <!-- Link tip_right_L -->
+  <link name="tip_right_L">
+    <inertial>
+      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
+      <mass value="0.0514225"/>
+      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
+    </inertial>
+    <!-- Part tip_right_2 -->
+    <visual>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+      <material name="tip_right_L_material">
+        <color rgba="0.596078 0.788235 0.921569 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/tip_right.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Joint from gripper_L to tip_right_L -->
+  <joint name="joint8_L" type="prismatic">
+    <origin xyz="-0.0474844 -0.0223781 -0.0573" rpy="0 -1.5708 0"/>
+    <parent link="gripper_L"/>
+    <child link="tip_right_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
+  </joint>
+  <!-- Joint from arm_link5_L to gripper_L -->
+  <joint name="joint6_L" type="revolute">
+    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 0 0"/>
+    <parent link="arm_link5_L"/>
+    <child link="gripper_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
+  </joint>
+  <!-- Joint from arm_link4_L to arm_link5_L -->
+  <joint name="joint5_L" type="revolute">
+    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
+    <parent link="arm_link4_L"/>
+    <child link="arm_link5_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link3_L to arm_link4_L -->
+  <joint name="joint4_L" type="revolute">
+    <origin xyz="-0.244999 -0.0600003 0.0678" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link3_L"/>
+    <child link="arm_link4_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
+  </joint>
+  <!-- Joint from arm_link2_L to arm_link3_L -->
+  <joint name="joint3_L" type="revolute">
+    <origin xyz="0.264 -4.08431e-07 0.00205" rpy="-3.14159 -0 -0"/>
+    <parent link="arm_link2_L"/>
+    <child link="arm_link3_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_link1_L to arm_link2_L -->
+  <joint name="joint2_L" type="revolute">
+    <origin xyz="0.032471 0.0195056 -0.0394" rpy="-1.5708 -0 -1.5708"/>
+    <parent link="arm_link1_L"/>
+    <child link="arm_link2_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
+  </joint>
+  <!-- Joint from arm_base_L to arm_link1_L -->
+  <joint name="joint1_L" type="revolute">
+    <origin xyz="-0.054 -0 -0.0741" rpy="0 -0 0"/>
+    <parent link="arm_base_L"/>
+    <child link="arm_link1_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
+  </joint>
+  <!-- Joint from lift_link to arm_base_L -->
+  <joint name="joint0_L" type="fixed">
+    <origin xyz="0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
+    <parent link="lift_link"/>
+    <child link="arm_base_L"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10"/>
+  </joint>
+  <!-- Joint from base to lift_link -->
+  <joint name="lift_joint" type="prismatic">
+    <origin xyz="4.49505e-06 -0.0448218 1.04769" rpy="-0 -0 0"/>
+    <parent link="base"/>
+    <child link="lift_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" velocity="10" lower="-0.729187" upper="0.330813"/>
+  </joint>
+  <!-- Wheel links fixed to base (no DOF, visual/collision only) -->
+  <!-- Link rr_steer_link -->
+  <link name="rr_steer_link">
+    <inertial>
+      <origin xyz="-0.00784441 -0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="-3.06168e-05" iyy="0.000225514" iyz="-3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+      <material name="rr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rr_wheel_link -->
+  <link name="rr_wheel_link">
+    <inertial>
+      <origin xyz="-0.00057187 -0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="-5.45511e-07" iyy="0.000204306" iyz="-4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+      <material name="rr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor8.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rr_steer_joint" type="fixed">
+    <origin xyz="-0.2 0.2 -0" rpy="0 -0 3.14159"/>
+    <parent link="base"/>
+    <child link="rr_steer_link"/>
+  </joint>
+  <joint name="rr_wheel_joint" type="fixed">
+    <origin xyz="-0.0249502 -0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="rr_steer_link"/>
+    <child link="rr_wheel_link"/>
+  </joint>
+  <!-- Link rl_steer_link -->
+  <link name="rl_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894046 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+      <material name="rl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
+      <geometry>
+        <mesh filename="assets/motor1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link rl_wheel_link -->
+  <link name="rl_wheel_link">
+    <inertial>
+      <origin xyz="0 0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+      <material name="rl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rl_steer_joint" type="fixed">
+    <origin xyz="0.2 0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="rl_steer_link"/>
+  </joint>
+  <joint name="rl_wheel_joint" type="fixed">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="1.5708 -0 -1.5708"/>
+    <parent link="rl_steer_link"/>
+    <child link="rl_wheel_link"/>
+  </joint>
+  <!-- Link fr_steer_link -->
+  <link name="fr_steer_link">
+    <inertial>
+      <origin xyz="-0.00752959 0.00894047 -0.0457746" rpy="0 0 0"/>
+      <mass value="0.124945"/>
+      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+      <material name="fr_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fr_wheel_link -->
+  <link name="fr_wheel_link">
+    <inertial>
+      <origin xyz="-0 -0 -0.0241102" rpy="0 0 0"/>
+      <mass value="0.297603"/>
+      <inertia ixx="0.000200747" ixy="0" ixz="-0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+      <material name="fr_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fr_steer_joint" type="fixed">
+    <origin xyz="-0.2 -0.2 0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fr_steer_link"/>
+  </joint>
+  <joint name="fr_wheel_joint" type="fixed">
+    <origin xyz="-0.0252 0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
+    <parent link="fr_steer_link"/>
+    <child link="fr_wheel_link"/>
+  </joint>
+  <!-- Link fl_steer_link -->
+  <link name="fl_steer_link">
+    <inertial>
+      <origin xyz="0.00784441 0.0089515 -0.0459111" rpy="0 0 0"/>
+      <mass value="0.126847"/>
+      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="3.06168e-05" iyy="0.000225514" iyz="3.22028e-05" izz="0.000145928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+      <material name="fl_steer_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
+      <geometry>
+        <mesh filename="assets/motor3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Link fl_wheel_link -->
+  <link name="fl_wheel_link">
+    <inertial>
+      <origin xyz="0.00057187 0.000419672 -0.0228248" rpy="0 0 0"/>
+      <mass value="0.298689"/>
+      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="5.45511e-07" iyy="0.000204306" iyz="4.0034e-07" izz="0.000318426"/>
+    </inertial>
+    <visual>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+      <material name="fl_wheel_link_material">
+        <color rgba="0.298039 0.298039 0.298039 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
+      <geometry>
+        <mesh filename="assets/motor4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fl_steer_joint" type="fixed">
+    <origin xyz="0.2 -0.2 -0" rpy="0 -0 0"/>
+    <parent link="base"/>
+    <child link="fl_steer_link"/>
+  </joint>
+  <joint name="fl_wheel_joint" type="fixed">
+    <origin xyz="0.0249502 0.02 -0.075" rpy="1.5708 -0 1.5708"/>
+    <parent link="fl_steer_link"/>
+    <child link="fl_wheel_link"/>
+  </joint>
+</robot>

robots/linearbot/linearbot_holobase.xml

@@ -0,0 +1,200 @@
+<mujoco model="LinearBot">
+  <compiler angle="radian" autolimits="true" eulerseq="xyz" meshdir="assets/"/>
+
+  <default>
+    <joint armature="10" damping="50"/>
+    <material specular="0.5" shininess="0.25" />
+    <motor ctrllimited="true" ctrlrange="-100 100" />
+    <velocity ctrllimited="true" />
+    <position ctrllimited="true" kp="4000" kv="400" />
+    <default class="visual">
+      <geom group="2" type="mesh" contype="0" conaffinity="0" />
+    </default>
+    <default class="collision">
+      <geom group="3" type="mesh" contype="1" conaffinity="15" />
+    </default>
+    <default class="in-model-collision">
+      <geom group="2" contype="0" conaffinity="0" rgba="0.3 0 0 0.0" />
+    </default>
+  </default>
+
+  <asset>
+    <mesh name="linear_lift" content_type="model/stl" file="linear_lift.stl"/>
+    <mesh name="linear_cable_cover" content_type="model/stl" file="linear_cable_cover.stl"/>
+    <mesh name="base" content_type="model/stl" file="base.stl"/>
+    <mesh name="linear_lift_holder" content_type="model/stl" file="linear_lift_holder.stl"/>
+    <mesh name="base__2" content_type="model/stl" file="base__2.stl"/>
+    <mesh name="link1" content_type="model/stl" file="link1.stl"/>
+    <mesh name="link2" content_type="model/stl" file="link2.stl"/>
+    <mesh name="link3" content_type="model/stl" file="link3.stl"/>
+    <mesh name="link4" content_type="model/stl" file="link4.stl"/>
+    <mesh name="link5" content_type="model/stl" file="link5.stl"/>
+    <mesh name="gripper" content_type="model/stl" file="gripper.stl"/>
+    <mesh name="tip_left" content_type="model/stl" file="tip_left.stl"/>
+    <mesh name="tip_right" content_type="model/stl" file="tip_right.stl"/>
+    <mesh name="motor7" content_type="model/stl" file="motor7.stl"/>
+    <mesh name="motor8" content_type="model/stl" file="motor8.stl"/>
+    <mesh name="motor1" content_type="model/stl" file="motor1.stl"/>
+    <mesh name="motor2" content_type="model/stl" file="motor2.stl"/>
+    <mesh name="motor5" content_type="model/stl" file="motor5.stl"/>
+    <mesh name="motor6" content_type="model/stl" file="motor6.stl"/>
+    <mesh name="motor3" content_type="model/stl" file="motor3.stl"/>
+    <mesh name="motor4" content_type="model/stl" file="motor4.stl"/>
+  </asset>
+
+  <worldbody>
+
+    <!-- Add mocap bodies to viz and debug stuff -->
+    <body name="target_ee_pose_right"  mocap="true" >
+      <site name="target_ee_pose_right" pos="0 0 0" type="box" size=".05 .05 .05" rgba="0 0 1 0.3"  group="1"/>
+    </body>
+    <body name="target_ee_pose_left" mocap="true">
+      <site name="target_ee_pose_left" pos="0 0 0" type="box" size=".05 .05 .05" rgba="1 0 0 0.3" group="1"/>
+    </body>
+    <body name="target_base_pose" mocap="true">
+      <site name="target_base_pose" pos="0 0 0" type="box" size=".05 .05 .05" rgba="0 1 0 0.3" group="1"/>
+    </body>
+
+    <site name="robot_0/world" pos="0 0 0.005" quat="1 0 0 0"/>
+    <body name="robot_0/base" pos="0 0 0" quat="1 0 0 0">
+
+      <site name="robot_0/base_site" pos="0 0 0" quat="1 0 0 0"/>
+
+      <!-- Virtual holonomic base joints -->
+      <joint name="robot_0/base_x"     type="slide" axis="1 0 0" range="-25 25"/>
+      <joint name="robot_0/base_y"     type="slide" axis="0 1 0" range="-25 25"/>
+      <joint name="robot_0/base_theta" type="hinge" axis="0 0 1"/>
+
+      <geom pos="0.2 0.397678 0.011" type="mesh" rgba="0.611765 0.658824 0.670588 1" mesh="linear_lift"/>
+      <geom pos="0.2 0.396678 -0.049" quat="1 0 0 0" type="mesh" rgba="0.611765 0.658824 0.670588 1" mesh="linear_cable_cover"/>
+      <geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="1 0.6 0 1" mesh="base"/>
+      <geom pos="-0.600001 0.00400106 0.011" quat="1.32679e-06 0 0 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor7"/>
+      <geom pos="-0.599999 0.0047065 0.0115201" quat="1.32679e-06 1.8366e-06 1.83661e-06 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor8"/>
+      <geom pos="0.2 0.004 0.011" quat="1.32679e-06 0 0 1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor1"/>
+      <geom pos="0.199999 0.00399991 0.0110001" quat="-3.6732e-06 1.83661e-06 1.8366e-06 -1" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor2"/>
+      <geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor5"/>
+      <geom pos="0.199998 0.396002 0.0110016" quat="1 1.83661e-06 -1.8366e-06 3.37305e-12" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor6"/>
+      <geom pos="0.2 0.396 0.011" quat="1 0 0 0" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor3"/>
+      <geom pos="0.199998 0.396707 0.0115186" quat="1 -1.83661e-06 1.8366e-06 3.37312e-12" type="mesh" rgba="0.298039 0.298039 0.298039 1" mesh="motor4"/>
+
+      <body name="robot_0/lift_link" pos="4.49505e-06 -0.0448218 1.04769">
+        <inertial pos="0.0223139 -0.0876724 -0.028056" quat="0.590086 0.549625 -0.342717 0.48193" mass="5.06911" diaginertia="0.354216 0.282378 0.159648"/>
+        <joint name="robot_0/lift_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-0.729187 0.330813"/>
+        <geom pos="0.200004 0.443 -0.956366" quat="1 0 0 0" type="mesh" rgba="1 0.6 0 1" mesh="linear_lift_holder"/>
+        <geom pos="0.186504 0.443003 -0.955618" quat="-1 -2.65359e-06 0 0" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="base__2"/>
+        <geom pos="0.823504 0.443003 -0.955618" quat="-1 -2.65359e-06 0 0" type="mesh" rgba="0.768627 0.886275 0.952941 1" mesh="base__2"/>
+        <body name="robot_0/arm_link1_R" pos="-0.3185 -0.153 0.15485" quat="1.32679e-06 -1 0 0">
+          <inertial pos="0.00218874 0.00694644 -0.0176252" quat="0.300985 0.642522 0.365839 0.602274" mass="0.0623673" diaginertia="8.32474e-05 6.56452e-05 2.90287e-05"/>
+          <joint name="robot_0/joint1_R" pos="0 0 0" axis="0 0 1" range="-3.05433 2.61799"/>
+          <geom pos="0.504575 -0.596494 1.11047" quat="1.32679e-06 -1 0 0" type="mesh" rgba="0.72549 0.45098 0.317647 1" mesh="link1"/>
+          <body name="robot_0/arm_link2_R" pos="-0.033279 0.0195056 -0.0394" quat="0.499998 0.5 -0.500002 -0.5">
+            <inertial pos="0.129165 0.000134497 -0.0321253" quat="0.499973 0.500012 0.500101 0.499914" mass="0.982664" diaginertia="0.00981181 0.00976522 0.000535177"/>
+            <joint name="robot_0/joint2_R" pos="0 0 0" axis="0 0 1" range="-3.14159 0"/>
+            <geom pos="0.615999 1.14987 -0.537854" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0 0.4 0.6 1" mesh="link2"/>
+            <body name="robot_0/arm_link3_R" pos="0.264 4.08431e-07 0.00205" quat="1.32679e-06 1 0 0">
+              <inertial pos="-0.135083 0.0556042 0.0340514" quat="0.45919 0.579096 0.406728 0.536996" mass="0.820846" diaginertia="0.00639264 0.00637394 0.000732199"/>
+              <joint name="robot_0/joint3_R" pos="0 0 0" axis="0 0 1" range="-3.14159 0"/>
+              <geom pos="0.351998 -1.14987 0.539904" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.552941 0.580392 0.203922 1" mesh="link3"/>
+              <body name="robot_0/arm_link4_R" pos="-0.244999 0.0600003 0.00205">
+                <inertial pos="-0.0570681 0.0543529 0.0332231" quat="0.705362 0.629967 0.26958 0.181474" mass="0.231537" diaginertia="0.000405681 0.000392496 0.000146714"/>
+                <joint name="robot_0/joint4_R" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
+                <geom pos="0.596998 -1.21007 0.537392" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.545098 0.52549 0.419608 1" mesh="link4"/>
+                <body name="robot_0/arm_link5_R" pos="-0.0739989 0.0403003 0.0323887" quat="0.499998 -0.5 -0.5 -0.500002">
+                  <inertial pos="3.55003e-05 -0.000825911 -0.0375847" quat="0.411236 0.911519 0.00303656 0.00302174" mass="0.152422" diaginertia="8.30668e-05 7.39554e-05 6.41147e-05"/>
+                  <joint name="robot_0/joint5_R" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
+                  <geom pos="0.505003 0.670997 -1.25037" type="mesh" rgba="0.827451 0.623529 0.784314 1" mesh="link5"/>
+                  <body name="robot_0/gripper_R" pos="-2.39858e-07 -0.0356 -0.0404996" quat="0.707105 -0.707108 0 0">
+                    <inertial pos="-0.000249372 -3.57061e-05 -0.0293133" quat="0.466092 0.52923 0.523105 0.478577" mass="0.177713" diaginertia="0.000131605 0.000118779 0.000104213"/>
+                    <joint name="robot_0/joint6_R" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"/>
+                    <geom pos="0.505003 1.20987 0.706597" quat="0.707105 0.707108 0 0" type="mesh" rgba="0.109804 0.286275 0.0117647 1" mesh="gripper"/>
+                    <body name="robot_0/tip_left_R" pos="0.0450619 0.0225 -0.0573" quat="9.38184e-07 0.707105 -9.38187e-07 0.707108">
+                      <inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
+                      <joint name="robot_0/joint7_R" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
+                      <geom pos="0.763897 -1.18737 0.459941" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_left"/>
+                    </body>
+                    <body name="robot_0/tip_right_R" pos="-0.0450619 -0.0225 -0.0573" quat="0.707105 0 -0.707108 0">
+                      <inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
+                      <joint name="robot_0/joint8_R" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
+                      <geom pos="0.763897 1.23237 -0.550065" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_right"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="robot_0/arm_link1_L" pos="0.3185 -0.153 0.15485" quat="1.32679e-06 -1 0 0">
+          <inertial pos="0.00218874 0.00694644 -0.0176252" quat="0.300985 0.642522 0.365839 0.602274" mass="0.0623673" diaginertia="8.32474e-05 6.56452e-05 2.90287e-05"/>
+          <joint name="robot_0/joint1_L" pos="0 0 0" axis="0 0 1" range="-3.05433 2.61799"/>
+          <geom pos="0.504575 -0.596494 1.11047" quat="1.32679e-06 -1 0 0" type="mesh" rgba="0.72549 0.45098 0.317647 1" mesh="link1"/>
+          <body name="robot_0/arm_link2_L" pos="0.032471 0.0195056 -0.0394" quat="0.499998 -0.5 0.500002 -0.5">
+            <inertial pos="0.129165 -0.000134497 -0.0336247" quat="0.500101 0.499914 0.499973 0.500012" mass="0.982664" diaginertia="0.00981181 0.00976522 0.000535177"/>
+            <joint name="robot_0/joint2_L" pos="0 0 0" axis="0 0 1" range="0 3.14159"/>
+            <geom pos="0.615999 -1.14987 0.472104" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0 0.4 0.6 1" mesh="link2"/>
+            <body name="robot_0/arm_link3_L" pos="0.264 -4.08431e-07 0.00205" quat="1.32679e-06 -1 0 0">
+              <inertial pos="-0.135083 -0.0556042 0.0357986" quat="0.406728 0.536996 0.45919 0.579096" mass="0.820846" diaginertia="0.00639264 0.00637394 0.000732199"/>
+              <joint name="robot_0/joint3_L" pos="0 0 0" axis="0 0 1" range="0 3.14159"/>
+              <geom pos="0.351998 1.14987 -0.470054" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.552941 0.580392 0.203922 1" mesh="link3"/>
+              <body name="robot_0/arm_link4_L" pos="-0.244999 -0.0600003 0.0678" quat="1.32679e-06 -1 0 0">
+                <inertial pos="-0.0570681 0.0543529 0.0332231" quat="0.705362 0.629967 0.26958 0.181474" mass="0.231537" diaginertia="0.000405681 0.000392496 0.000146714"/>
+                <joint name="robot_0/joint4_L" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
+                <geom pos="0.596998 -1.21007 0.537392" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.545098 0.52549 0.419608 1" mesh="link4"/>
+                <body name="robot_0/arm_link5_L" pos="-0.0739989 0.0403003 0.0323887" quat="0.499998 -0.5 -0.5 -0.500002">
+                  <inertial pos="3.55003e-05 -0.000825911 -0.0375847" quat="0.411236 0.911519 0.00303656 0.00302174" mass="0.152422" diaginertia="8.30668e-05 7.39554e-05 6.41147e-05"/>
+                  <joint name="robot_0/joint5_L" pos="0 0 0" axis="0 0 1" range="-1.5708 1.5708"/>
+                  <geom pos="0.505003 0.670997 -1.25037" type="mesh" rgba="0.827451 0.623529 0.784314 1" mesh="link5"/>
+                  <body name="robot_0/gripper_L" pos="-2.39858e-07 -0.0356 -0.0404996" quat="0.707105 -0.707108 0 0">
+                    <inertial pos="-0.00267181 8.62109e-05 -0.0293133" quat="0.466092 0.52923 0.523105 0.478577" mass="0.177713" diaginertia="0.000131605 0.000118779 0.000104213"/>
+                    <joint name="robot_0/joint6_L" pos="0 0 0" axis="0 0 1" range="-2.0944 2.0944"/>
+                    <geom pos="0.502581 1.20999 0.706597" quat="0.707105 0.707108 0 0" type="mesh" rgba="0.109804 0.286275 0.0117647 1" mesh="gripper"/>
+                    <body name="robot_0/tip_left_L" pos="-0.0048605 0.0226219 -0.0573" quat="9.38184e-07 0.707105 -9.38187e-07 0.707108">
+                      <inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
+                      <joint name="robot_0/joint7_L" pos="0 0 0" axis="0 0 1" type="slide" range="0 0.0475"/>
+                      <geom pos="0.763897 -1.18737 0.459941" quat="0.499998 -0.5 -0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_left"/>
+                    </body>
+                    <body name="robot_0/tip_right_L" pos="-0.0474844 -0.0223781 -0.0573" quat="0.707105 0 -0.707108 0">
+                      <inertial pos="-0.0221613 0.0130864 -0.0425915" quat="0.48353 0.449517 -0.0676559 0.748034" mass="0.0514225" diaginertia="4.56066e-05 4.38105e-05 2.06481e-05"/>
+                      <joint name="robot_0/joint8_L" pos="0 0 0" axis="0 0 1" type="slide" range="-0.0475 0"/>
+                      <geom pos="0.763897 1.23237 -0.550065" quat="0.499998 0.5 0.5 -0.500002" type="mesh" rgba="0.596078 0.788235 0.921569 1" mesh="tip_right"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- Virtual holonomic base actuators -->
+    <position name="robot_0/base_x_act"     site="robot_0/base_site" refsite="robot_0/world" gear="1 0 0 0 0 0" kp="15000" dampratio="0.5" ctrlrange="-25 25"/>
+    <position name="robot_0/base_y_act"     site="robot_0/base_site" refsite="robot_0/world" gear="0 1 0 0 0 0" kp="15000" dampratio="0.5" ctrlrange="-25 25"/>
+    <position name="robot_0/base_theta_act" site="robot_0/base_site" refsite="robot_0/world" gear="0 0 0 0 0 1" kp="5000"  dampratio="0.5" ctrlrange="-6.28 6.28"/>
+
+    <!-- Lift joint -->
+    <position name="robot_0/lift_joint_act" joint="robot_0/lift_joint" ctrlrange="-0.729187 0.330813" kp="1000" kv="200"/>
+
+    <!-- Right arm -->
+    <position name="robot_0/joint1_R_act"   joint="robot_0/joint1_R" ctrlrange="-3.05433 2.61799"    kp="4000" kv="400"/>
+    <position name="robot_0/joint2_R_act"   joint="robot_0/joint2_R" ctrlrange="-3.14159 0"          kp="4000" kv="400"/>
+    <position name="robot_0/joint3_R_act"   joint="robot_0/joint3_R" ctrlrange="-3.14159 0"          kp="4000" kv="400"/>
+    <position name="robot_0/joint4_R_act"   joint="robot_0/joint4_R" ctrlrange="-1.5708 1.5708"      kp="3000" kv="300"/>
+    <position name="robot_0/joint5_R_act"   joint="robot_0/joint5_R" ctrlrange="-1.5708 1.5708"      kp="3000" kv="300"/>
+    <position name="robot_0/joint6_R_act"   joint="robot_0/joint6_R" ctrlrange="-2.0944 2.0944"      kp="2000" kv="200"/>
+    <position name="robot_0/joint7_R_act"   joint="robot_0/joint7_R" ctrlrange="-0.0475 0"           kp="2000" kv="200"/>
+    <position name="robot_0/joint8_R_act"   joint="robot_0/joint8_R" ctrlrange="-0.0475 0"           kp="2000" kv="200"/>
+
+    <!-- Left arm -->
+    <position name="robot_0/joint1_L_act"   joint="robot_0/joint1_L" ctrlrange="-3.05433 2.61799"    kp="4000" kv="400"/>
+    <position name="robot_0/joint2_L_act"   joint="robot_0/joint2_L" ctrlrange="0 3.14159"           kp="4000" kv="400"/>
+    <position name="robot_0/joint3_L_act"   joint="robot_0/joint3_L" ctrlrange="0 3.14159"           kp="4000" kv="400"/>
+    <position name="robot_0/joint4_L_act"   joint="robot_0/joint4_L" ctrlrange="-1.5708 1.5708"      kp="3000" kv="300"/>
+    <position name="robot_0/joint5_L_act"   joint="robot_0/joint5_L" ctrlrange="-1.5708 1.5708"      kp="3000" kv="300"/>
+    <position name="robot_0/joint6_L_act"   joint="robot_0/joint6_L" ctrlrange="-2.0944 2.0944"      kp="2000" kv="200"/>
+    <position name="robot_0/joint7_L_act"   joint="robot_0/joint7_L" ctrlrange="0 0.0475"            kp="2000" kv="200"/>
+    <position name="robot_0/joint8_L_act"   joint="robot_0/joint8_L" ctrlrange="-0.0475 0"           kp="2000" kv="200"/>
+  </actuator>
+</mujoco>

robots/linearbot/mjthor_resource_file_to_size_mb.json

@@ -0,0 +1,3 @@
+{
+  "linearbot_m.tar.zst": 19.581494
+}

robots/linearbot/mjthor_resources_combined_meta.json.gz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97309c0c419167430cb5dbc026308a33c19f816e4fb772a760e5c25a1f0bd98
+size 268