Add franka robotiq, kinova, ur5e

models/franka/franka_robotiq/curobo/franka_robotiq_description_curobo_default.yaml

@@ -0,0 +1,503 @@
+robot_cfg:
+  kinematics:
+    base_link: panda_link0
+    collision_link_names:
+    - panda_link0
+    - panda_link1
+    - panda_link2
+    - panda_link3
+    - panda_link4
+    - panda_link5
+    - panda_link6
+    - panda_link7
+    - camera_link
+    - base_gripper
+    - left_outer_knuckle
+    - right_outer_knuckle
+    - left_outer_finger
+    - right_outer_finger
+    - left_inner_knuckle
+    - right_inner_knuckle
+    - left_inner_finger
+    - right_inner_finger
+    - attached_object_eef_link
+    collision_sphere_buffer: 0.002
+    collision_spheres:
+      base_gripper:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.017
+        radius: 0.04
+      - center:
+        - 0.0
+        - 0.019
+        - 0.062
+        radius: 0.02
+      - center:
+        - 0.0
+        - -0.019
+        - 0.062
+        radius: 0.02
+      - center:
+        - 0.0
+        - 0.0
+        - 0.075
+        radius: 0.02
+      camera_link:
+      - center:
+        - 0.025
+        - 0.045
+        - 0.005
+        radius: 0.023
+      - center:
+        - 0.025
+        - -0.045
+        - 0.005
+        radius: 0.023
+      - center:
+        - 0.025
+        - 0.0
+        - 0.005
+        radius: 0.023
+      left_inner_finger:
+      - center:
+        - -0.003
+        - 0.005
+        - 0.0
+        radius: 0.014
+      - center:
+        - 0.0038
+        - 0.03
+        - -0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.03
+        - 0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.04
+        - -0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.04
+        - 0.006
+        radius: 0.0045
+      left_inner_knuckle:
+      - center:
+        - -0.025
+        - -0.025
+        - 0.0
+        radius: 0.014
+      left_outer_finger:
+      - center:
+        - 0.001
+        - -0.015
+        - 0.0
+        radius: 0.012
+      - center:
+        - 0.004
+        - -0.035
+        - 0.0
+        radius: 0.012
+      left_outer_knuckle:
+      - center:
+        - 0.02
+        - 0.0
+        - 0.0
+        radius: 0.014
+      panda_link0:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.085
+        radius: 0.03
+      - center:
+        - -0.1
+        - -0.0
+        - 0.085
+        radius: 0.03
+      panda_link1:
+      - center:
+        - 0.0
+        - -0.08
+        - 0.0
+        radius: 0.055
+      - center:
+        - 0.0
+        - -0.03
+        - 0.0
+        radius: 0.06
+      - center:
+        - 0.0
+        - 0.0
+        - -0.12
+        radius: 0.06
+      - center:
+        - 0.0
+        - 0.0
+        - -0.17
+        radius: 0.06
+      panda_link2:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.03
+        radius: 0.055
+      - center:
+        - 0.0
+        - 0.0
+        - 0.08
+        radius: 0.055
+      - center:
+        - 0.0
+        - -0.12
+        - 0.0
+        radius: 0.055
+      - center:
+        - 0.0
+        - -0.17
+        - 0.0
+        radius: 0.055
+      panda_link3:
+      - center:
+        - 0.0
+        - 0.0
+        - -0.06
+        radius: 0.05
+      - center:
+        - 0.0
+        - 0.0
+        - -0.1
+        radius: 0.06
+      - center:
+        - 0.08
+        - 0.06
+        - 0.0
+        radius: 0.052
+      - center:
+        - 0.08
+        - 0.02
+        - 0.0
+        radius: 0.052
+      panda_link4:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.02
+        radius: 0.052
+      - center:
+        - 0.0
+        - 0.0
+        - 0.06
+        radius: 0.052
+      - center:
+        - -0.08
+        - 0.095
+        - 0.0
+        radius: 0.055
+      - center:
+        - -0.08
+        - 0.06
+        - 0.0
+        radius: 0.052
+      panda_link5:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.0
+        radius: 0.06
+      - center:
+        - 0.0
+        - 0.075
+        - 0.0
+        radius: 0.06
+      - center:
+        - 0.0
+        - 0.06
+        - -0.1
+        radius: 0.06
+      - center:
+        - 0.0
+        - 0.05
+        - -0.17
+        radius: 0.05
+      - center:
+        - 0.0
+        - 0.005
+        - -0.22
+        radius: 0.06
+      panda_link6:
+      - center:
+        - 0.085
+        - 0.035
+        - 0.0
+        radius: 0.045
+      - center:
+        - 0.085
+        - 0.0
+        - 0.0
+        radius: 0.045
+      - center:
+        - 0.085
+        - -0.015
+        - 0.0
+        radius: 0.045
+      panda_link7:
+      - center:
+        - 0.0
+        - 0.0
+        - 0.07
+        radius: 0.045
+      - center:
+        - 0.02
+        - 0.04
+        - 0.08
+        radius: 0.024
+      - center:
+        - 0.04
+        - 0.02
+        - 0.08
+        radius: 0.024
+      - center:
+        - 0.04
+        - 0.06
+        - 0.085
+        radius: 0.02
+      - center:
+        - 0.06
+        - 0.04
+        - 0.085
+        radius: 0.02
+      right_inner_finger:
+      - center:
+        - -0.003
+        - 0.005
+        - 0.0
+        radius: 0.014
+      - center:
+        - 0.0038
+        - 0.03
+        - -0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.03
+        - 0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.04
+        - -0.006
+        radius: 0.0045
+      - center:
+        - 0.0038
+        - 0.04
+        - 0.006
+        radius: 0.0045
+      right_inner_knuckle:
+      - center:
+        - 0.025
+        - -0.025
+        - 0.0
+        radius: 0.014
+      right_outer_finger:
+      - center:
+        - 0.001
+        - -0.015
+        - 0.0
+        radius: 0.012
+      - center:
+        - 0.004
+        - -0.035
+        - 0.0
+        radius: 0.012
+      right_outer_knuckle:
+      - center:
+        - -0.02
+        - 0.0
+        - 0.0
+        radius: 0.014
+    cspace:
+      cspace_distance_weight:
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      joint_names:
+      - panda_joint1
+      - panda_joint2
+      - panda_joint3
+      - panda_joint4
+      - panda_joint5
+      - panda_joint6
+      - panda_joint7
+      - left_inner_knuckle_joint
+      - left_outer_knuckle_joint
+      - right_inner_knuckle_joint
+      - right_outer_knuckle_joint
+      - left_inner_finger_joint
+      - left_outer_finger_joint
+      - right_inner_finger_joint
+      - right_outer_finger_joint
+      max_acceleration: 15.0
+      max_jerk: 500.0
+      null_space_weight:
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      retract_config: null
+    ee_link: eef_link
+    external_asset_path: null
+    extra_collision_spheres:
+      attached_object_eef_link: 32
+    extra_links:
+      attached_object_eef_link:
+        fixed_transform:
+        - 0
+        - 0
+        - 0
+        - 1
+        - 0
+        - 0
+        - 0
+        joint_name: attached_object_eef_link_joint
+        joint_type: FIXED
+        link_name: attached_object_eef_link
+        parent_link_name: eef_link
+    link_names: []
+    lock_joints:
+      left_inner_finger_joint: null
+      left_inner_knuckle_joint: null
+      left_outer_finger_joint: null
+      left_outer_knuckle_joint: null
+      right_inner_finger_joint: null
+      right_inner_knuckle_joint: null
+      right_outer_finger_joint: null
+      right_outer_knuckle_joint: null
+    mesh_link_names:
+    - panda_link0
+    - panda_link1
+    - panda_link2
+    - panda_link3
+    - panda_link4
+    - panda_link5
+    - panda_link6
+    - panda_link7
+    - camera_link
+    - base_gripper
+    - left_outer_knuckle
+    - right_outer_knuckle
+    - left_outer_finger
+    - right_outer_finger
+    - left_inner_knuckle
+    - right_inner_knuckle
+    - left_inner_finger
+    - right_inner_finger
+    - attached_object_eef_link
+    self_collision_buffer:
+      panda_link_0: 0.02
+    self_collision_ignore:
+      base_gripper:
+      - left_inner_knuckle
+      - right_inner_knuckle
+      - left_outer_knuckle
+      - right_outer_knuckle
+      - left_inner_finger
+      - right_inner_finger
+      - left_outer_finger
+      - right_outer_finger
+      left_inner_finger:
+      - right_inner_finger
+      - attached_object_eef_link
+      left_inner_knuckle:
+      - left_inner_finger
+      - right_inner_knuckle
+      left_outer_finger:
+      - left_inner_knuckle
+      - left_inner_finger
+      left_outer_knuckle:
+      - left_inner_finger
+      - left_inner_knuckle
+      - left_outer_finger
+      panda_link0:
+      - panda_link1
+      - panda_link2
+      panda_link1:
+      - panda_link2
+      - panda_link3
+      - panda_link4
+      panda_link2:
+      - panda_link3
+      - panda_link4
+      panda_link3:
+      - panda_link4
+      - panda_link6
+      panda_link4:
+      - panda_link5
+      - panda_link6
+      - panda_link7
+      panda_link5:
+      - panda_link6
+      - panda_link7
+      panda_link6:
+      - panda_link7
+      panda_link7:
+      - base_gripper
+      right_inner_finger:
+      - attached_object_eef_link
+      right_inner_knuckle:
+      - right_inner_finger
+      - right_spring_link
+      right_outer_finger:
+      - right_inner_knuckle
+      - right_inner_finger
+      right_outer_knuckle:
+      - right_inner_finger
+      - right_inner_knuckle
+      - right_outer_finger
+    usd_flip_joint_limits: []
+    usd_flip_joints:
+      left_inner_finger_joint: Z
+      left_inner_knuckle_joint: Z
+      left_outer_finger_joint: Z
+      left_outer_knuckle_joint: Z
+      panda_joint1: Z
+      panda_joint2: Z
+      panda_joint3: Z
+      panda_joint4: Z
+      panda_joint5: Z
+      panda_joint6: Z
+      panda_joint7: Z
+      right_inner_finger_joint: Z
+      right_inner_knuckle_joint: Z
+      right_outer_finger_joint: Z
+      right_outer_knuckle_joint: Z
+    usd_robot_root: /franka_robotiq
+    use_global_cumul: true

models/franka/franka_robotiq/misc/metadata.json

@@ -0,0 +1 @@
+{"meta_links": {}, "link_tags": {}, "object_parts": [], "base_link_offset": [0.00761061226113574, 0.0002714544536347984, 0.5573315658569364], "bbox_size": [0.32339243719545874, 0.2593269050124637, 1.1146631317138729], "orientations": []}

models/franka/franka_robotiq/urdf/franka_robotiq.urdf

@@ -0,0 +1,993 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <link name="panda_link0">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.06" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link0.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link0-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-0.obj" scale="0.22923814591928704 0.19261436441017502 0.02221277043341071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-1.obj" scale="0.1358682041202124 0.11920300979937995 0.041084812137754945" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-2.obj" scale="0.03920376425783804 0.14731118031829527 0.05087939592350782" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-3.obj" scale="0.03745088019102799 0.15727677410611962 0.030321681131572954" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-4.obj" scale="0.08722241511377696 0.12743597110049656 0.08126829033901857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-5.obj" scale="0.028916803739524957 0.015272832334316366 0.018348280290859664" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-6.obj" scale="0.02776166747873665 0.015201007788936405 0.014148513068554941" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-7.obj" scale="0.07869342789642216 0.15343343353761563 0.08124945527864053" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_link1">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.34" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link1.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link1-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-0.obj" scale="0.11423075384394316 0.134557877410904 0.04452992569599748" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-1.obj" scale="0.11435632162018085 0.11811521036003811 0.07187697717653807" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-2.obj" scale="0.1145834080720138 0.13232383803007547 0.10956046714200213" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-3.obj" scale="0.11372025236707727 0.09265086022258685 0.015607410885776744" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-4.obj" scale="0.1136972535017732 0.10457861212226362 0.010602757184933448" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint1" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="0 0 0" xyz="0 0 0.333" />
+        <parent link="panda_link0" />
+        <child link="panda_link1" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link2">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.36" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link2.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link2-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-0.obj" scale="0.1146614179008604 0.04686960644770494 0.13528001365574366" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-1.obj" scale="0.11463096694835426 0.07090450072482207 0.1174920152181071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-2.obj" scale="0.11463260348579704 0.11075960876584358 0.13355198624005105" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-3.obj" scale="0.11425039516745371 0.010650740373179021 0.10414737411394857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-4.obj" scale="0.11441469766649288 0.015659595211968524 0.09326608424569396" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint2" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
+        <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link1" />
+        <child link="panda_link2" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+    </joint>
+    <link name="panda_link3">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.38" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link3.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link3-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-0.obj" scale="0.11482077191177008 0.11315492088970347 0.043902829222486284" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-1.obj" scale="0.12084926915688325 0.0026951037600307388 0.059806594947404784" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-2.obj" scale="0.06500027309294175 0.05268767024291392 0.06919988280323319" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-3.obj" scale="0.12891220973169895 0.05853134404954832 0.13759563900815647" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-4.obj" scale="0.12532001208522148 0.053182843018282744 0.12001793379854858" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-5.obj" scale="0.1306568202386704 0.05289324481137798 0.08269734209095161" />
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+        <collision name="panda_link3-col-7">
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+        </collision>
+    </link>
+    <joint name="panda_joint3" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+        <parent link="panda_link2" />
+        <child link="panda_link3" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
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+    <link name="panda_link4">
+        <inertial>
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+            <mass value="2.43" />
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+        <visual>
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+        </visual>
+        <collision name="panda_link4-col-0">
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+        <collision name="panda_link4-col-1">
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+        <collision name="panda_link4-col-3">
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+        <collision name="panda_link4-col-4">
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+        <collision name="panda_link4-col-5">
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+        <collision name="panda_link4-col-6">
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+        <collision name="panda_link4-col-7">
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+        <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
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+        <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
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+    <link name="panda_link5">
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+        <visual>
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+        <collision name="panda_link5-col-0">
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+        <collision name="panda_link5-col-1">
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+        <collision name="panda_link5-col-2">
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+        <child link="panda_link5" />
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+        <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
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+    <link name="panda_link6">
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+        <visual>
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+        <collision name="panda_link6-col-0">
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+        <collision name="panda_link6-col-1">
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+        <collision name="panda_link6-col-2">
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+        <collision name="panda_link6-col-4">
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+        <collision name="panda_link6-col-5">
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+        <collision name="panda_link6-col-6">
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+    <joint name="panda_hand_joint" type="fixed">
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+        <child link="base_gripper" />
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+        <collision name="camera_link-col-0">
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+    <joint name="camera_link_joint" type="fixed">
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+        <child link="camera_link" />
+        <origin rpy="0 0 3.14" xyz="-0.05 0.00715 0.1" />
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+    </joint>
+    <joint name="right_outer_knuckle_joint" type="revolute">
+        <origin xyz="0. 0.0306011 0.0546625" rpy="-1.5707964 0. -1.5707964" />
+        <parent link="base_gripper" />
+        <child link="right_outer_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" effort="16.5" velocity="2.268928" />
+    </joint>
+</robot>

models/franka/franka_robotiq/urdf/franka_robotiq_original.urdf

@@ -0,0 +1,436 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <link name="panda_link0">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.06" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link0.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link0.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_link1">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.34" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link1.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link1.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint1" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="0 0 0" xyz="0 0 0.333" />
+        <parent link="panda_link0" />
+        <child link="panda_link1" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link2">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.36" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link2.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link2.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint2" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
+        <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link1" />
+        <child link="panda_link2" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+    </joint>
+    <link name="panda_link3">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.38" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link3.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link3.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint3" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+        <parent link="panda_link2" />
+        <child link="panda_link3" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link4">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.43" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link4.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link4.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint4" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698" />
+        <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
+        <parent link="panda_link3" />
+        <child link="panda_link4" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
+    </joint>
+    <link name="panda_link5">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.5" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link5.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link5.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint5" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
+        <parent link="panda_link4" />
+        <child link="panda_link5" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+    </joint>
+    <link name="panda_link6">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="1.47" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link6.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link6.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint6" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
+        <origin rpy="1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link5" />
+        <child link="panda_link6" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100" />
+    </joint>
+    <link name="panda_link7">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="0.45" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link7.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link7.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint7" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
+        <parent link="panda_link6" />
+        <child link="panda_link7" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+    </joint>
+    <joint name="panda_hand_joint" type="fixed">
+        <parent link="panda_link7" />
+        <child link="base_gripper" />
+        <origin rpy="0 0 0" xyz="0 0 0.107" />
+    </joint>
+    <link name="camera_link">
+        <inertial>
+            <origin rpy="0 0 3.14" xyz="-0.05 0.00715 0.1" />
+            <mass value="0.07" />
+            <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/robotiq/camera.obj" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/robotiq/camera.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_link_joint" type="fixed">
+        <parent link="panda_link7" />
+        <child link="camera_link" />
+        <origin rpy="0 0 3.14" xyz="-0.05 0.00715 0.1" />
+    </joint>
+    <link name="base_gripper">
+        <inertial>
+            <origin xyz="0.0000228 -0.0000006 0.0320809" rpy="0. 0. 0." />
+            <mass value="0.6098911" />
+            <inertia ixx="0.0005407" ixy="0." ixz="0." iyy="0.0003629" iyz="0." izz="0.0004747" />
+        </inertial>
+        <visual>
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/robotiq/base_gripper.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="left_inner_finger">
+        <inertial>
+            <origin xyz="0.0017308 0.0216173 0. " rpy="0. 0. 0." />
+            <mass value="0.0197616" />
+            <inertia ixx="0.000001" ixy="0." ixz="-0." iyy="0.0000028" iyz="0." izz="0.0000032" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/inner_finger.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 -0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/fingertip_conn.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 -0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/fingertip_pad.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="left_inner_knuckle">
+        <inertial>
+            <origin xyz="-0.0189768 -0.0224712 0. " rpy="0. 0. 0." />
+            <mass value="0.0273069" />
+            <inertia ixx="0.0000045" ixy="-0.0000001" ixz="-0." iyy="0.000008" iyz="0." izz="0.0000118" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0111941 0.0617122 0. " rpy="3.1415927 0. 0.0244593" />
+            <geometry>
+                <mesh filename="meshes/robotiq/inner_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="left_outer_finger">
+        <inertial>
+            <origin xyz="0.0030113 -0.0187505 0.0000055" rpy="0. 0. 0." />
+            <mass value="0.0391792" />
+            <inertia ixx="0.0000043" ixy="0.0000003" ixz="-0." iyy="0.0000109" iyz="-0." izz="0.0000132" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.059489 0.0533446 0. " rpy="0. 0. 3.0926816" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_finger.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="left_outer_knuckle">
+        <inertial>
+            <origin xyz="0.012132 -0.000586 0. " rpy="0. 0. 0." />
+            <mass value="0.0127346" />
+            <inertia ixx="0.0000003" ixy="-0." ixz="0." iyy="0.0000021" iyz="-0." izz="0.0000021" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.0292492 -0.0556365 0. " rpy="3.1415927 0. -3.1171339" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="right_inner_finger">
+        <inertial>
+            <origin xyz="0.0017308 0.0216173 0. " rpy="0. 0. 0." />
+            <mass value="0.0197616" />
+            <inertia ixx="0.000001" ixy="0." ixz="0." iyy="0.0000028" iyz="0." izz="0.0000032" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/inner_finger.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/fingertip_conn.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/robotiq/fingertip_pad.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="right_inner_knuckle">
+        <inertial>
+            <origin xyz="0.0189768 -0.0224712 -0. " rpy="0. 0. 0." />
+            <mass value="0.0273069" />
+            <inertia ixx="0.0000045" ixy="0.0000001" ixz="-0." iyy="0.000008" iyz="0." izz="0.0000118" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.0111941 0.0617122 0. " rpy="0. 0. 3.1171334" />
+            <geometry>
+                <mesh filename="meshes/robotiq/inner_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="right_outer_finger">
+        <inertial>
+            <origin xyz="0.0030113 -0.0187505 0.0000055" rpy="0. 0. 0." />
+            <mass value="0.0391792" />
+            <inertia ixx="0.0000043" ixy="0.0000003" ixz="-0." iyy="0.0000109" iyz="0." izz="0.0000132" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.059489 0.0533446 0. " rpy="0. 0. 3.0926816" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_finger.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <link name="right_outer_knuckle">
+        <inertial>
+            <origin xyz="-0.012132 0.000586 0. " rpy="0. 0. 0." />
+            <mass value="0.0127346" />
+            <inertia ixx="0.0000003" ixy="-0." ixz="-0." iyy="0.0000021" iyz="-0." izz="0.0000021" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0292492 0.0556365 0. " rpy="-3.1415927 0. 0.0244589" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision />
+    </link>
+    <joint name="left_inner_finger_joint" type="revolute">
+        <origin xyz="-0.0371571 -0.0434221 -0. " rpy="-3.1415927 0. -0.0000005" />
+        <parent link="left_inner_knuckle" />
+        <child link="left_inner_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.7853982" />
+    </joint>
+    <joint name="left_inner_knuckle_joint" type="revolute">
+        <origin xyz="0. -0.0127 0.061178" rpy="-1.5707964 0. 1.5707964" />
+        <parent link="base_gripper" />
+        <child link="left_inner_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" />
+    </joint>
+    <joint name="left_outer_finger_joint" type="revolute">
+        <origin xyz="0.0315263 -0.0037623 0. " rpy="3.1415927 0. -0.0244521" />
+        <parent link="left_outer_knuckle" />
+        <child link="left_outer_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.02" upper="0.02" />
+    </joint>
+    <joint name="left_outer_knuckle_joint" type="revolute">
+        <origin xyz="0. -0.0306011 0.0546625" rpy="1.5707964 0. -1.5707964" />
+        <parent link="base_gripper" />
+        <child link="left_outer_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" effort="16.5" velocity="2.268928" />
+    </joint>
+    <joint name="right_inner_finger_joint" type="revolute">
+        <origin xyz="0.0371571 -0.0434221 0. " rpy="0. 0. -3.1415923" />
+        <parent link="right_inner_knuckle" />
+        <child link="right_inner_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.7853982" />
+    </joint>
+    <joint name="right_inner_knuckle_joint" type="revolute">
+        <origin xyz="0. 0.0127 0.061178" rpy="-1.5707964 0. 1.5707964" />
+        <parent link="base_gripper" />
+        <child link="right_inner_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.0" />
+    </joint>
+    <joint name="right_outer_finger_joint" type="revolute">
+        <origin xyz="-0.0315263 0.0037623 0. " rpy="3.1415927 0. 3.1171405" />
+        <parent link="right_outer_knuckle" />
+        <child link="right_outer_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.02" upper="0.02" />
+    </joint>
+    <joint name="right_outer_knuckle_joint" type="revolute">
+        <origin xyz="0. 0.0306011 0.0546625" rpy="-1.5707964 0. -1.5707964" />
+        <parent link="base_gripper" />
+        <child link="right_outer_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" effort="16.5" velocity="2.268928" />
+    </joint>
+</robot>

models/franka/franka_robotiq/urdf/franka_robotiq_original_mirror.urdf

@@ -0,0 +1,993 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <link name="panda_link0">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.06" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link0.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link0-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-0.obj" scale="0.22923814591928704 0.19261436441017502 0.02221277043341071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-1.obj" scale="0.1358682041202124 0.11920300979937995 0.041084812137754945" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-2.obj" scale="0.03920376425783804 0.14731118031829527 0.05087939592350782" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-3.obj" scale="0.03745088019102799 0.15727677410611962 0.030321681131572954" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-4.obj" scale="0.08722241511377696 0.12743597110049656 0.08126829033901857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-5.obj" scale="0.028916803739524957 0.015272832334316366 0.018348280290859664" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-6.obj" scale="0.02776166747873665 0.015201007788936405 0.014148513068554941" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-7.obj" scale="0.07869342789642216 0.15343343353761563 0.08124945527864053" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_link1">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.34" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link1.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link1-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-0.obj" scale="0.11423075384394316 0.134557877410904 0.04452992569599748" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-1.obj" scale="0.11435632162018085 0.11811521036003811 0.07187697717653807" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-2.obj" scale="0.1145834080720138 0.13232383803007547 0.10956046714200213" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-3.obj" scale="0.11372025236707727 0.09265086022258685 0.015607410885776744" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-4.obj" scale="0.1136972535017732 0.10457861212226362 0.010602757184933448" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint1" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="0 0 0" xyz="0 0 0.333" />
+        <parent link="panda_link0" />
+        <child link="panda_link1" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link2">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.36" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link2.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link2-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-0.obj" scale="0.1146614179008604 0.04686960644770494 0.13528001365574366" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-1.obj" scale="0.11463096694835426 0.07090450072482207 0.1174920152181071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-2.obj" scale="0.11463260348579704 0.11075960876584358 0.13355198624005105" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-3.obj" scale="0.11425039516745371 0.010650740373179021 0.10414737411394857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-4.obj" scale="0.11441469766649288 0.015659595211968524 0.09326608424569396" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint2" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
+        <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link1" />
+        <child link="panda_link2" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+    </joint>
+    <link name="panda_link3">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.38" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link3.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link3-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-0.obj" scale="0.11482077191177008 0.11315492088970347 0.043902829222486284" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-1.obj" scale="0.12084926915688325 0.0026951037600307388 0.059806594947404784" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-2.obj" scale="0.06500027309294175 0.05268767024291392 0.06919988280323319" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-3.obj" scale="0.12891220973169895 0.05853134404954832 0.13759563900815647" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-4.obj" scale="0.12532001208522148 0.053182843018282744 0.12001793379854858" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-5.obj" scale="0.1306568202386704 0.05289324481137798 0.08269734209095161" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-6.obj" scale="0.01187611485806428 0.05280413597487654 0.0630340191746066" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-7.obj" scale="0.19401525159168487 0.0026872145859411257 0.07551366847095209" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint3" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+        <parent link="panda_link2" />
+        <child link="panda_link3" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link4">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.43" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link4.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link4-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-0.obj" scale="0.11763263294742997 0.05432436352767123 0.11308659838330729" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-1.obj" scale="0.11880291043418266 0.06187182978684033 0.11469043998518672" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-2.obj" scale="0.012036652197155995 0.005090093754980707 0.1054518619933198" />
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+        </collision>
+        <collision name="panda_link4-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-3.obj" scale="0.13534208121871294 0.05473661708730995 0.06396830492344288" />
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+        </collision>
+        <collision name="panda_link4-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-4.obj" scale="0.12482992909984128 0.06796250923260075 0.050321509431269014" />
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+        </collision>
+        <collision name="panda_link4-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-5.obj" scale="0.06604728414490411 0.012946689930402261 0.056298252838675594" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-6.obj" scale="0.05781951675854538 0.06192119814004774 0.05652298037252682" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-7.obj" scale="0.12271226225049053 0.059269007667385534 0.051350333491590294" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint4" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698" />
+        <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
+        <parent link="panda_link3" />
+        <child link="panda_link4" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
+    </joint>
+    <link name="panda_link5">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.5" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link5.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link5-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link5-col-0.obj" scale="0.1013912154335769 0.04789634289994327 0.10148343990915605" />
+            </geometry>
+        </collision>
+        <collision name="panda_link5-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link5-col-1.obj" scale="0.1062088312624859 0.07291763467654616 0.11498418372242396" />
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+        </collision>
+        <collision name="panda_link5-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link5-col-2.obj" scale="0.08200173910357704 0.061048158284993166 0.18717111446374296" />
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+        </collision>
+        <collision name="panda_link5-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link5-col-3.obj" scale="0.11613376330098547 0.11625426733928555 0.13162999590273322" />
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+        </collision>
+    </link>
+    <joint name="panda_joint5" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
+        <parent link="panda_link4" />
+        <child link="panda_link5" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+    </joint>
+    <link name="panda_link6">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="1.47" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link6.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link6-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-0.obj" scale="0.016144099823806754 0.11423155842300692 0.07741849909970461" />
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+        </collision>
+        <collision name="panda_link6-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-1.obj" scale="0.07114067242588082 0.1105090465428378 0.07389918141698777" />
+            </geometry>
+        </collision>
+        <collision name="panda_link6-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-2.obj" scale="0.06931390783668603 0.02463806850132755 0.09182960839195756" />
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+        </collision>
+        <collision name="panda_link6-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-3.obj" scale="0.06952653573811818 0.11180987957191856 0.09144159910801661" />
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+        </collision>
+        <collision name="panda_link6-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-4.obj" scale="0.015038129181725257 0.013079792731849282 0.0774949527033205" />
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+        </collision>
+        <collision name="panda_link6-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-5.obj" scale="0.011475256556201519 0.13086588898770146 0.08097959849977701" />
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+        </collision>
+        <collision name="panda_link6-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-6.obj" scale="0.01503810343120887 0.06668900971316555 0.013361970565105227" />
+            </geometry>
+        </collision>
+        <collision name="panda_link6-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link6-col-7.obj" scale="0.015048268891559163 0.12298911276450734 0.08108669322942885" />
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+        </collision>
+    </link>
+    <joint name="panda_joint6" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
+        <origin rpy="1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link5" />
+        <child link="panda_link6" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100" />
+    </joint>
+    <link name="panda_link7">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="0.45" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link7.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="meshes/collision/link7.obj" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint7" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
+        <parent link="panda_link6" />
+        <child link="panda_link7" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100" />
+    </joint>
+    <joint name="panda_hand_joint" type="fixed">
+        <parent link="panda_link7" />
+        <child link="base_gripper" />
+        <origin rpy="0 0 0" xyz="0 0 0.107" />
+    </joint>
+    <link name="camera_link">
+        <inertial>
+            <origin rpy="0 0 3.14" xyz="-0.05 0.00715 0.1" />
+            <mass value="0.07" />
+            <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/robotiq/camera.obj" />
+            </geometry>
+        </visual>
+        <collision name="camera_link-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/camera_link-col-0.obj" scale="0.07122300000000001 0.13152809455980674 0.03480155027762902" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_link_joint" type="fixed">
+        <parent link="panda_link7" />
+        <child link="camera_link" />
+        <origin rpy="0 0 3.14" xyz="-0.05 0.00715 0.1" />
+    </joint>
+    <link name="base_gripper">
+        <inertial>
+            <origin xyz="0.0000228 -0.0000006 0.0320809" rpy="0. 0. 0." />
+            <mass value="0.6098911" />
+            <inertia ixx="0.0005407" ixy="0." ixz="0." iyy="0.0003629" iyz="0." izz="0.0004747" />
+        </inertial>
+        <visual>
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/robotiq/base_gripper.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision name="base_gripper-col-0">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-0.obj" scale="0.08619336751864023 0.02553531003979445 0.03746051902446323" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-1">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-1.obj" scale="0.06242437383807912 0.041775102221560986 0.07671136256035546" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-2">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-2.obj" scale="0.012132448275707423 0.039363948618921056 0.05361633162212144" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-3">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-3.obj" scale="0.07676719869060712 0.025010795064080493 0.01272599821442223" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-4">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-4.obj" scale="0.07647467280441314 0.024960063275083818 0.016353507165706882" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-5">
+            <origin xyz="0. 0. -0.000242" rpy="1.5707964 0. 1.5707964" />
+            <geometry>
+                <mesh filename="meshes/collision/base_gripper-col-5.obj" scale="0.006951605440213368 0.006844311938569062 0.004595448184783038" />
+            </geometry>
+        </collision>
+        <collision name="base_gripper-col-6">
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+                <mesh filename="meshes/collision/right_inner_finger-col-19.obj" scale="0.0007919201552867848 0.020254099935293146 0.022419154167175288" />
+            </geometry>
+        </collision>
+        <collision name="right_inner_finger-col-20">
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/collision/right_inner_finger-col-20.obj" scale="0.006325404405593871 0.03252900815010072 0.002763699978590009" />
+            </geometry>
+        </collision>
+        <collision name="right_inner_finger-col-21">
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/collision/right_inner_finger-col-21.obj" scale="0.0070704140663147 0.0031907992362976145 0.020169448703527448" />
+            </geometry>
+        </collision>
+        <collision name="right_inner_finger-col-22">
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/collision/right_inner_finger-col-22.obj" scale="0.007035902053117742 0.0042973897457122545 0.003154781579971313" />
+            </geometry>
+        </collision>
+        <collision name="right_inner_finger-col-23">
+            <origin xyz="0.0509079 -0.1039203 0. " rpy="0. 0. -0.0000001" />
+            <geometry>
+                <mesh filename="meshes/collision/right_inner_finger-col-23.obj" scale="0.006452782402456975 0.036070599019527416 0.0028750281035900133" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="right_inner_knuckle">
+        <inertial>
+            <origin xyz="0.0189768 -0.0224712 -0. " rpy="0. 0. 0." />
+            <mass value="0.0273069" />
+            <inertia ixx="0.0000045" ixy="0.0000001" ixz="-0." iyy="0.000008" iyz="0." izz="0.0000118" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.0111941 0.0617122 0. " rpy="0. 0. 3.1171334" />
+            <geometry>
+                <mesh filename="meshes/robotiq/inner_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision name="right_inner_knuckle-col-0">
+            <origin xyz="-0.0111941 0.0617122 0. " rpy="0. 0. 3.1171334" />
+            <geometry>
+                <mesh filename="meshes/collision/right_inner_knuckle-col-0.obj" scale="0.0501667927019298 0.05443261936306953 0.035097513393984855" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="right_outer_finger">
+        <inertial>
+            <origin xyz="0.0030113 -0.0187505 0.0000055" rpy="0. 0. 0." />
+            <mass value="0.0391792" />
+            <inertia ixx="0.0000043" ixy="0.0000003" ixz="-0." iyy="0.0000109" iyz="0." izz="0.0000132" />
+        </inertial>
+        <visual>
+            <origin xyz="-0.059489 0.0533446 0. " rpy="0. 0. 3.0926816" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_finger.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision name="right_outer_finger-col-0">
+            <origin xyz="-0.059489 0.0533446 0. " rpy="0. 0. 3.0926816" />
+            <geometry>
+                <mesh filename="meshes/collision/right_outer_finger-col-0.obj" scale="0.029582161456346512 0.05930659197628238 0.02720001396971215" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="right_outer_knuckle">
+        <inertial>
+            <origin xyz="-0.012132 0.000586 0. " rpy="0. 0. 0." />
+            <mass value="0.0127346" />
+            <inertia ixx="0.0000003" ixy="-0." ixz="-0." iyy="0.0000021" iyz="-0." izz="0.0000021" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0292492 0.0556365 0. " rpy="-3.1415927 0. 0.0244589" />
+            <geometry>
+                <mesh filename="meshes/robotiq/outer_knuckle.obj" scale="1. 1. 1." />
+            </geometry>
+        </visual>
+        <collision name="right_outer_knuckle-col-0">
+            <origin xyz="0.0292492 0.0556365 0. " rpy="-3.1415927 0. 0.0244589" />
+            <geometry>
+                <mesh filename="meshes/collision/right_outer_knuckle-col-0.obj" scale="0.04498246684670448 0.020156800746917725 0.016499999910593033" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="left_inner_finger_joint" type="revolute">
+        <origin xyz="-0.0371571 -0.0434221 -0. " rpy="-3.1415927 0. -0.0000005" />
+        <parent link="left_inner_knuckle" />
+        <child link="left_inner_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.7853982" />
+    </joint>
+    <joint name="left_inner_knuckle_joint" type="revolute">
+        <origin xyz="0. -0.0127 0.061178" rpy="-1.5707964 0. 1.5707964" />
+        <parent link="base_gripper" />
+        <child link="left_inner_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" />
+    </joint>
+    <joint name="left_outer_finger_joint" type="revolute">
+        <origin xyz="0.0315263 -0.0037623 0. " rpy="3.1415927 0. -0.0244521" />
+        <parent link="left_outer_knuckle" />
+        <child link="left_outer_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.02" upper="0.02" />
+    </joint>
+    <joint name="left_outer_knuckle_joint" type="revolute">
+        <origin xyz="0. -0.0306011 0.0546625" rpy="1.5707964 0. -1.5707964" />
+        <parent link="base_gripper" />
+        <child link="left_outer_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" effort="16.5" velocity="2.268928" />
+    </joint>
+    <joint name="right_inner_finger_joint" type="revolute">
+        <origin xyz="0.0371571 -0.0434221 0. " rpy="0. 0. -3.1415923" />
+        <parent link="right_inner_knuckle" />
+        <child link="right_inner_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.7853982" />
+    </joint>
+    <joint name="right_inner_knuckle_joint" type="revolute">
+        <origin xyz="0. 0.0127 0.061178" rpy="-1.5707964 0. 1.5707964" />
+        <parent link="base_gripper" />
+        <child link="right_inner_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.7853982" upper="0.0" />
+    </joint>
+    <joint name="right_outer_finger_joint" type="revolute">
+        <origin xyz="-0.0315263 0.0037623 0. " rpy="3.1415927 0. 3.1171405" />
+        <parent link="right_outer_knuckle" />
+        <child link="right_outer_finger" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="-0.02" upper="0.02" />
+    </joint>
+    <joint name="right_outer_knuckle_joint" type="revolute">
+        <origin xyz="0. 0.0306011 0.0546625" rpy="-1.5707964 0. -1.5707964" />
+        <parent link="base_gripper" />
+        <child link="right_outer_knuckle" />
+        <axis xyz="0. 0. 1." />
+        <limit lower="0." upper="0.7853982" effort="16.5" velocity="2.268928" />
+    </joint>
+</robot>

models/franka/franka_robotiq/urdf/franka_robotiq_with_meta_links.urdf

@@ -0,0 +1,993 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <link name="panda_link0">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.06" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link0.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link0-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-0.obj" scale="0.22923814591928704 0.19261436441017502 0.02221277043341071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-1.obj" scale="0.1358682041202124 0.11920300979937995 0.041084812137754945" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-2.obj" scale="0.03920376425783804 0.14731118031829527 0.05087939592350782" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-3.obj" scale="0.03745088019102799 0.15727677410611962 0.030321681131572954" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-4.obj" scale="0.08722241511377696 0.12743597110049656 0.08126829033901857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-5.obj" scale="0.028916803739524957 0.015272832334316366 0.018348280290859664" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-6.obj" scale="0.02776166747873665 0.015201007788936405 0.014148513068554941" />
+            </geometry>
+        </collision>
+        <collision name="panda_link0-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link0-col-7.obj" scale="0.07869342789642216 0.15343343353761563 0.08124945527864053" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_link1">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.34" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link1.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link1-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-0.obj" scale="0.11423075384394316 0.134557877410904 0.04452992569599748" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-1.obj" scale="0.11435632162018085 0.11811521036003811 0.07187697717653807" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-2.obj" scale="0.1145834080720138 0.13232383803007547 0.10956046714200213" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-3.obj" scale="0.11372025236707727 0.09265086022258685 0.015607410885776744" />
+            </geometry>
+        </collision>
+        <collision name="panda_link1-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link1-col-4.obj" scale="0.1136972535017732 0.10457861212226362 0.010602757184933448" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint1" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="0 0 0" xyz="0 0 0.333" />
+        <parent link="panda_link0" />
+        <child link="panda_link1" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link2">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.36" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link2.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link2-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-0.obj" scale="0.1146614179008604 0.04686960644770494 0.13528001365574366" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-1.obj" scale="0.11463096694835426 0.07090450072482207 0.1174920152181071" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-2.obj" scale="0.11463260348579704 0.11075960876584358 0.13355198624005105" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-3.obj" scale="0.11425039516745371 0.010650740373179021 0.10414737411394857" />
+            </geometry>
+        </collision>
+        <collision name="panda_link2-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link2-col-4.obj" scale="0.11441469766649288 0.015659595211968524 0.09326608424569396" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint2" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
+        <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link1" />
+        <child link="panda_link2" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750" />
+    </joint>
+    <link name="panda_link3">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.38" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link3.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link3-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-0.obj" scale="0.11482077191177008 0.11315492088970347 0.043902829222486284" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-1.obj" scale="0.12084926915688325 0.0026951037600307388 0.059806594947404784" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-2.obj" scale="0.06500027309294175 0.05268767024291392 0.06919988280323319" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-3.obj" scale="0.12891220973169895 0.05853134404954832 0.13759563900815647" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-4.obj" scale="0.12532001208522148 0.053182843018282744 0.12001793379854858" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-5.obj" scale="0.1306568202386704 0.05289324481137798 0.08269734209095161" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-6.obj" scale="0.01187611485806428 0.05280413597487654 0.0630340191746066" />
+            </geometry>
+        </collision>
+        <collision name="panda_link3-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link3-col-7.obj" scale="0.19401525159168487 0.0026872145859411257 0.07551366847095209" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint3" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+        <parent link="panda_link2" />
+        <child link="panda_link3" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750" />
+    </joint>
+    <link name="panda_link4">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="2.43" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link4.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link4-col-0">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-0.obj" scale="0.11763263294742997 0.05432436352767123 0.11308659838330729" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-1">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-1.obj" scale="0.11880291043418266 0.06187182978684033 0.11469043998518672" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-2">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-2.obj" scale="0.012036652197155995 0.005090093754980707 0.1054518619933198" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-3">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-3.obj" scale="0.13534208121871294 0.05473661708730995 0.06396830492344288" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-4">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-4.obj" scale="0.12482992909984128 0.06796250923260075 0.050321509431269014" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-5">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-5.obj" scale="0.06604728414490411 0.012946689930402261 0.056298252838675594" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-6">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-6.obj" scale="0.05781951675854538 0.06192119814004774 0.05652298037252682" />
+            </geometry>
+        </collision>
+        <collision name="panda_link4-col-7">
+            <geometry>
+                <mesh filename="meshes/collision/panda_link4-col-7.obj" scale="0.12271226225049053 0.059269007667385534 0.051350333491590294" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint4" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698" />
+        <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
+        <parent link="panda_link3" />
+        <child link="panda_link4" />
+        <axis xyz="0 0 1" />
+        <dynamics damping="10.0" />
+        <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750" />
+    </joint>
+    <link name="panda_link5">
+        <inertial>
+            <origin rpy="0 0 0" xyz="0 0 0" />
+            <mass value="3.5" />
+            <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3" />
+        </inertial>
+        <visual>
+            <geometry>
+                <mesh filename="meshes/visual/link5.dae" />
+            </geometry>
+        </visual>
+        <collision name="panda_link5-col-0">
+            <geometry>
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+    <joint name="panda_hand_joint" type="fixed">
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+        <child link="base_gripper" />
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+        <child link="camera_link" />
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