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embodiments/franka-panda/__init__.py

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+import os
+
+import numpy as np
+import sapien
+
+
+class Franka(sapien.Widget):
+    def __init__(self):
+        pass
+
+    def load(self, scene: sapien.Scene):
+        loader = scene.create_urdf_loader()
+        loader.set_material(0.3, 0.3, 0.0)
+
+        loader.set_link_material("panda_leftfinger", 1.0, 1.0, 0.0)
+        loader.set_link_material("panda_rightfinger", 1.0, 1.0, 0.0)
+        loader.set_link_patch_radius("panda_leftfinger", 0.05)
+        loader.set_link_patch_radius("panda_rightfinger", 0.05)
+        loader.set_link_min_patch_radius("panda_leftfinger", 0.05)
+        loader.set_link_min_patch_radius("panda_rightfinger", 0.05)
+
+        path = os.path.join(os.path.dirname(__file__), "panda.urdf")
+        self.robot = loader.load(path)
+        for link in self.robot.links:
+            link.disable_gravity = True
+
+        self.arm_joints = self.robot.active_joints[:7]
+        self.gripper_joints = self.robot.active_joints[7:]
+
+        self.set_arm_pd([200] * 7, [100] * 7, [36] * 7)
+        self.set_gripper_pd(1e4, 1e3, 0.3)
+
+        self.robot.set_qpos(
+            [
+                0,
+                0.19634954084936207,
+                0.0,
+                -2.617993877991494,
+                0.0,
+                2.941592653589793,
+                0.7853981633974483,
+                0.04,
+                0.04,
+            ]
+        )
+        self.robot.set_qvel([0] * 9)
+        self.set_arm_target(
+            [
+                0,
+                0.19634954084936207,
+                0.0,
+                -2.617993877991494,
+                0.0,
+                2.941592653589793,
+                0.7853981633974483,
+            ]
+        )
+
+        l2 = self.robot.active_joints[-1].child_link
+        l1 = self.robot.active_joints[-2].child_link
+        l0 = l1.parent
+
+        self.robot.create_fixed_tendon(
+            [l0, l1, l2], [0, 1, -1], [0, 1, -1], stiffness=1e10
+        )
+
+    def set_arm_pd(self, ps, ds, limits):
+        for j, p, d, l in zip(self.arm_joints, ps, ds, limits):
+            j.set_drive_property(p, d, l, "acceleration")
+
+    def set_gripper_pd(self, p, d, limit):
+        for j in self.gripper_joints:
+            j.set_drive_property(p, d, limit, "acceleration")
+
+    def set_gripper_target(self, target):
+        for j in self.gripper_joints:
+            j.set_drive_target(target)
+
+    def set_arm_target(self, target):
+        for t, j in zip(target, self.arm_joints):
+            j.set_drive_target(t)
+
+    def set_arm_target_velocity(self, target):
+        for t, j in zip(target, self.arm_joints):
+            j.set_drive_velocity_target(t)
+
+    def unload(self, scene: sapien.Scene):
+        scene.remove_articulation(self.robot)

embodiments/franka-panda/config.yml

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+urdf_path: "./panda.urdf"
+srdf_path: "./panda.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["panda_hand","panda_hand"]
+ee_joints: ["panda_hand_joint","panda_hand_joint"]
+arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
+                  ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
+# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
+#                ["panda_finger_joint1", "panda_finger_joint2"]]
+gripper_name:
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.045]
+homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
+            [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [0, -0.65, 0.75, 0.707, 0, 0, 0.707]   # modify
+planner: "mplib_RRT" # mplib_screw
+dual_arm: False
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0

embodiments/franka-panda/panda.srdf

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+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="panda">
+  <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+  <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+  <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+  <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+  <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+  <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+  </group>
+  <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+  </group>
+  <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+  <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+  </group_state>
+  <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+  <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+  <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+  <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+  <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+  <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+  <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+  <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+  <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+  <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+  <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+  <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+  <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+  <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+  <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+  <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+  <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+  <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+  <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+</robot>

embodiments/franka-panda/panda.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </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"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </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"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </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"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </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"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </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"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </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"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </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"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+</robot>
+

embodiments/piper/config.yml

@@ -0,0 +1,51 @@
+urdf_path: "./piper_description.urdf"
+srdf_path: "./piper_description.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["link6","link6"]
+ee_joints: ["joint6","joint6"]
+arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
+                  ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
+gripper_name: 
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+gripper_bias: 0.12
+gripper_scale: [-0.01, 0.04]
+homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
+delta_matrix: [[0,0,-1],[0,1,0],[1,0,0]]
+global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]]
+robot_pose: [0, -0.35, 0.75, 0.707, 0, 0, 0.707]  # modify
+planner: "mplib_RRT"
+dual_arm: False
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0

embodiments/piper/piper_description.srdf

@@ -0,0 +1,35 @@
+<?xml version="1.0" ?>
+<robot name="piper_description">
+  <group name="arm">
+    <joint name="joint1"/>
+    <joint name="joint2"/>
+    <joint name="joint3"/>
+    <joint name="joint4"/>
+    <joint name="joint5"/>
+    <joint name="joint6"/>
+    <chain base_link="base_link" tip_link="link6"/>
+  </group>
+
+  <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
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embodiments/piper/piper_description.urdf

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+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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embodiments/piper/piper_description_0211.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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embodiments/piper/urdf/backup/piper_description copy.urdf

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+      <geometry>
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+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822490707451" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <!-- <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822500394006" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="-0.037167 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint> -->
+</robot>

embodiments/piper/urdf/backup/piper_description copy.xacro

@@ -0,0 +1,584 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- arm -->
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000226592553127906"
+        ixy="-7.33974356968813E-08"
+        ixz="2.13221970218123E-06"
+        iyy="0.000269447877479622"
+        iyz="8.15167478685076E-09"
+        izz="0.000222318286704" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="7.76684558296781E-05"
+        ixy="1.09084650459916E-07"
+        ixz="-1.97480532432411E-06"
+        iyy="9.24967780161546E-05"
+        iyz="9.91284646834672E-07"
+        izz="8.24589062407806E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000150112628108228"
+        ixy="8.58974959950769E-05"
+        ixz="-1.07428153464285E-06"
+        iyy="0.00172585302855383"
+        iyz="-9.93704792239686E-07"
+        izz="0.00177445942914759" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.10095 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="0.000221686352136266"
+        ixy="-7.57426543992343E-06"
+        ixz="-6.3700062772173E-07"
+        iyy="0.000100859162015934"
+        iyz="-8.16202696860781E-07"
+        izz="0.000241839316548946" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 1.3826" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="3.82011730423098E-05"
+        ixy="-4.92358351033589E-08"
+        ixz="4.89589432983109E-08"
+        iyy="4.87048555222491E-05"
+        iyz="6.70802942486707E-08"
+        izz="4.10592077565155E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.021984 0.25075 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="4.39644269159173E-05"
+        ixy="-3.59214840853815E-08"
+        ixz="-1.89785003257649E-08"
+        iyy="5.63173857792457E-05"
+        iyz="-2.15407623722543E-07"
+        izz="4.88713595021005E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.087266 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="4.31750564711759E-05"
+        ixy="-2.21295720427027E-08"
+        ixz="-3.27825836857102E-12"
+        iyy="9.99756357365307E-05"
+        iyz="1.10337380549335E-07"
+        izz="0.000118282295533688" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="9.99782519244544E-06"
+        ixy="-1.57547595978589E-07"
+        ixz="-2.71355785017816E-08"
+        iyy="6.17952364356547E-06"
+        iyz="-1.58939504838734E-06"
+        izz="1.42102253390315E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.038"
+      effort="100"
+      velocity="1" />
+  </joint>
+
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
+        rpy="0 0 0" />
+      <mass
+        value="0.00001" />
+      <inertia
+        ixx="9.99782474142963E-06"
+        ixy="-1.57547666236405E-07"
+        ixz="2.71355834243046E-08"
+        iyy="6.17952362333486E-06"
+        iyz="1.58939503259658E-06"
+        izz="1.42102248648757E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.038"
+      upper="0"
+      effort="300"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper_description</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+ 
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+</robot>

embodiments/piper/urdf/moveit/piper_no_gripper_description.urdf

@@ -0,0 +1,373 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+  <link name="dummy_root" />
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+      effort="100"
+      velocity="3" />
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+      <geometry>
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+      rpy="1.5708 0 0" />
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+      velocity="3" />
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+  <link name="link6">
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+    <visual>
+      <origin xyz="0 0 -0.01" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.01 0.01" />  <!-- 小方块尺寸 -->
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+      <material name="">
+        <color rgba="0.792 0.819 0.933 1" />
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+    <collision>
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+      <geometry>
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+  <joint name="joint6" type="fixed">
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+</robot>

embodiments/piper/urdf/piper_description.csv

@@ -0,0 +1,10 @@
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embodiments/piper/urdf/piper_description.urdf

@@ -0,0 +1,511 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+        rpy="0 0 0" />
+      <mass
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+        iyz="8.15169009611054E-09"
+        izz="0.000222318258878636" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.dae" />
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+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
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+        rpy="0 0 0" />
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+    <visual>
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link1.dae" />
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+      <material
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+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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+    <collision>
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link1.STL" />
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+    name="joint1"
+    type="revolute">
+    <origin
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+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
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+    <axis
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+    <limit
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+      upper="2.618"
+      effort="100"
+      velocity="3" />
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+        ixy="-7.37750384371657E-05"
+        ixz="-9.68688405196236E-07"
+        iyy="0.00172800946632652"
+        iyz="-1.09692225564224E-06"
+        izz="0.0017754628344594" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link2.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+        rpy="0 0 0" />
+      <mass
+        value="0.290847697793211" />
+      <inertia
+        ixx="0.000107879011637167"
+        ixy="2.92669521203626E-05"
+        ixz="6.825922326238E-07"
+        iyy="0.000214751671792086"
+        iyz="-7.78469047878196E-07"
+        izz="0.000241923439340319" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link3.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28358 0.028726 0"
+      rpy="0 0 0.10095" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.697"
+      upper="0"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423416E-05"
+        ixy="-4.92358350897513E-08"
+        ixz="4.89589432973119E-08"
+        iyy="4.87048555222578E-05"
+        iyz="6.70802942500512E-08"
+        izz="4.10592077565559E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link4.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.24221 0.068514 0"
+      rpy="-1.5708 0 1.3826" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711242639457" />
+      <inertia
+        ixx="4.39644313662493E-05"
+        ixy="-3.59259686444846E-08"
+        ixz="-1.89747741386183E-08"
+        iyy="5.63173920951307E-05"
+        iyz="-2.1540716689785E-07"
+        izz="4.88713664675268E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link5.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
+        rpy="0 0 0" />
+      <mass
+        value="0.195187143240719" />
+      <inertia
+        ixx="6.43790256535539E-05"
+        ixy="-1.2366166157046E-06"
+        ixz="1.97664606328472E-07"
+        iyy="0.000126146396374301"
+        iyz="2.41157078516408E-06"
+        izz="0.000154087076816444" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 1.5708" />
+      <geometry>
+        <mesh
+          filename="../meshes/link6.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link6_1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -3.1415926 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
+        rpy="0 0 0" />
+      <mass
+        value="0.02648229234527" />
+      <inertia
+        ixx="9.99787479924589E-06"
+        ixy="-1.57548495096104E-07"
+        ixz="-2.71342775003487E-08"
+        iyy="6.1795212293655E-06"
+        iyz="-1.58939803580081E-06"
+        izz="1.42102717246564E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link7.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 3.1415926" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.04"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822021416248" />
+      <inertia
+        ixx="9.99779119357223E-06"
+        ixy="-1.57542283433504E-07"
+        ixz="2.71367446701359E-08"
+        iyy="6.17952441557932E-06"
+        iyz="1.58939319453383E-06"
+        izz="1.4210192754512E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link8.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 3.1415926" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.04"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

embodiments/piper/urdf/piper_description.xacro

@@ -0,0 +1,582 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- arm -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+        rpy="0 0 0" />
+      <mass
+        value="0.162548567403693" />
+      <inertia
+        ixx="0.000226596924525071"
+        ixy="-7.33972270153965E-08"
+        ixz="2.13249977802622E-06"
+        iyy="0.000269444772561524"
+        iyz="8.15169009611054E-09"
+        izz="0.000222318258878636" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296782E-05"
+        ixy="1.09084650459924E-07"
+        ixz="-1.9748053243241E-06"
+        iyy="9.24967780161547E-05"
+        iyz="9.91284646834582E-07"
+        izz="8.24589062407807E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+        rpy="0 0 0" />
+      <mass
+        value="0.290888938633388" />
+      <inertia
+        ixx="0.000148959640166183"
+        ixy="-7.37750384371657E-05"
+        ixz="-9.68688405196236E-07"
+        iyy="0.00172800946632652"
+        iyz="-1.09692225564224E-06"
+        izz="0.0017754628344594" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+        rpy="0 0 0" />
+      <mass
+        value="0.290847697793211" />
+      <inertia
+        ixx="0.000107879011637167"
+        ixy="2.92669521203626E-05"
+        ixz="6.825922326238E-07"
+        iyy="0.000214751671792086"
+        iyz="-7.78469047878196E-07"
+        izz="0.000241923439340319" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28358 0.028726 0"
+      rpy="0 0 0.10095" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.697"
+      upper="0"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423416E-05"
+        ixy="-4.92358350897513E-08"
+        ixz="4.89589432973119E-08"
+        iyy="4.87048555222578E-05"
+        iyz="6.70802942500512E-08"
+        izz="4.10592077565559E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.24221 0.068514 0"
+      rpy="-1.5708 0 1.3826" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711242639457" />
+      <inertia
+        ixx="4.39644313662493E-05"
+        ixy="-3.59259686444846E-08"
+        ixz="-1.89747741386183E-08"
+        iyy="5.63173920951307E-05"
+        iyz="-2.1540716689785E-07"
+        izz="4.88713664675268E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
+        rpy="0 0 0" />
+      <mass
+        value="0.195187143240719" />
+      <inertia
+        ixx="6.43790256535539E-05"
+        ixy="-1.2366166157046E-06"
+        ixz="1.97664606328472E-07"
+        iyy="0.000126146396374301"
+        iyz="2.41157078516408E-06"
+        izz="0.000154087076816444" />
+    </inertial>
+    <visual>
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+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
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+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
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+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
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+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
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+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
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+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
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+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
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+ 
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+    <material>Gazebo/Orange</material>
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+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.04"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

embodiments/piper/urdf/piper_description_v00.xacro

@@ -0,0 +1,582 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- arm -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+        rpy="0 0 0" />
+      <mass
+        value="0.162548567403693" />
+      <inertia
+        ixx="0.000226596924525071"
+        ixy="-7.33972270153965E-08"
+        ixz="2.13249977802622E-06"
+        iyy="0.000269444772561524"
+        iyz="8.15169009611054E-09"
+        izz="0.000222318258878636" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+        rpy="0 0 0" />
+      <mass
+        value="0.0978679932242825" />
+      <inertia
+        ixx="7.76684558296782E-05"
+        ixy="1.09084650459924E-07"
+        ixz="-1.9748053243241E-06"
+        iyy="9.24967780161547E-05"
+        iyz="9.91284646834582E-07"
+        izz="8.24589062407807E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+        rpy="0 0 0" />
+      <mass
+        value="0.290888938633388" />
+      <inertia
+        ixx="0.000148959640166183"
+        ixy="-7.37750384371657E-05"
+        ixz="-9.68688405196236E-07"
+        iyy="0.00172800946632652"
+        iyz="-1.09692225564224E-06"
+        izz="0.0017754628344594" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.034907 -1.5708" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+        rpy="0 0 0" />
+      <mass
+        value="0.290847697793211" />
+      <inertia
+        ixx="0.000107879011637167"
+        ixy="2.92669521203626E-05"
+        ixz="6.825922326238E-07"
+        iyy="0.000214751671792086"
+        iyz="-7.78469047878196E-07"
+        izz="0.000241923439340319" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28358 0.028726 0"
+      rpy="0 0 0.06604341" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.697"
+      upper="0"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
+        rpy="0 0 0" />
+      <mass
+        value="0.127087348341362" />
+      <inertia
+        ixx="3.82011730423416E-05"
+        ixy="-4.92358350897513E-08"
+        ixz="4.89589432973119E-08"
+        iyy="4.87048555222578E-05"
+        iyz="6.70802942500512E-08"
+        izz="4.10592077565559E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.24221 0.068514 0"
+      rpy="-1.5708 0 1.3826" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711242639457" />
+      <inertia
+        ixx="4.39644313662493E-05"
+        ixy="-3.59259686444846E-08"
+        ixz="-1.89747741386183E-08"
+        iyy="5.63173920951307E-05"
+        iyz="-2.1540716689785E-07"
+        izz="4.88713664675268E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
+        rpy="0 0 0" />
+      <mass
+        value="0.195187143240719" />
+      <inertia
+        ixx="6.43790256535539E-05"
+        ixy="-1.2366166157046E-06"
+        ixz="1.97664606328472E-07"
+        iyy="0.000126146396374301"
+        iyz="2.41157078516408E-06"
+        izz="0.000154087076816444" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0 0.091 0.0014165"
+      rpy="-1.5708 -1.5708 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
+        rpy="0 0 0" />
+      <mass
+        value="0.02648229234527" />
+      <inertia
+        ixx="9.99787479924589E-06"
+        ixy="-1.57548495096104E-07"
+        ixz="-2.71342775003487E-08"
+        iyy="6.1795212293655E-06"
+        iyz="-1.58939803580081E-06"
+        izz="1.42102717246564E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="0.04"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
+        rpy="0 0 0" />
+      <mass
+        value="0.0264822021416248" />
+      <inertia
+        ixx="9.99779119357223E-06"
+        ixy="-1.57542283433504E-07"
+        ixz="2.71367446701359E-08"
+        iyy="6.17952441557932E-06"
+        iyz="1.58939319453383E-06"
+        izz="1.4210192754512E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.13503"
+      rpy="-1.5708 0 1.5708" />
+    <parent
+      link="link6" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.04"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper_description</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+ 
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo> -->
+</robot>

embodiments/piper/urdf/piper_no_gripper_description.csv

@@ -0,0 +1,7 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.0097927476595534,1.82905827587127E-06,0.0410100126360189,0,0,0,0.162548567403693,0.000226596924525071,-7.3397227015398E-08,2.13249977802621E-06,0.000269444772561524,8.15169009610875E-09,0.000222318258878636,0,0,0,0,0,0,package://piper_master_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_master_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.00131676031927024,0.000310288842008612,-0.00922874512303437,0,0,0,0.0978679932242826,7.76684558296782E-05,1.09084650459925E-07,-1.9748053243241E-06,9.24967780161546E-05,9.91284646834583E-07,8.24589062407806E-05,0,0,0,0,0,0,package://piper_master_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_master_description/meshes/link1.STL,,link1-1,link1_axis,基准轴1,joint1,revolute,0,0,0.123,0,0,-1.5708,base_link,0,0,1,100,3,-2.618,2.618,,,,,,,,
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+link3,-0.0996835297298523,0.0349477267125974,0.000508019581893638,0,0,0,0.290847805579065,0.000107879020798026,2.92669848509585E-05,6.82592307795026E-07,0.000214751827465516,-7.78468839754645E-07,0.000241923602270227,0,0,0,0,0,0,package://piper_master_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_master_description/meshes/link3.STL,,link3-1,link3_axis,基准轴3,joint3,revolute,0.28358,0.028726,0,0,0,0.10095,link2,0,0,1,100,3,-2.697,0,,,,,,,,
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embodiments/piper/urdf/piper_no_gripper_description.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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embodiments/piper/urdf/piper_no_gripper_description.xacro

@@ -0,0 +1,394 @@
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+<!-- arm -->
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+        iyz="-2.1540716689785E-07"
+        izz="4.88713664675268E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="3" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper_description</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo> -->
+
+</robot>

embodiments/piper/urdf/piper_no_gripper_description_v00.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="piper_description">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
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+      <inertia
+        ixx="0.000226596924525071"
+        ixy="-7.33972270153965E-08"
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+        iyy="0.000269444772561524"
+        iyz="8.15169009611054E-09"
+        izz="0.000222318258878636" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.dae" />
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+      <material
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+    <collision>
+      <origin
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+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+        ixy="1.09084650459924E-07"
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+        iyz="9.91284646834582E-07"
+        izz="8.24589062407807E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.dae" />
+      </geometry>
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+        name="">
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+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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+      <origin
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+        rpy="0 0 0" />
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+          filename="package://piper_description/meshes/link1.STL" />
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+    <parent
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+    <child
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+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.618"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
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+    <visual>
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+    <parent
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+    <axis
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+      velocity="3" />
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+  <link
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+      xyz="0 0 1" />
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+      lower="-1.832"
+      upper="1.832"
+      effort="100"
+      velocity="3" />
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+  <link
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+    <visual>
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+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
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+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
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+    <axis
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+    <limit
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+      upper="1.22"
+      effort="100"
+      velocity="3" />
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+
+</robot>

embodiments/piper/urdf/piper_no_gripper_description_v00.xacro

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+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="arm"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint>
+<!-- arm -->
+<link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+        rpy="0 0 0" />
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+    <visual>
+      <origin
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.dae" />
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+    <collision>
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
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+  </link>
+  <link
+    name="link1">
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+      effort="100"
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+    <inertial>
+      <origin
+        xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+        rpy="0 0 0" />
+      <mass
+        value="0.144711242639457" />
+      <inertia
+        ixx="4.39644313662493E-05"
+        ixy="-3.59259686444846E-08"
+        ixz="-1.89747741386183E-08"
+        iyy="5.63173920951307E-05"
+        iyz="-2.1540716689785E-07"
+        izz="4.88713664675268E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.dae" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="3" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper_description</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+ 
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+ 
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+ 
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo> -->
+
+</robot>

embodiments/ur5-robotic85-gripper/config.yml

@@ -0,0 +1,52 @@
+urdf_path: "./ur5_robotiq85_gripper.urdf"
+srdf_path: "./ur5.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["ee_link","ee_link"]
+ee_joints: ["ee_fixed_joint","ee_fixed_joint"]
+arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"],
+                  ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]]
+# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"],
+              #  ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]]
+gripper_name:
+  - base: "robotiq_85_left_knuckle_joint"
+    mimic: [
+      ["robotiq_85_right_knuckle_joint", 1., 0.],
+      ["robotiq_85_left_finger_tip_joint", -1., 0.],
+      ["robotiq_85_left_inner_knuckle_joint", 1., 0.],
+      ["robotiq_85_right_finger_tip_joint", -1., 0.],
+      ["robotiq_85_right_inner_knuckle_joint", 1., 0.]
+    ]
+  - base: "robotiq_85_left_knuckle_joint"
+    mimic: [
+      ["robotiq_85_right_knuckle_joint", 1., 0.],
+      ["robotiq_85_left_finger_tip_joint", -1., 0.],
+      ["robotiq_85_left_inner_knuckle_joint", 1., 0.],
+      ["robotiq_85_right_finger_tip_joint", -1., 0.],
+      ["robotiq_85_right_inner_knuckle_joint", 1., 0.]
+    ]
+gripper_bias: 0.14
+gripper_scale: [0.77, 0.0]
+homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0],
+            [1.5447, -1.5447, 1.5447, -1.5794, -1.5794, 0]]
+delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [0, -0.65, 0.75, 1, 0, 0, 0]   # modify
+planner: "mplib_RRT"
+dual_arm: False
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0