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embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/remesh.mlx

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+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Simplification: Quadric Edge Collapse Decimation (with texture)">
+  <Param value="282454" type="RichInt" isxmlparam="0" description="Target number of faces" tooltip="" name="TargetFaceNum"/>
+  <Param value="0.03" type="RichFloat" isxmlparam="0" description="Percentage reduction (0..1)" tooltip="If non zero, this parameter specifies the desired final size of the mesh as a percentage of the initial mesh." name="TargetPerc"/>
+  <Param value="0.3" type="RichFloat" isxmlparam="0" description="Quality threshold" tooltip="Quality threshold for penalizing bad shaped faces.&lt;br>The value is in the range [0..1]&#xa; 0 accept any kind of face (no penalties),&#xa; 0.5  penalize faces with quality &lt; 0.5, proportionally to their shape&#xa;" name="QualityThr"/>
+  <Param value="1" type="RichFloat" isxmlparam="0" description="Texture Weight" tooltip="Additional weight for each extra Texture Coordinates for every (selected) vertex" name="Extratcoordw"/>
+  <Param value="false" type="RichBool" isxmlparam="0" description="Preserve Boundary of the mesh" tooltip="The simplification process tries not to destroy mesh boundaries" name="PreserveBoundary"/>
+  <Param value="1" type="RichFloat" isxmlparam="0" description="Boundary Preserving Weight" tooltip="The importance of the boundary during simplification. Default (1.0) means that the boundary has the same importance of the rest. Values greater than 1.0 raise boundary importance and has the effect of removing less vertices on the border. Admitted range of values (0,+inf). " name="BoundaryWeight"/>
+  <Param value="true" type="RichBool" isxmlparam="0" description="Optimal position of simplified vertices" tooltip="Each collapsed vertex is placed in the position minimizing the quadric error.&#xa; It can fail (creating bad spikes) in case of very flat areas. &#xa;If disabled edges are collapsed onto one of the two original vertices and the final mesh is composed by a subset of the original vertices. " name="OptimalPlacement"/>
+  <Param value="false" type="RichBool" isxmlparam="0" description="Preserve Normal" tooltip="Try to avoid face flipping effects and try to preserve the original orientation of the surface" name="PreserveNormal"/>
+  <Param value="false" type="RichBool" isxmlparam="0" description="Planar Simplification" tooltip="Add additional simplification constraints that improves the quality of the simplification of the planar portion of the mesh." name="PlanarQuadric"/>
+  <Param value="false" type="RichBool" isxmlparam="0" description="Simplify only selected faces" tooltip="The simplification is applied only to the selected set of faces.&#xa; Take care of the target number of faces!" name="Selected"/>
+ </filter>
+</FilterScript>

embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/trans.py

@@ -0,0 +1,27 @@
+import argparse
+import pdb
+
+import pymeshlab
+import os
+
+def mesh_down_sample(file_path):
+    file_path = file_path
+    ms = pymeshlab.MeshSet()
+    ms.load_new_mesh(file_path)
+    print("origin Mesh:")
+    print("Vertices:", ms.current_mesh().vertex_number())
+    print("Faces:", ms.current_mesh().face_number())
+    # try:
+    # 这里使用一个示例方法添加纹理坐标，具体添加方式可能需要根据实际情况调整
+    ms.generate_synthetic_per_wedge_texcoord()
+    ms.load_filter_script('remesh.mlx')
+    ms.apply_filter_script()
+    print("Simplified Mesh:")
+    print("Vertices:", ms.current_mesh().vertex_number())
+    print("Faces:", ms.current_mesh().face_number())
+    ms.save_current_mesh(file_path.replace('.STL', '_down.STL'))
+    # except Exception as e:
+    #     print("error: ", e)
+
+if __name__ == "__main__":
+    mesh_down_sample('VisionTactileSensor_Link.STL')

embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac.urdf

@@ -0,0 +1,1901 @@
+<?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="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- <link name="footprint"/> -->
+
+    <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
+    <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
+
+    <link name="footprint">
+    </link>
+
+    <!-- tracer base -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
+            <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
+                 <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
+            </geometry>
+        </visual>
+        <collision>
+          <!--origin
+            xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+            rpy="0 0 0" /-->
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+          <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
+              <box size="0.35 0.1 0.35"/>
+          </geometry>
+        </collision>
+    </link>
+    <link name="inertial_link">
+        <inertial>
+            <!--mass value="44.3898489950015" /-->
+            <mass value="132.3898489950015" />
+            <!-- <mass value="50" /> -->
+            <!-- <origin xyz="-0.00065 -0.085 0.062" />
+            <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
+            <origin xyz="0.015 0.0231316650320557 0" />
+            <!--<origin
+              xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+              rpy="0 0 0" />-->
+            <inertia ixx="0.185196122711036"
+            ixy="4.30144213829512E-08"
+            ixz="5.81037523686401E-08"
+            iyy="0.364893736238929"
+            iyz="-0.000386720198091934"
+            izz="0.223868521722778" />
+            <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <link name="right_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="right_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="right_wheel_link"/>
+        <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="left_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="left_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="left_wheel_link"/>
+        <origin xyz="0 0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fl_castor_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="fl_castor_link" />
+        <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fr_castor_wheel" type="continuous">
+        <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="fr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rr_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rl_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rl_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+        <link name="fl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+               <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+               </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fl_wheel" type="continuous">
+            <parent link="fl_castor_link"/>
+            <child link="fl_wheel_link"/>
+             <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="fr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                   <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fr_wheel" type="continuous">
+            <parent link="fr_castor_link"/>
+            <child link="fr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+                <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rr_wheel" type="continuous">
+            <parent link="rr_castor_link"/>
+            <child link="rr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rl_wheel" type="continuous">
+            <parent link="rl_castor_link"/>
+            <child link="rl_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+    <!-- aloha base -->
+    <joint name="box_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box1_Link">
+        <inertial>
+            <origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
+            <mass value="0.00014994" />
+            <inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="box1" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="box1_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="box2" type="fixed">
+        <origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="box2_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+
+
+    <link
+    name="camera_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
+        rpy="0 0 0" />
+      <mass
+        value="0.336269569361489" />
+      <inertia
+        ixx="0.00580628296841397"
+        ixy="3.98435937176716E-10"
+        ixz="-2.42350052877161E-05"
+        iyy="0.00582602200678083"
+        iyz="2.9180594404216E-10"
+        izz="0.000186894283496158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+      <!-- <material
+        name="white">
+        <color rgba="0.752 0.7529 0.7529 1" />
+      </material> -->
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+    <joint name="camera_to_box1" type="fixed">
+        <origin xyz="0.18 0 0.626" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="camera_base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+  <link
+    name="camera_link1">
+    <inertial>
+      <origin
+        xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
+        rpy="0 0 0" />
+      <mass
+        value="0.0877001598245188" />
+      <inertia
+        ixx="7.77343248794949E-05"
+        ixy="2.44922634558373E-07"
+        ixz="1.73341747661077E-08"
+        iyy="9.73521513961785E-06"
+        iyz="-2.86133018917868E-09"
+        izz="7.74948757118157E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.dae" />
+      </geometry>
+      <!-- <material
+        name="black">
+            <color rgba="0.05 0.05 0.05 0.98" />
+      </material> -->
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_joint1" type="fixed">
+    <origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
+    <parent link="camera_base_link" />
+    <child link="camera_link1" />
+    <axis xyz="0 0 0" ryp="0 0 0"/>
+  </joint>
+  <link name="camera_link2">
+    <inertial>
+      <origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
+      <mass value="0.0877001605148491" />
+      <inertia
+        ixx="7.77338961798341E-05"
+        ixy="2.44922367048273E-07"
+        ixz="1.80373226250749E-08"
+        iyy="9.73521616927317E-06"
+        iyz="-2.86130173714525E-09"
+        izz="7.74953085203139E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.dae" />
+      </geometry>
+      <!-- <material name="black">
+
+      </material> -->
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_joint2" type="fixed">  
+    <!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
+    <origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
+    <parent link="camera_link1" />
+    <child link="camera_link2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+    <!--***************************** front-left ****************************** -->
+    <link name="fl_base_link">
+        <inertial>
+            <origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
+            <mass value="0.155112526591278" />
+            <inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.05 0.05 0.05 0.98" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_base_joint" type="fixed">
+        <origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fl_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    
+    <link name="fl_link1">
+        <inertial>
+            <origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
+            <mass value="0.0216291264377367" />
+            <inertia
+                ixx="1.15756471313396E-05"
+                ixy="1.63728784702967E-06"
+                ixz="-2.73767909517805E-06"
+                iyy="9.54605859943272E-06"
+                iyz="3.01605409074901E-06"
+                izz="1.06781021447089E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint1" type="revolute">
+        <origin xyz="0 0 0.058" rpy="0 0 0" />
+        <parent link="fl_base_link" />
+        <child link="fl_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link2">
+        <inertial>
+            <origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
+            <mass value="0.317040634327494" />
+            <inertia
+                ixx="0.000148622978788109"
+                ixy="7.9939701538228E-06"
+                ixz="2.11594522192149E-06"
+                iyy="0.000646291918352959"
+                iyz="-1.99305353242084E-08"
+                izz="0.000613128041834933" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                
+            </material> -->
+        </visual>
+        <collision>
+        <origin  xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint2" type="revolute">
+        <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
+        <parent link="fl_link1" />
+        <child link="fl_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link3">
+        <inertial>
+            <origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
+            <mass value="0.475179901151789" />
+            <inertia
+                ixx="0.000245797731408424"
+                ixy="-1.18756934981885E-06"
+                ixz="-3.08627546217305E-07"
+                iyy="0.000848596965773723"
+                iyz="2.1655980060709E-07"
+                izz="0.00073290848648715" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752 0.7529 0.7529 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint3" type="revolute">
+        <origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
+        <parent link="fl_link2" />
+        <child link="fl_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link4">
+        <inertial>
+            <origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
+            <mass value="0.138133633872797" />
+            <inertia
+                ixx="5.6812931750694E-05"
+                ixy="3.18564570369191E-06"
+                ixz="3.31187610383292E-06"
+                iyy="5.56751697137782E-05"
+                iyz="-2.13897740775086E-06"
+                izz="6.42957251144152E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+            
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint4" type="revolute">
+        <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
+        <parent link="fl_link3" />
+        <child link="fl_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link5">
+        <inertial>
+            <origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
+            <mass value="0.126741777607625" />
+            <inertia
+                ixx="5.2870226427243E-05"
+                ixy="-3.41758559092594E-08"
+                ixz="1.05281937338646E-06"
+                iyy="4.14245046680039E-05"
+                iyz="-7.47381113966083E-08"
+                izz="4.46265559731496E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint5" type="revolute">
+        <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
+        <parent link="fl_link4" />
+        <child link="fl_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link6">
+        <inertial>
+            <origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
+            <mass value="0.142880100739169" />
+            <inertia
+                ixx="9.84190386012445E-05"
+                ixy="9.90777828593097E-08"
+                ixz="2.38841662850396E-07"
+                iyy="3.95328645641678E-05"
+                iyz="2.8992956673539E-07"
+                izz="8.4711562610471E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint6" type="revolute">
+        <origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
+        <parent link="fl_link5" />
+        <child link="fl_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+
+    <!-- 相机的链接 -->
+    <link name="left_camera">
+        <visual>
+            <origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 -0.032 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="left_camera_joint" type="fixed">
+        <parent link="fl_link6"/>
+        <child link="left_camera"/>
+        <origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
+        <!-- <origin xyz="0.07 0.032 0.06" rpy="0 0 0"/> 根据相机的安装位置调整 -->
+    </joint>
+
+    <link name="fl_link7">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="-0.018 0.1 -0.03" rpy="1.5708 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint7" type="prismatic">
+        <origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fl_Link7">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fl_Joint7"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fl_link7" />
+        <child
+        link="vtac_add_fl_Link7" />
+        <axis
+        xyz="0 0 0" />
+    </joint>    
+    <!--***************************** add ****************************** -->    
+    <link name="fl_link8">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint8" type="prismatic">
+        <origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link8" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fl_Link8">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fl_Joint9"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fl_link8" />
+        <child
+        link="vtac_add_fl_Link8" />
+        <axis
+        xyz="0 0 0" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <!--***************************** front-right ****************************** -->
+    <link name="fr_base_link">
+        <inertial>
+            <origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
+            <mass value="0.155112526591278" />
+            <inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="fr_base_joint" type="fixed">
+        <origin xyz="0.233 -0.3 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    
+  <link name="fr_link1">
+        <inertial>
+            <origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
+            <mass value="0.0216291264377367" />
+            <inertia
+                ixx="1.15756471313396E-05"
+                ixy="1.63728784702967E-06"
+                ixz="-2.73767909517805E-06"
+                iyy="9.54605859943272E-06"
+                iyz="3.01605409074901E-06"
+                izz="1.06781021447089E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint1" type="revolute">
+        <origin xyz="0 0 0.058" rpy="0 0 0" />
+        <parent link="fr_base_link" />
+        <child link="fr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link2">
+        <inertial>
+            <origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
+            <mass value="0.317040634327494" />
+            <inertia
+                ixx="0.000148622978788109"
+                ixy="7.9939701538228E-06"
+                ixz="2.11594522192149E-06"
+                iyy="0.000646291918352959"
+                iyz="-1.99305353242084E-08"
+                izz="0.000613128041834933" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint2" type="revolute">
+        <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
+        <parent link="fr_link1" />
+        <child link="fr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link3">
+        <inertial>
+            <origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
+            <mass value="0.475179901151789" />
+            <inertia
+                ixx="0.000245797731408424"
+                ixy="-1.18756934981885E-06"
+                ixz="-3.08627546217305E-07"
+                iyy="0.000848596965773723"
+                iyz="2.1655980060709E-07"
+                izz="0.00073290848648715" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint3" type="revolute">
+        <origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
+        <parent link="fr_link2" />
+        <child link="fr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link4">
+        <inertial>
+            <origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
+            <mass value="0.138133633872797" />
+            <inertia
+                ixx="5.6812931750694E-05"
+                ixy="3.18564570369191E-06"
+                ixz="3.31187610383292E-06"
+                iyy="5.56751697137782E-05"
+                iyz="-2.13897740775086E-06"
+                izz="6.42957251144152E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint4" type="revolute">
+        <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
+        <parent link="fr_link3" />
+        <child link="fr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link5">
+        <inertial>
+            <origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
+            <mass value="0.126741777607625" />
+            <inertia
+                ixx="5.2870226427243E-05"
+                ixy="-3.41758559092594E-08"
+                ixz="1.05281937338646E-06"
+                iyy="4.14245046680039E-05"
+                iyz="-7.47381113966083E-08"
+                izz="4.46265559731496E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint5" type="revolute">
+        <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
+        <parent link="fr_link4" />
+        <child link="fr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link6">
+        <inertial>
+            <origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
+            <mass value="0.142880100739169" />
+            <inertia
+                ixx="9.84190386012445E-05"
+                ixy="9.90777828593097E-08"
+                ixz="2.38841662850396E-07"
+                iyy="3.95328645641678E-05"
+                iyz="2.8992956673539E-07"
+                izz="8.4711562610471E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint6" type="revolute">
+        <origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
+        <parent link="fr_link5" />
+        <child link="fr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+
+
+    <!-- 相机的链接 -->
+    <link name="right_camera">
+        <visual>
+            <origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0 0 0.1 1"/>
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 -0.032 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="right_camera_joint" type="fixed">
+        <parent link="fr_link6"/>
+        <child link="right_camera"/>
+        <origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
+    </joint>
+
+    <link name="fr_link7">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint7" type="prismatic">
+        <origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fr_Link7">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fr_Joint7"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fr_link7" />
+        <child
+        link="vtac_add_fr_Link7" />
+        <axis
+        xyz="0 0 0" />
+    </joint>    
+    <!--***************************** add ****************************** -->
+    <link name="fr_link8">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint8" type="prismatic">
+        <origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link8" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+        <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fr_Link8">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fr_Joint9"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fr_link8" />
+        <child
+        link="vtac_add_fr_Link8" />
+        <axis
+        xyz="0 0 0" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <!--***************************** left-rear ****************************** -->
+    <link name="lr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_base_joint" type="fixed">
+        <origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="lr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="lr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="lr_base_link" />
+        <child link="lr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="lr_link1" />
+        <child link="lr_link2" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="lr_link2" />
+        <child link="lr_link3" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="lr_link3" />
+        <child link="lr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="lr_link4" />
+        <child link="lr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="lr_link5" />
+        <child link="lr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint7" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="lr_link6" />
+        <child link="lr_link7" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.4765" effort="100" velocity="1000" />
+    </joint>
+    
+
+    <!--***************************** right-rear ****************************** -->
+    <link name="rr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_base_joint" type="fixed">
+        <origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="rr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="rr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="rr_base_link" />
+        <child link="rr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="rr_link1" />
+        <child link="rr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="rr_link2" />
+        <child link="rr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="rr_link3" />
+        <child link="rr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="rr_link4" />
+        <child link="rr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="rr_link5" />
+        <child link="rr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint7" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="rr_link6" />
+        <child link="rr_link7" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.4765" effort="100" velocity="1000" />
+    </joint>
+    
+    
+
+</robot>
+

embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac_package_keyword_replaced.urdf

@@ -0,0 +1,1640 @@
+<?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="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- <link name="footprint"/> -->
+
+    <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
+    <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
+
+    <link name="footprint">
+    </link>
+
+    <!-- tracer base -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
+            <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
+                 <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
+            </geometry>
+        </visual>
+        <collision>
+          <!--origin
+            xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+            rpy="0 0 0" /-->
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+          <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
+              <box size="0.35 0.1 0.35"/>
+          </geometry>
+        </collision>
+    </link>
+    <link name="inertial_link">
+        <inertial>
+            <!--mass value="44.3898489950015" /-->
+            <mass value="132.3898489950015" />
+            <!-- <mass value="50" /> -->
+            <!-- <origin xyz="-0.00065 -0.085 0.062" />
+            <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
+            <origin xyz="0.015 0.0231316650320557 0" />
+            <!--<origin
+              xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+              rpy="0 0 0" />-->
+            <inertia ixx="0.185196122711036"
+            ixy="4.30144213829512E-08"
+            ixz="5.81037523686401E-08"
+            iyy="0.364893736238929"
+            iyz="-0.000386720198091934"
+            izz="0.223868521722778" />
+            <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <link name="right_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="right_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="right_wheel_link"/>
+        <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="left_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="left_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="left_wheel_link"/>
+        <origin xyz="0 0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fl_castor_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="fl_castor_link" />
+        <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fr_castor_wheel" type="continuous">
+        <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="fr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rr_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rl_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rl_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+        <link name="fl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+               <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+               </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fl_wheel" type="continuous">
+            <parent link="fl_castor_link"/>
+            <child link="fl_wheel_link"/>
+             <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="fr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                   <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fr_wheel" type="continuous">
+            <parent link="fr_castor_link"/>
+            <child link="fr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+                <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rr_wheel" type="continuous">
+            <parent link="rr_castor_link"/>
+            <child link="rr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rl_wheel" type="continuous">
+            <parent link="rl_castor_link"/>
+            <child link="rl_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+    <!-- aloha base -->
+    <joint name="box_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box1_Link">
+        <inertial>
+            <origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
+            <mass value="0.00014994" />
+            <inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="box1" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="box1_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="box2" type="fixed">
+        <origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="box2_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+
+
+    <link
+    name="camera_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
+        rpy="0 0 0" />
+      <mass
+        value="0.336269569361489" />
+      <inertia
+        ixx="0.00580628296841397"
+        ixy="3.98435937176716E-10"
+        ixz="-2.42350052877161E-05"
+        iyy="0.00582602200678083"
+        iyz="2.9180594404216E-10"
+        izz="0.000186894283496158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+      <!-- <material
+        name="white">
+        <color rgba="0.752 0.7529 0.7529 1" />
+      </material> -->
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+
+    <joint name="camera_to_box1" type="fixed">
+        <origin xyz="0.18 0 0.626" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="camera_base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+  <link
+    name="camera_link1">
+    <inertial>
+      <origin
+        xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
+        rpy="0 0 0" />
+      <mass
+        value="0.0877001598245188" />
+      <inertia
+        ixx="7.77343248794949E-05"
+        ixy="2.44922634558373E-07"
+        ixz="1.73341747661077E-08"
+        iyy="9.73521513961785E-06"
+        iyz="-2.86133018917868E-09"
+        izz="7.74948757118157E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.dae" />
+      </geometry>
+      <!-- <material
+        name="black">
+            <color rgba="0.05 0.05 0.05 0.98" />
+      </material> -->
+    </visual>
+    <!-- <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="camera_joint1" type="fixed">
+    <origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
+    <parent link="camera_base_link" />
+    <child link="camera_link1" />
+    <axis xyz="0 0 0" ryp="0 0 0"/>
+  </joint>
+  <link name="camera_link2">
+    <inertial>
+      <origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
+      <mass value="0.0877001605148491" />
+      <inertia
+        ixx="7.77338961798341E-05"
+        ixy="2.44922367048273E-07"
+        ixz="1.80373226250749E-08"
+        iyy="9.73521616927317E-06"
+        iyz="-2.86130173714525E-09"
+        izz="7.74953085203139E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.dae" />
+      </geometry>
+      <!-- <material name="black">
+
+      </material> -->
+    </visual>
+    <!-- <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.STL" />
+      </geometry>
+    </collision> -->
+  </link>
+  <joint name="camera_joint2" type="fixed">  
+    <!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
+    <origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
+    <parent link="camera_link1" />
+    <child link="camera_link2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+    <!--***************************** front-left ****************************** -->
+    <link name="fl_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_base_joint" type="fixed">
+        <origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fl_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="fl_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="fl_base_link" />
+        <child link="fl_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="fl_link1" />
+        <child link="fl_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="fl_link2" />
+        <child link="fl_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="fl_link3" />
+        <child link="fl_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="fl_link4" />
+        <child link="fl_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="fl_link5" />
+        <child link="fl_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <!-- 相机的链接 -->
+    <link name="camera">
+        <visual>
+            <origin xyz="-0.01 0 0.05" rpy="2.1061 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <material name="black">
+                <color rgba="0 0 0.1 1"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.01 0.050 0.01"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="camera_joint" type="fixed">
+        <parent link="fl_link6"/>
+        <child link="camera"/>
+        <origin xyz="0.05 0 0.025" rpy="0 0 0"/> <!-- 根据相机的安装位置调整 -->
+    </joint>
+
+
+    <!-- <joint name="fixed_camera" type="fixed">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="fl_link6" />
+        <child link="camera_link" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint> -->
+
+
+    <link name="fl_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint7" type="prismatic">
+        <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link7" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+    <link name="fl_link8">
+        <inertial>
+            <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
+            <mass value="0.0484016646136083" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint8" type="prismatic">
+        <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link8" />
+        <axis xyz="0 -1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+    <!--***************************** front-right ****************************** -->
+    <link name="fr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_base_joint" type="fixed">
+        <origin xyz="0.233 -0.307 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="fr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="fr_base_link" />
+        <child link="fr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="fr_link1" />
+        <child link="fr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="fr_link2" />
+        <child link="fr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="fr_link3" />
+        <child link="fr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="fr_link4" />
+        <child link="fr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="fr_link5" />
+        <child link="fr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <!-- 相机的链接 -->
+    <link name="camera_right">
+        <visual>
+            <origin xyz="-0.01 0 0.05" rpy="2.1061 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0 0 0.1 1"/>
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.01 0.050 0.01"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="camera_joint_right" type="fixed">
+        <parent link="fr_link6"/>
+        <child link="camera_right"/>
+        <origin xyz="0.05 0 0.04" rpy="0 0 0"/> <!-- 根据相机的安装位置调整 -->
+    </joint>
+
+    <link name="fr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint7" type="prismatic">
+        <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link7" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+    <link name="fr_link8">
+        <inertial>
+            <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
+            <mass value="0.0484016646136083" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint8" type="prismatic">
+        <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link8" />
+        <axis xyz="0 -1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+
+    <!--***************************** left-rear ****************************** -->
+    <link name="lr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_base_joint" type="fixed">
+        <origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="lr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="lr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="lr_base_link" />
+        <child link="lr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="lr_link1" />
+        <child link="lr_link2" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="lr_link2" />
+        <child link="lr_link3" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="lr_link3" />
+        <child link="lr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="lr_link4" />
+        <child link="lr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="lr_link5" />
+        <child link="lr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint7" type="prismatic">
+        <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
+        <parent link="lr_link6" />
+        <child link="lr_link7" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+    <link name="lr_link8">
+        <inertial>
+            <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
+            <mass value="0.0484016646136083" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="lr_joint8" type="prismatic">
+        <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
+        <parent link="lr_link6" />
+        <child link="lr_link8" />
+        <axis xyz="0 -1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+
+    <!--***************************** right-rear ****************************** -->
+    <link name="rr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_base_joint" type="fixed">
+        <origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="rr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="rr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="rr_base_link" />
+        <child link="rr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="rr_link1" />
+        <child link="rr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="rr_link2" />
+        <child link="rr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="rr_link3" />
+        <child link="rr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="rr_link4" />
+        <child link="rr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="rr_link5" />
+        <child link="rr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint7" type="prismatic">
+        <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
+        <parent link="rr_link6" />
+        <child link="rr_link7" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+    <link name="rr_link8">
+        <inertial>
+            <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
+            <mass value="0.0484016646136083" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material>
+        </visual>
+        <!-- <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
+            </geometry>
+        </collision> -->
+    </link>
+    <joint name="rr_joint8" type="prismatic">
+        <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
+        <parent link="rr_link6" />
+        <child link="rr_link8" />
+        <axis xyz="0 -1 0" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="100" />
+    </joint>
+
+</robot>
+

embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac（复件）.urdf

@@ -0,0 +1,1901 @@
+<?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="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- <link name="footprint"/> -->
+
+    <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
+    <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
+
+    <link name="footprint">
+    </link>
+
+    <!-- tracer base -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
+            <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
+                 <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
+            </geometry>
+        </visual>
+        <collision>
+          <!--origin
+            xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+            rpy="0 0 0" /-->
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+          <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
+              <box size="0.35 0.1 0.35"/>
+          </geometry>
+        </collision>
+    </link>
+    <link name="inertial_link">
+        <inertial>
+            <!--mass value="44.3898489950015" /-->
+            <mass value="132.3898489950015" />
+            <!-- <mass value="50" /> -->
+            <!-- <origin xyz="-0.00065 -0.085 0.062" />
+            <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
+            <origin xyz="0.015 0.0231316650320557 0" />
+            <!--<origin
+              xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
+              rpy="0 0 0" />-->
+            <inertia ixx="0.185196122711036"
+            ixy="4.30144213829512E-08"
+            ixz="5.81037523686401E-08"
+            iyy="0.364893736238929"
+            iyz="-0.000386720198091934"
+            izz="0.223868521722778" />
+            <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <link name="right_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="right_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="right_wheel_link"/>
+        <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="left_wheel_link">
+        <inertial>
+            <mass value="6" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="1.57 0 0" />
+        <geometry>
+            <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
+            <cylinder radius="0.05" length="0.05" />
+        </geometry>
+        </collision>
+    </link>
+
+    <joint name="left_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="left_wheel_link"/>
+        <origin xyz="0 0.17 -0.082" rpy="0 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fl_castor_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="fl_castor_link" />
+        <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />        
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="fr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="fr_castor_wheel" type="continuous">
+        <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="fr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rr_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rr_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rr_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="rl_castor_link">
+        <inertial>
+            <mass value="1" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+        </inertial>
+        <visual>
+                <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
+                </geometry>
+        </visual>
+    </link>
+
+    <joint name="rl_castor_wheel" type="continuous">
+        <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
+        <parent link="base_link" />
+        <child link="rl_castor_link" />
+        <axis xyz="0 1 0" rpy="0 0 0" />
+    </joint>
+
+        <link name="fl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+               <geometry>
+                    <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+               </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fl_wheel" type="continuous">
+            <parent link="fl_castor_link"/>
+            <child link="fl_wheel_link"/>
+             <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="fr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                   <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="fr_wheel" type="continuous">
+            <parent link="fr_castor_link"/>
+            <child link="fr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rr_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+                <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rr_wheel" type="continuous">
+            <parent link="rr_castor_link"/>
+            <child link="rr_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+        <link name="rl_wheel_link">
+            <inertial>
+                <mass value="1" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
+            </inertial>
+            <visual>
+                   <geometry>
+                        <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
+                   </geometry>
+            </visual>
+            <collision>
+              <origin
+                xyz="0 0 0"
+                rpy="0 0 0" />
+              <geometry>
+                <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
+                <cylinder radius="0.025" length="0.025" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rl_wheel" type="continuous">
+            <parent link="rl_castor_link"/>
+            <child link="rl_wheel_link"/>
+            <dynamics damping="0.0" friction="0.0"/>
+            <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
+            <axis xyz="0 0 1" rpy="0 0 0" />
+        </joint>
+
+    <!-- aloha base -->
+    <joint name="box_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box1_Link">
+        <inertial>
+            <origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
+            <mass value="0.00014994" />
+            <inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="-0.05 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="box1" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="box1_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="box2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="box2" type="fixed">
+        <origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="box2_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+
+
+    <link
+    name="camera_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
+        rpy="0 0 0" />
+      <mass
+        value="0.336269569361489" />
+      <inertia
+        ixx="0.00580628296841397"
+        ixy="3.98435937176716E-10"
+        ixz="-2.42350052877161E-05"
+        iyy="0.00582602200678083"
+        iyz="2.9180594404216E-10"
+        izz="0.000186894283496158" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+      <!-- <material
+        name="white">
+        <color rgba="0.752 0.7529 0.7529 1" />
+      </material> -->
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+    <joint name="camera_to_box1" type="fixed">
+        <origin xyz="0.18 0 0.626" rpy="0 0 0" />
+        <parent link="box1_Link" />
+        <child link="camera_base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+  <link
+    name="camera_link1">
+    <inertial>
+      <origin
+        xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
+        rpy="0 0 0" />
+      <mass
+        value="0.0877001598245188" />
+      <inertia
+        ixx="7.77343248794949E-05"
+        ixy="2.44922634558373E-07"
+        ixz="1.73341747661077E-08"
+        iyy="9.73521513961785E-06"
+        iyz="-2.86133018917868E-09"
+        izz="7.74948757118157E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.dae" />
+      </geometry>
+      <!-- <material
+        name="black">
+            <color rgba="0.05 0.05 0.05 0.98" />
+      </material> -->
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_joint1" type="fixed">
+    <origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
+    <parent link="camera_base_link" />
+    <child link="camera_link1" />
+    <axis xyz="0 0 0" ryp="0 0 0"/>
+  </joint>
+  <link name="camera_link2">
+    <inertial>
+      <origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
+      <mass value="0.0877001605148491" />
+      <inertia
+        ixx="7.77338961798341E-05"
+        ixy="2.44922367048273E-07"
+        ixz="1.80373226250749E-08"
+        iyy="9.73521616927317E-06"
+        iyz="-2.86130173714525E-09"
+        izz="7.74953085203139E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.dae" />
+      </geometry>
+      <!-- <material name="black">
+
+      </material> -->
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="aloha_maniskill_sim/meshes/camera_link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="camera_joint2" type="fixed">  
+    <!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
+    <origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
+    <parent link="camera_link1" />
+    <child link="camera_link2" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+
+    <!--***************************** front-left ****************************** -->
+    <link name="fl_base_link">
+        <inertial>
+            <origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
+            <mass value="0.155112526591278" />
+            <inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.05 0.05 0.05 0.98" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_base_joint" type="fixed">
+        <origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fl_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    
+    <link name="fl_link1">
+        <inertial>
+            <origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
+            <mass value="0.0216291264377367" />
+            <inertia
+                ixx="1.15756471313396E-05"
+                ixy="1.63728784702967E-06"
+                ixz="-2.73767909517805E-06"
+                iyy="9.54605859943272E-06"
+                iyz="3.01605409074901E-06"
+                izz="1.06781021447089E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint1" type="revolute">
+        <origin xyz="0 0 0.058" rpy="0 0 0" />
+        <parent link="fl_base_link" />
+        <child link="fl_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link2">
+        <inertial>
+            <origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
+            <mass value="0.317040634327494" />
+            <inertia
+                ixx="0.000148622978788109"
+                ixy="7.9939701538228E-06"
+                ixz="2.11594522192149E-06"
+                iyy="0.000646291918352959"
+                iyz="-1.99305353242084E-08"
+                izz="0.000613128041834933" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                
+            </material> -->
+        </visual>
+        <collision>
+        <origin  xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint2" type="revolute">
+        <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
+        <parent link="fl_link1" />
+        <child link="fl_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fl_link3">
+        <inertial>
+            <origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
+            <mass value="0.475179901151789" />
+            <inertia
+                ixx="0.000245797731408424"
+                ixy="-1.18756934981885E-06"
+                ixz="-3.08627546217305E-07"
+                iyy="0.000848596965773723"
+                iyz="2.1655980060709E-07"
+                izz="0.00073290848648715" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752 0.7529 0.7529 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint3" type="revolute">
+        <origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
+        <parent link="fl_link2" />
+        <child link="fl_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link4">
+        <inertial>
+            <origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
+            <mass value="0.138133633872797" />
+            <inertia
+                ixx="5.6812931750694E-05"
+                ixy="3.18564570369191E-06"
+                ixz="3.31187610383292E-06"
+                iyy="5.56751697137782E-05"
+                iyz="-2.13897740775086E-06"
+                izz="6.42957251144152E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+            
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint4" type="revolute">
+        <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
+        <parent link="fl_link3" />
+        <child link="fl_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link5">
+        <inertial>
+            <origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
+            <mass value="0.126741777607625" />
+            <inertia
+                ixx="5.2870226427243E-05"
+                ixy="-3.41758559092594E-08"
+                ixz="1.05281937338646E-06"
+                iyy="4.14245046680039E-05"
+                iyz="-7.47381113966083E-08"
+                izz="4.46265559731496E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint5" type="revolute">
+        <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
+        <parent link="fl_link4" />
+        <child link="fl_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+        <link name="fl_link6">
+        <inertial>
+            <origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
+            <mass value="0.142880100739169" />
+            <inertia
+                ixx="9.84190386012445E-05"
+                ixy="9.90777828593097E-08"
+                ixz="2.38841662850396E-07"
+                iyy="3.95328645641678E-05"
+                iyz="2.8992956673539E-07"
+                izz="8.4711562610471E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint6" type="revolute">
+        <origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
+        <parent link="fl_link5" />
+        <child link="fl_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+
+    <!-- 相机的链接 -->
+    <link name="left_camera">
+        <visual>
+            <origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 -0.032 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="left_camera_joint" type="fixed">
+        <parent link="fl_link6"/>
+        <child link="left_camera"/>
+        <origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
+        <!-- <origin xyz="0.07 0.032 0.06" rpy="0 0 0"/> 根据相机的安装位置调整 -->
+    </joint>
+
+    <link name="fl_link7">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="-0.018 0.1 -0.03" rpy="1.5708 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint7" type="prismatic">
+        <origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fl_Link7">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fl_Joint7"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fl_link7" />
+        <child
+        link="vtac_add_fl_Link7" />
+        <axis
+        xyz="0 0 0" />
+    </joint>    
+    <!--***************************** add ****************************** -->    
+    <link name="fl_link8">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint8" type="prismatic">
+        <origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
+        <parent link="fl_link6" />
+        <child link="fl_link8" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fl_Link8">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fl_Joint9"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fl_link8" />
+        <child
+        link="vtac_add_fl_Link8" />
+        <axis
+        xyz="0 0 0" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <!--***************************** front-right ****************************** -->
+    <link name="fr_base_link">
+        <inertial>
+            <origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
+            <mass value="0.155112526591278" />
+            <inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="fr_base_joint" type="fixed">
+        <origin xyz="0.233 -0.3 0.7775" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="fr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    
+  <link name="fr_link1">
+        <inertial>
+            <origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
+            <mass value="0.0216291264377367" />
+            <inertia
+                ixx="1.15756471313396E-05"
+                ixy="1.63728784702967E-06"
+                ixz="-2.73767909517805E-06"
+                iyy="9.54605859943272E-06"
+                iyz="3.01605409074901E-06"
+                izz="1.06781021447089E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint1" type="revolute">
+        <origin xyz="0 0 0.058" rpy="0 0 0" />
+        <parent link="fr_base_link" />
+        <child link="fr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link2">
+        <inertial>
+            <origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
+            <mass value="0.317040634327494" />
+            <inertia
+                ixx="0.000148622978788109"
+                ixy="7.9939701538228E-06"
+                ixz="2.11594522192149E-06"
+                iyy="0.000646291918352959"
+                iyz="-1.99305353242084E-08"
+                izz="0.000613128041834933" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint2" type="revolute">
+        <origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
+        <parent link="fr_link1" />
+        <child link="fr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link3">
+        <inertial>
+            <origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
+            <mass value="0.475179901151789" />
+            <inertia
+                ixx="0.000245797731408424"
+                ixy="-1.18756934981885E-06"
+                ixz="-3.08627546217305E-07"
+                iyy="0.000848596965773723"
+                iyz="2.1655980060709E-07"
+                izz="0.00073290848648715" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint3" type="revolute">
+        <origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
+        <parent link="fr_link2" />
+        <child link="fr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link4">
+        <inertial>
+            <origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
+            <mass value="0.138133633872797" />
+            <inertia
+                ixx="5.6812931750694E-05"
+                ixy="3.18564570369191E-06"
+                ixz="3.31187610383292E-06"
+                iyy="5.56751697137782E-05"
+                iyz="-2.13897740775086E-06"
+                izz="6.42957251144152E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint4" type="revolute">
+        <origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
+        <parent link="fr_link3" />
+        <child link="fr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link
+        name="fr_link5">
+        <inertial>
+            <origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
+            <mass value="0.126741777607625" />
+            <inertia
+                ixx="5.2870226427243E-05"
+                ixy="-3.41758559092594E-08"
+                ixz="1.05281937338646E-06"
+                iyy="4.14245046680039E-05"
+                iyz="-7.47381113966083E-08"
+                izz="4.46265559731496E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint5" type="revolute">
+        <origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
+        <parent link="fr_link4" />
+        <child link="fr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="fr_link6">
+        <inertial>
+            <origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
+            <mass value="0.142880100739169" />
+            <inertia
+                ixx="9.84190386012445E-05"
+                ixy="9.90777828593097E-08"
+                ixz="2.38841662850396E-07"
+                iyy="3.95328645641678E-05"
+                iyz="2.8992956673539E-07"
+                izz="8.4711562610471E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint6" type="revolute">
+        <origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
+        <parent link="fr_link5" />
+        <child link="fr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+
+
+    <!-- 相机的链接 -->
+    <link name="right_camera">
+        <visual>
+            <origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0 0 0.1 1"/>
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 -0.032 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
+            </geometry>
+        </collision>
+        <inertial>
+        <mass value="0.1"/> <!-- 相机的估计质量 -->
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
+        </inertial>
+    </link>
+
+    <!-- 连接相机和末端执行器的关节 -->
+    <joint name="right_camera_joint" type="fixed">
+        <parent link="fr_link6"/>
+        <child link="right_camera"/>
+        <origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
+    </joint>
+
+    <link name="fr_link7">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint7" type="prismatic">
+        <origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fr_Link7">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fr_Joint7"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fr_link7" />
+        <child
+        link="vtac_add_fr_Link7" />
+        <axis
+        xyz="0 0 0" />
+    </joint>    
+    <!--***************************** add ****************************** -->
+    <link name="fr_link8">
+        <inertial>
+            <origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
+            <mass value="0.034314" />
+            <inertia
+                ixx="1.0937E-05"
+                ixy="-1.462E-06"
+                ixz="8.5479E-07"
+                iyy="1.6542E-05"
+                iyz="-1.2607E-07"
+                izz="2.2005E-05" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+            <!-- <material name="black">
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fr_joint8" type="prismatic">
+        <origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
+        <parent link="fr_link6" />
+        <child link="fr_link8" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04765" effort="100" velocity="1000" />
+    </joint>
+        <!--***************************** add ****************************** -->
+    <link
+        name="vtac_add_fr_Link8">
+        <inertial>
+        <origin
+            xyz="-0.00012031 -6.0135E-05 -0.0029026"
+            rpy="0 0 0" />
+        <mass
+            value="0.0027052" />
+        <inertia
+            ixx="1.5334E-07"
+            ixy="-6.2018E-11"
+            ixz="-6.0278E-10"
+            iyy="1.0648E-07"
+            iyz="-3.0133E-10"
+            izz="2.4837E-07" />
+        </inertial>
+        <visual>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        <material
+            name="transparent_material">
+            <color
+            rgba="1 1 1 0" />
+        </material>
+        </visual>
+        <collision>
+        <origin
+            xyz="0 0 0"
+            rpy="0 0 0" />
+        <geometry>
+            <mesh
+            filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint
+        name="vtac_add_fr_Joint9"
+        type="fixed">
+        <origin
+        xyz="0.071712 0.00025002 0.017695"
+        rpy="0 0 0" />
+        <parent
+        link="fr_link8" />
+        <child
+        link="vtac_add_fr_Link8" />
+        <axis
+        xyz="0 0 0" />
+    </joint>
+    <!--***************************** add ****************************** -->
+    <!--***************************** left-rear ****************************** -->
+    <link name="lr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_base_joint" type="fixed">
+        <origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="lr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="lr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="lr_base_link" />
+        <child link="lr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="lr_link1" />
+        <child link="lr_link2" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="lr_link2" />
+        <child link="lr_link3" />
+        <axis xyz="0 1 0" />
+        <dynamics damping="0.0" friction="100.0"/>
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="lr_link3" />
+        <child link="lr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="lr_link4" />
+        <child link="lr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="lr_link5" />
+        <child link="lr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="lr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="lr_joint7" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="lr_link6" />
+        <child link="lr_link7" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.4765" effort="100" velocity="1000" />
+    </joint>
+    
+
+    <!--***************************** right-rear ****************************** -->
+    <link name="rr_base_link">
+        <inertial>
+            <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
+            <mass value="0.44038" />
+            <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.75294 0.75294 0.75294 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_base_joint" type="fixed">
+        <origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
+        <parent link="footprint" />
+        <child link="rr_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+    <link name="rr_link1">
+        <inertial>
+            <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
+            <mass value="0.0608351104988555" />
+            <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint1" type="revolute">
+        <origin xyz="0 0 0.0603" rpy="0 0 0" />
+        <parent link="rr_base_link" />
+        <child link="rr_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link2">
+        <inertial>
+            <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
+            <mass value="1.0733279014126" />
+            <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint2" type="revolute">
+        <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
+        <parent link="rr_link1" />
+        <child link="rr_link2" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link3">
+        <inertial>
+            <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
+            <mass value="0.499404738025019" />
+            <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
+            </geometry>
+            <!-- <material name="white">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint3" type="revolute">
+        <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
+        <parent link="rr_link2" />
+        <child link="rr_link3" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link4">
+        <inertial>
+            <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
+            <mass value="0.0809712553169999" />
+            <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint4" type="revolute">
+        <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
+        <parent link="rr_link3" />
+        <child link="rr_link4" />
+        <axis xyz="0 1 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link5">
+        <inertial>
+            <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
+            <mass value="0.602357399313257" />
+            <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint5" type="revolute">
+        <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
+        <parent link="rr_link4" />
+        <child link="rr_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link6">
+        <inertial>
+            <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
+            <mass value="0.462244960775882" />
+            <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint6" type="revolute">
+        <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
+        <parent link="rr_link5" />
+        <child link="rr_link6" />
+        <axis xyz="1 0 0" />
+        <limit lower="-10" upper="10" effort="100" velocity="1000" />
+    </joint>
+    <link name="rr_link7">
+        <inertial>
+            <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
+            <mass value="0.0484016660227936" />
+            <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
+            </geometry>
+            <!-- <material name="black">
+                <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+            </material> -->
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rr_joint7" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="rr_link6" />
+        <child link="rr_link7" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.4765" effort="100" velocity="1000" />
+    </joint>
+    
+    
+
+</robot>
+

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(big_limit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/config/joint_names_big_limit.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'Left_joint2', 'Rright_Joint2', ]

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find big_limit)/urdf/big_limit.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find big_limit)/urdf.rviz" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find big_limit)/urdf/big_limit.urdf -urdf -model big_limit"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>big_limit</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for big_limit</p>
+    <p>This package contains configuration data, 3D models and launch files
+for big_limit robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/urdf/big_limit.csv

@@ -0,0 +1,5 @@
+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,0.00895157979030411,0.0364215348235876,3.07829537042094E-06,0,0,0,0.214689487753452,9.71591878800854E-05,-1.90126582652056E-06,2.194991635625E-08,0.000216463011868437,2.88388439788682E-08,0.000158039782933548,0,0,0,0,0,0,package://big_limit/meshes/base_link.STL,0.498039215686275,0.498039215686275,0.498039215686275,1,0,0,0,0,0,0,package://big_limit/meshes/base_link.STL,,装配体.STEP-1/M-D080-950001-C.STEP-1;装配体.STEP-1/DECXIN-2M-2159V2-1.STEP-1;装配体.STEP-1/____405.STEP-1/M-D080-180011-A.STEP-1;装配体.STEP-1/M-D080-950002-C.STEP-1;装配体.STEP-1/Pika Tracker XT302+2 PCBA.STEP-1;装配体.STEP-1/Pika Tracker PCBA V2.STEP-1;装配体.STEP-1/M-D080-950007-A.STEP-1;装配体.STEP-1/M-D080-950006-A.STEP-1;装配体.STEP-1/4310 ________.STEP-1,坐标系0,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+center_Link,0.00696244636080415,-7.4815793272686E-07,-2.69398424089518E-08,0,0,0,0.0175242780727404,2.50021259268606E-05,-2.84040463471761E-11,-5.45439344289834E-13,2.44907261966923E-05,3.99625892409664E-13,1.33286845101101E-06,0,0,0,0,0,0,package://big_limit/meshes/center_Link.STL,1,1,1,1,0,0,0,0,0,0,package://big_limit/meshes/center_Link.STL,,装配体.STEP-1/MANIFOLD_SOLID_BREP_80.STEP-1;limit-2;limit-1,坐标系1,基准轴1,center_joint,fixed,0,0.0794,0,3.1416,0,1.5708,base_link,0,0,0,100,1,-3.14,3.14,,,,,,,,
+Left_Link2,0.0349979672547298,-1.75293933603335E-05,0.0221808688734973,0,0,0,0.067021195078205,2.39707110963665E-05,-3.87108357994269E-10,-1.81031525739418E-05,5.08303478558264E-05,5.29682892786084E-10,4.55057387377733E-05,0,0,0,0,0,0,package://big_limit/meshes/Left_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://big_limit/meshes/Left_Link2.STL,,装配体.STEP-1/______1-1.STEP-1/__________.STEP-1;装配体.STEP-1/______1-1.STEP-1/____________.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-2;装配体.STEP-1/______1-1.STEP-1/M-D80-180008-A.STEP-1,坐标系4,基准轴5,Left_joint2,prismatic,0.020188,0,-0.089594,0,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,
+Rright_Link2,0.0349979672547298,-1.67593751504887E-05,0.0221808688734973,0,0,0,0.0670211950782051,2.39707110963853E-05,-3.42132512281158E-10,-1.81031525739416E-05,5.08303478558355E-05,5.29682902193692E-10,4.55057387377832E-05,0,0,0,0,0,0,package://big_limit/meshes/Rright_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://big_limit/meshes/Rright_Link2.STL,,装配体.STEP-1/______1.STEP-1/M-D80-180008-A.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-1;装配体.STEP-1/______1.STEP-1/____________.STEP-1;装配体.STEP-1/______1.STEP-1/__________.STEP-1,坐标系5,基准轴6,Rright_Joint2,prismatic,0.020188,0,0.089594,-3.1416,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/big_limit/urdf/big_limit.urdf

@@ -0,0 +1,221 @@
+<?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="big_limit">
+  <link
+    name="base_link1">
+    <inertial>
+      <origin
+        xyz="0.00895157979030411 0.0364215348235876 3.07829537042094E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.214689487753452" />
+      <inertia
+        ixx="9.71591878800854E-05"
+        ixy="-1.90126582652056E-06"
+        ixz="2.194991635625E-08"
+        iyy="0.000216463011868437"
+        iyz="2.88388439788682E-08"
+        izz="0.000158039782933548" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/base_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.498039215686275 0.498039215686275 0.498039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/base_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="center_Link">
+    <inertial>
+      <origin
+        xyz="0.00696244636080415 -7.4815793272686E-07 -2.69398424089518E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.0175242780727404" />
+      <inertia
+        ixx="2.50021259268606E-05"
+        ixy="-2.84040463471761E-11"
+        ixz="-5.45439344289834E-13"
+        iyy="2.44907261966923E-05"
+        iyz="3.99625892409664E-13"
+        izz="1.33286845101101E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/center_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/center_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="center_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0794 0"
+      rpy="3.1416 0 1.5708" />
+    <parent
+      link="base_link1" />
+    <child
+      link="center_Link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Left_Link2">
+    <inertial>
+      <origin
+        xyz="0.0349979672547298 -1.75293933603335E-05 0.0221808688734973"
+        rpy="0 0 0" />
+      <mass
+        value="0.067021195078205" />
+      <inertia
+        ixx="2.39707110963665E-05"
+        ixy="-3.87108357994269E-10"
+        ixz="-1.81031525739418E-05"
+        iyy="5.08303478558264E-05"
+        iyz="5.29682892786084E-10"
+        izz="4.55057387377733E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/Left_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/Left_Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_joint2"
+    type="prismatic">
+    <origin
+      xyz="0.020188 0 -0.089594"
+      rpy="0 0 0" />
+    <parent
+      link="center_Link" />
+    <child
+      link="Left_Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Rright_Link2">
+    <inertial>
+      <origin
+        xyz="0.0349979672547298 -1.67593751504887E-05 0.0221808688734973"
+        rpy="0 0 0" />
+      <mass
+        value="0.0670211950782051" />
+      <inertia
+        ixx="2.39707110963853E-05"
+        ixy="-3.42132512281158E-10"
+        ixz="-1.81031525739416E-05"
+        iyy="5.08303478558355E-05"
+        iyz="5.29682902193692E-10"
+        izz="4.55057387377832E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/Rright_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://big_limit/meshes/Rright_Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rright_Joint2"
+    type="prismatic">
+    <origin
+      xyz="0.020188 0 0.089594"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="center_Link" />
+    <child
+      link="Rright_Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+</robot>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/config/joint_names_gripper6.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'Center_rotate_Joint', 'Left_Joint1', 'Right_joint1', 'Rright_Joint2', 'Left_joint2', ]

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/launch/display.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find gripper6)/urdf/gripper6.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find gripper6)/urdf.rviz" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/launch/gazebo.launch

@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find gripper6)/urdf/gripper6.urdf -urdf -model gripper6"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.csv

@@ -0,0 +1,8 @@
+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,0.0089515797903041,0.0364215348235876,3.07829537042267E-06,0,0,0,0.214689487753452,9.71591878800853E-05,-1.90126582652054E-06,2.1949916356236E-08,0.000216463011868437,2.88388439788687E-08,0.000158039782933548,0,0,0,0,0,0,package://gripper6/meshes/base_link.STL,0.498039215686275,0.498039215686275,0.498039215686275,1,0,0,0,0,0,0,package://gripper6/meshes/base_link.STL,,装配体.STEP-1/M-D080-950001-C.STEP-1;装配体.STEP-1/DECXIN-2M-2159V2-1.STEP-1;装配体.STEP-1/____405.STEP-1/M-D080-180011-A.STEP-1;装配体.STEP-1/M-D080-950002-C.STEP-1;装配体.STEP-1/Pika Tracker XT302+2 PCBA.STEP-1;装配体.STEP-1/Pika Tracker PCBA V2.STEP-1;装配体.STEP-1/M-D080-950007-A.STEP-1;装配体.STEP-1/M-D080-950006-A.STEP-1;装配体.STEP-1/4310 ________.STEP-1,坐标系0,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+Center_rotate_Link,-0.00908900611798977,-1.11064821402274E-10,1.13603564055875E-10,0,0,0,0.00720439893573367,1.58379094214131E-06,1.5899858898474E-14,1.1360633896846E-14,1.10397739264053E-06,4.92877276378663E-07,1.08198992572532E-06,0,0,0,0,0,0,package://gripper6/meshes/Center_rotate_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/meshes/Center_rotate_Link.STL,,装配体.STEP-1/M-D080-950003-C.STEP-1,坐标系1,基准轴1,Center_rotate_Joint,revolute,0,0.0794,0,3.1416,0,1.5708,base_link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
+Left_Link1,-0.00451809035012546,-0.0050172130255869,-0.0352788030932455,0,0,0,0.00233344487521202,1.00157431083692E-06,1.00544726374822E-08,7.06985586785449E-08,9.78020167250677E-07,-1.33193348160561E-07,6.04065643721678E-08,0,0,0,0,0,0,package://gripper6/meshes/Left_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper6/meshes/Left_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-2,坐标系2,基准轴2,Left_Joint1,revolute,-0.0005,0.022723,-0.023236,0,0,0,Center_rotate_Link,1,0,0,100,1,-3.14,3.14,,,,,,,,
+Right_Link1,-0.0045180903028309,-0.00501721309858745,-0.0352788027784172,0,0,0,0.00233344478842126,1.00157430513464E-06,1.00544726039158E-08,7.0698562047413E-08,9.78020163861791E-07,-1.33193350106491E-07,6.04065659617006E-08,0,0,0,0,0,0,package://gripper6/meshes/Right_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper6/meshes/Right_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-1,坐标系3,基准轴3,Right_joint1,revolute,-0.0005,-0.022723,0.023236,3.1416,0,0,Center_rotate_Link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
+center_Link,0.00689379101322024,-2.11593597018896E-06,-7.61911077094141E-08,0,0,0,0.00619627807274035,2.40104699268606E-05,-2.84040463473132E-11,-5.45439344288696E-13,2.39976164366923E-05,3.99625892508214E-13,3.69026910110048E-08,0,0,0,0,0,0,package://gripper6/meshes/center_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/meshes/center_Link.STL,,装配体.STEP-1/MANIFOLD_SOLID_BREP_80.STEP-1,坐标系1,基准轴1,center_joint,fixed,0,0.0794,0,3.1416,0,1.5708,base_link,0,0,0,100,1,-3.14,3.14,,,,,,,,
+Rright_Link2,0.0349979672547309,1.67593751518045E-05,0.157006203958172,0,0,0,0.0670211950782051,2.39707110963853E-05,3.42132512220464E-10,1.81031525739416E-05,5.08303478558355E-05,5.29682902210486E-10,4.55057387377832E-05,0,0,0,0,0,0,package://gripper6/meshes/Rright_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/meshes/Rright_Link2.STL,,装配体.STEP-1/______1.STEP-1/M-D80-180008-A.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-1;装配体.STEP-1/______1.STEP-1/____________.STEP-1;装配体.STEP-1/______1.STEP-1/__________.STEP-1,坐标系4,基准轴5,Rright_Joint2,prismatic,0.020188,0,-0.089594,0,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,
+Left_Link2,0.0349979672547288,1.75293933621038E-05,0.157006203958172,0,0,0,0.067021195078205,2.39707110963665E-05,3.87108358058417E-10,1.81031525739418E-05,5.08303478558263E-05,5.2968289276711E-10,4.55057387377733E-05,0,0,0,0,0,0,package://gripper6/meshes/Left_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/meshes/Left_Link2.STL,,装配体.STEP-1/______1-1.STEP-1/__________.STEP-1;装配体.STEP-1/______1-1.STEP-1/____________.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-2;装配体.STEP-1/______1-1.STEP-1/M-D80-180008-A.STEP-1,坐标系5,基准轴6,Left_joint2,prismatic,0.020188,0,0.089594,-3.1416,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.urdf

@@ -0,0 +1,395 @@
+<?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="gripper6">
+  <link
+    name="base_link1">
+    <inertial>
+      <origin
+        xyz="0.0089515797903041 0.0364215348235876 3.07829537042267E-06"
+        rpy="0 0 0" />
+      <mass
+        value="0.214689487753452" />
+      <inertia
+        ixx="9.71591878800853E-05"
+        ixy="-1.90126582652054E-06"
+        ixz="2.1949916356236E-08"
+        iyy="0.000216463011868437"
+        iyz="2.88388439788687E-08"
+        izz="0.000158039782933548" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/base_link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.498039215686275 0.498039215686275 0.498039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/base_link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="Center_rotate_Link">
+    <inertial>
+      <origin
+        xyz="-0.00908900611798977 -1.11064821402274E-10 1.13603564055875E-10"
+        rpy="0 0 0" />
+      <mass
+        value="0.00720439893573367" />
+      <inertia
+        ixx="1.58379094214131E-06"
+        ixy="1.5899858898474E-14"
+        ixz="1.1360633896846E-14"
+        iyy="1.10397739264053E-06"
+        iyz="4.92877276378663E-07"
+        izz="1.08198992572532E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Center_rotate_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Center_rotate_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Center_rotate_Joint"
+    type="revolute">
+    <origin
+      xyz="0 0.0794 0"
+      rpy="3.1416 0 1.5708" />
+    <parent
+      link="base_link1" />
+    <child
+      link="Center_rotate_Link" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Left_Link1">
+    <inertial>
+      <origin
+        xyz="-0.00451809035012546 -0.0050172130255869 -0.0352788030932455"
+        rpy="0 0 0" />
+      <mass
+        value="0.00233344487521202" />
+      <inertia
+        ixx="1.00157431083692E-06"
+        ixy="1.00544726374822E-08"
+        ixz="7.06985586785449E-08"
+        iyy="9.78020167250677E-07"
+        iyz="-1.33193348160561E-07"
+        izz="6.04065643721678E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Left_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Left_Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_Joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0005 0.022723 -0.023236"
+      rpy="0 0 0" />
+    <parent
+      link="Center_rotate_Link" />
+    <child
+      link="Left_Link1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Right_Link1">
+    <inertial>
+      <origin
+        xyz="-0.0045180903028309 -0.00501721309858745 -0.0352788027784172"
+        rpy="0 0 0" />
+      <mass
+        value="0.00233344478842126" />
+      <inertia
+        ixx="1.00157430513464E-06"
+        ixy="1.00544726039158E-08"
+        ixz="7.0698562047413E-08"
+        iyy="9.78020163861791E-07"
+        iyz="-1.33193350106491E-07"
+        izz="6.04065659617006E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Right_Link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Right_Link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Right_joint1"
+    type="revolute">
+    <origin
+      xyz="-0.0005 -0.022723 0.023236"
+      rpy="3.1416 0 0" />
+    <parent
+      link="Center_rotate_Link" />
+    <child
+      link="Right_Link1" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="center_Link">
+    <inertial>
+      <origin
+        xyz="0.00689379101322024 -2.11593597018896E-06 -7.61911077094141E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.00619627807274035" />
+      <inertia
+        ixx="2.40104699268606E-05"
+        ixy="-2.84040463473132E-11"
+        ixz="-5.45439344288696E-13"
+        iyy="2.39976164366923E-05"
+        iyz="3.99625892508214E-13"
+        izz="3.69026910110048E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/center_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/center_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="center_joint"
+    type="fixed">
+    <origin
+      xyz="0 0.0794 0"
+      rpy="3.1416 0 1.5708" />
+    <parent
+      link="base_link1" />
+    <child
+      link="center_Link" />
+    <axis
+      xyz="0 0 0" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Rright_Link2">
+    <inertial>
+      <origin
+        xyz="0.0349979672547309 1.67593751518045E-05 0.157006203958172"
+        rpy="0 0 0" />
+      <mass
+        value="0.0670211950782051" />
+      <inertia
+        ixx="2.39707110963853E-05"
+        ixy="3.42132512220464E-10"
+        ixz="1.81031525739416E-05"
+        iyy="5.08303478558355E-05"
+        iyz="5.29682902210486E-10"
+        izz="4.55057387377832E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Rright_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Rright_Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Rright_Joint2"
+    type="prismatic">
+    <origin
+      xyz="0.020188 0 -0.089594"
+      rpy="0 0 0" />
+    <parent
+      link="center_Link" />
+    <child
+      link="Rright_Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="Left_Link2">
+    <inertial>
+      <origin
+        xyz="0.0349979672547288 1.75293933621038E-05 0.157006203958172"
+        rpy="0 0 0" />
+      <mass
+        value="0.067021195078205" />
+      <inertia
+        ixx="2.39707110963665E-05"
+        ixy="3.87108358058417E-10"
+        ixz="1.81031525739418E-05"
+        iyy="5.08303478558263E-05"
+        iyz="5.2968289276711E-10"
+        izz="4.55057387377733E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Left_Link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://gripper6/meshes/Left_Link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="Left_joint2"
+    type="prismatic">
+    <origin
+      xyz="0.020188 0 0.089594"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="center_Link" />
+    <child
+      link="Left_Link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-3.14"
+      upper="3.14"
+      effort="100"
+      velocity="1" />
+  </joint>
+</robot>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/config/joint_names_agx_arm_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', 'joint7', 'joint8', ]

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/config/piper_gazebo_control.yaml

@@ -0,0 +1,37 @@
+piper_description:
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 200
+
+  joint1_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint1
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint2_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint2
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint3_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint3
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint4_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint4
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint5_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint5
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint6_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint6
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint7_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint7
+    pid: {p: 100, i: 0.001, d: 10.0}
+  joint8_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint8
+    pid: {p: 100, i: 0.001, d: 10.0}

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/config/piper_no_gripper_gazebo_control.yaml

@@ -0,0 +1,25 @@
+piper_description:
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 200
+
+  joint1_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint1
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint2_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint2
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint3_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint3
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint4_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint4
+    pid: {p: 100.0, i: 0.01, d: 5.0}
+  joint5_position_controller:
+    type: position_controllers/JointPositionController
+    joint: joint5
+    pid: {p: 100.0, i: 0.01, d: 5.0}

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/pika.launch

@@ -0,0 +1,12 @@
+<launch>
+        <arg name="model" />
+        <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_with_pika.urdf" />
+        <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find piper_description)/urdf/piper_with_pika.xacro'" /> -->
+        <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
+        <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find piper_description)/rviz/piper_no_gripper.rviz" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_urdf.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_no_gripper.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_no_gripper_description.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="$(anon robot_state_publisher)"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/display_no_gripper_xacro.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_no_gripper.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_no_gripper_description.xacro" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="$(anon robot_state_publisher)"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/gazebo_no_gripper_xacro.launch

@@ -0,0 +1,7 @@
+<launch>
+  <!-- 启动Gazebo  -->
+  <include file="$(find piper_description)/launch/piper_no_gripper/piper_no_gripper_world.launch" />   
+
+  <!-- 启动Gazebo controllers -->
+  <include file="$(find piper_description)/launch/piper_no_gripper/piper_no_gripper_gazebo_controller.launch" />   
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_gazebo_controller.launch

@@ -0,0 +1,24 @@
+<launch>
+
+    <!-- 将关节控制器的配置参数加载到参数服务器中 -->
+    <rosparam file="$(find piper_description)/config/piper_no_gripper_gazebo_control.yaml" command="load"/>
+
+    <!-- 加载controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+          output="screen" ns="/piper_description" args="joint_state_controller
+                                          joint1_position_controller
+                                          joint2_position_controller
+                                          joint3_position_controller
+                                          joint4_position_controller
+                                          joint5_position_controller"/>
+
+    <!-- 运行robot_state_publisher节点，发布tf  -->
+    <node name="$(anon robot_state_publisher)" pkg="robot_state_publisher" type="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/piper_description/joint_states" />
+    </node>
+
+
+</launch>
+
+

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_no_gripper/piper_no_gripper_world.launch

@@ -0,0 +1,28 @@
+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="gui" default="true"/>
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  
+  <!-- We resume the logic in empty_world.launch -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="$(find piper_description)worlds/empty.world"/>
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+    <arg name="headless" value="$(arg headless)"/>
+  </include>
+
+  <!-- Load the URDF into the ROS Parameter Server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find piper_description)/urdf/piper_no_gripper_description.xacro'" /> 
+
+  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+	args="-urdf -model arm -param robot_description"/> 
+
+
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_urdf.launch

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="model" />
+  <arg name="rviz_config" default="$(find piper_description)/rviz/piper_ctrl.rviz" />
+  <param
+    name="robot_description"
+    textfile="$(find piper_description)/urdf/piper_description_v00.urdf" />
+  
+  <!-- <arg name="jnt_stat_source" default="[/joint_states_origin]" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <rosparam param="/source_list" subst_value="True">$(arg jnt_stat_source)</rosparam>
+  </node> -->
+
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/launch/piper_with_gripper/display_xacro.launch

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