assets/embodiments/piper-assembly/assembly/assembly.urdf

<?xml version="1.0"?>
<robot name="assembly">

  <link name="piper_description_v100">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/base_link.dae" />
      </geometry>
      <material name="comp_piper_description_v100_arm_base_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/base_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0097927 0.0000018 0.04101" rpy="0 0 0" />
      <mass value="0.1625486" />
      <inertia ixx="0.0002266" ixy="-0.0000001" ixz="0.0000021" iyy="0.0002694" iyz="0" izz="0.0002223" />
    </inertial>
  </link>

  <link name="piper_description_v100_link1">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link1.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link1_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 1.5708" />
      <geometry>
        <mesh filename="meshes/link1.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0013168 0.0003103 -0.0092287" rpy="0 0 0" />
      <mass value="0.097868" />
      <inertia ixx="0.0000777" ixy="0.0000001" ixz="-0.000002" iyy="0.0000925" iyz="0.000001" izz="0.0000825" />
    </inertial>
  </link>

  <link name="piper_description_v100_link2">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link2.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link2_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0.1" />
      <geometry>
        <mesh filename="meshes/link2.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.1487936 -0.0024203 0.0017515" rpy="0 0 0" />
      <mass value="0.2908889" />
      <inertia ixx="0.000149" ixy="-0.0000738" ixz="-0.000001" iyy="0.001728" iyz="-0.0000011" izz="0.0017755" />
    </inertial>
  </link>

  <link name="piper_description_v100_link3">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link3.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link3_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 -1.75" />
      <geometry>
        <mesh filename="meshes/link3.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0996835 0.0349477 0.000508" rpy="0 0 0" />
      <mass value="0.2908477" />
      <inertia ixx="0.0001079" ixy="0.0000293" ixz="0.0000007" iyy="0.0002148" iyz="-0.0000008" izz="0.0002419" />
    </inertial>
  </link>

  <link name="piper_description_v100_link4">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link4.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link4_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/link4.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0002765 -0.001028 -0.0047283" rpy="0 0 0" />
      <mass value="0.1270873" />
      <inertia ixx="0.0000382" ixy="0" ixz="0" iyy="0.0000487" iyz="0.0000001" izz="0.0000411" />
    </inertial>
  </link>

  <link name="piper_description_v100_link5">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link5.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link5_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 -3.14" />
      <geometry>
        <mesh filename="meshes/link5.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0000882 0.0566829 -0.0019612" rpy="0 0 0" />
      <mass value="0.1447112" />
      <inertia ixx="0.000044" ixy="0" ixz="0" iyy="0.0000563" iyz="-0.0000002" izz="0.0000489" />
    </inertial>
  </link>

  <link name="piper_description_v100_link6">
    <visual>
      <origin xyz="-0.002 -0.0078 0.06" rpy="-1.57 0 3.1415926" />
      <geometry>
        <mesh filename="meshes/dae/gripper_base_100_v2.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link6_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.002 -0.0078 0.06" rpy="-1.57 0 3.1415926" />
      <geometry>
        <mesh filename="meshes/dae/gripper_base_100_v2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0010312 0.0121761 0.0315481" rpy="0 0 0" />
      <mass value="0.1951871" />
      <inertia ixx="0.0000644" ixy="-0.0000012" ixz="0.0000002" iyy="0.0001261" iyz="0.0000024" izz="0.0001541" />
    </inertial>
  </link>

  <link name="piper_description_v100_link7">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link7.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link7_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.001 0 0.0003" rpy="0 3.14 0" />
      <geometry>
        <mesh filename="meshes/link7.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0002778 -0.0467673 -0.0092103" rpy="0 0 0" />
      <mass value="0.0264823" />
      <inertia ixx="0.00001" ixy="-0.0000002" ixz="0" iyy="0.0000062" iyz="-0.0000016" izz="0.0000142" />
    </inertial>
  </link>

  <link name="piper_description_v100_link8">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/dae/link8.dae" />
      </geometry>
      <material name="comp_piper_description_v100_link8_mat">
        <color rgba="0.09804314 0.09804314 0.09804314 1.00000000"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.001 0 0.0003" rpy="3.14 0 0" />
      <geometry>
        <mesh filename="meshes/link8.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0002778 0.0467674 -0.0092103" rpy="0 0 0" />
      <mass value="0.0264822" />
      <inertia ixx="0.00001" ixy="-0.0000002" ixz="0" iyy="0.0000062" iyz="0.0000016" izz="0.0000142" />
    </inertial>
  </link>

  <joint name="piper_description_v100_joint1" type="revolute">
    <parent link="piper_description_v100" />
    <child link="piper_description_v100_link1" />
    <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
    <axis xyz="0 0 1" />
    <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint2" type="revolute">
    <parent link="piper_description_v100_link1" />
    <child link="piper_description_v100_link2" />
    <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="3.14" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint3" type="revolute">
    <parent link="piper_description_v100_link2" />
    <child link="piper_description_v100_link3" />
    <origin xyz="0.28358 0.028726 0" rpy="0 0 0.0660434" />
    <axis xyz="0 0 1" />
    <limit lower="-2.697" upper="0" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint4" type="revolute">
    <parent link="piper_description_v100_link3" />
    <child link="piper_description_v100_link4" />
    <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
    <axis xyz="0 0 1" />
    <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint5" type="revolute">
    <parent link="piper_description_v100_link4" />
    <child link="piper_description_v100_link5" />
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint6" type="revolute">
    <parent link="piper_description_v100_link5" />
    <child link="piper_description_v100_link6" />
    <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
  </joint>

  <joint name="piper_description_v100_joint7" type="prismatic">
    <parent link="piper_description_v100_link6" />
    <child link="piper_description_v100_link7" />
    <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="0.05" effort="100" velocity="1" />
  </joint>

  <joint name="piper_description_v100_joint8" type="prismatic">
    <parent link="piper_description_v100_link6" />
    <child link="piper_description_v100_link8" />
    <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
    <axis xyz="0 0 1" />
    <limit lower="-0.05" upper="0" effort="100" velocity="1" />
  </joint>

</robot>