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@@ -57,3 +57,17 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper100/configuration/piper100_base.usd filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper100.usd filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/gripper_base.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link1.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link2.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link4.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link5.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link7.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link8.STL filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/robot_usd/aloha_split/robot.usd filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/robot_usd/franka/franka_panda_with_camera.usd filter=lfs diff=lfs merge=lfs -text
+genmanip_benchmark/robot_usd/franka/franka_robotiq_with_camera.usd filter=lfs diff=lfs merge=lfs -text

genmanip_benchmark/curobo_cfg/piper100/piper100.urdf

@@ -0,0 +1,339 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="piper_camera">
+    <link name="arm_base">
+        <inertial>
+        <origin
+            xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
+            rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia
+            ixx="0.000226596924525071"
+            ixy="-7.33972270153965E-08"
+            ixz="2.13249977802622E-06"
+            iyy="0.000269444772561524"
+            iyz="8.15169009611054E-09"
+            izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="piper_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="link1">
+        <inertial>
+        <origin
+            xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
+            rpy="0 0 0" />
+        <mass value="0.0978679932242825" />
+        <inertia
+            ixx="7.76684558296782E-05"
+            ixy="1.09084650459924E-07"
+            ixz="-1.9748053243241E-06"
+            iyy="9.24967780161547E-05"
+            iyz="9.91284646834582E-07"
+            izz="8.24589062407807E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 1.5708" />
+            <geometry>
+                <mesh filename="piper_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="arm_base" />
+        <child link="link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link2">
+        <inertial>
+        <origin
+            xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
+            rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia
+            ixx="0.000148959640166183"
+            ixy="-7.37750384371657E-05"
+            ixz="-9.68688405196236E-07"
+            iyy="0.00172800946632652"
+            iyz="-1.09692225564224E-06"
+            izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0.1" />
+            <geometry>
+                <mesh filename="piper_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="link1" />
+        <child link="link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.1" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link3">
+        <inertial>
+        <origin
+            xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
+            rpy="0 0 0" />
+        <mass value="0.290847697793211" />
+        <inertia
+            ixx="0.000107879011637167"
+            ixy="2.92669521203626E-05"
+            ixz="6.825922326238E-07"
+            iyy="0.000214751671792086"
+            iyz="-7.78469047878196E-07"
+            izz="0.000241923439340319" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link3.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -1.75" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="link2" />
+        <child link="link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0.1" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link4">
+        <inertial>
+        <origin
+            xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
+            rpy="0 0 0" />
+        <mass value="0.127087348341362" />
+        <inertia
+            ixx="3.82011730423416E-05"
+            ixy="-4.92358350897513E-08"
+            ixz="4.89589432973119E-08"
+            iyy="4.87048555222578E-05"
+            iyz="6.70802942500512E-08"
+            izz="4.10592077565559E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link4.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="link3" />
+        <child link="link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link5">
+        <inertial>
+        <origin
+            xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
+            rpy="0 0 0" />
+        <mass value="0.144711242639457" />
+        <inertia
+            ixx="4.39644313662493E-05"
+            ixy="-3.59259686444846E-08"
+            ixz="-1.89747741386183E-08"
+            iyy="5.63173920951307E-05"
+            iyz="-2.1540716689785E-07"
+            izz="4.88713664675268E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link5.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -3.14" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="link4" />
+        <child link="link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link6">
+        <inertial>
+        <origin
+            xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
+            rpy="0 0 0" />
+        <mass value="0.195187143240719" />
+        <inertia
+            ixx="6.43790256535539E-05"
+            ixy="-1.2366166157046E-06"
+            ixz="1.97664606328472E-07"
+            iyy="0.000126146396374301"
+            iyz="2.41157078516408E-06"
+            izz="0.000154087076816444" />
+        </inertial>
+        <visual>
+        <origin xyz="-0.002 -0.008 0" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.002 -0.008 0" rpy="-1.57 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/camera_v3.dae"/>
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="link5" />
+        <child link="link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="link7">
+        <inertial>
+        <origin
+            xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
+            rpy="0 0 0" />
+        <mass value="0.02648229234527" />
+        <inertia
+            ixx="9.99787479924589E-06"
+            ixy="-1.57548495096104E-07"
+            ixz="-2.71342775003487E-08"
+            iyy="6.1795212293655E-06"
+            iyz="-1.58939803580081E-06"
+            izz="1.42102717246564E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link7.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.001 0 0.0003" rpy="0 3.14 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link7.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint7" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
+        <parent link="link6" />
+        <child link="link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.05" effort="10" velocity="1" />
+    </joint>
+
+    <link name="link8">
+        <inertial>
+        <origin
+            xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
+            rpy="0 0 0" />
+        <mass value="0.0264822021416248" />
+        <inertia
+            ixx="9.99779119357223E-06"
+            ixy="-1.57542283433504E-07"
+            ixz="2.71367446701359E-08"
+            iyy="6.17952441557932E-06"
+            iyz="1.58939319453383E-06"
+            izz="1.4210192754512E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/dae/link8.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="-0.001 0 0.0003" rpy="3.14 0 0" />
+        <geometry>
+            <mesh filename="piper_description/meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="joint8" type="prismatic">
+        <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
+        <parent link="link6" />
+        <child link="link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.05" upper="0" effort="10" velocity="1" />
+    </joint>
+
+
+</robot>

genmanip_benchmark/curobo_cfg/piper100/piper100.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d15612c9f2aaaea315b336111c6a68ff5006a07cb7d6f25a86f8ca7b436daf3d
+size 24328128

genmanip_benchmark/curobo_cfg/piper100/piper100/configuration/piper100_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b965147e0458dab769196c2e07f788180dafb90c0ec0b27ea472d6df2590132
+size 31262849

genmanip_benchmark/curobo_cfg/piper100/piper100_left_arm.yml

@@ -0,0 +1,134 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    usd_path: "${ASSETS_DIR}/piper100.usd"
+    usd_robot_root: "/robot"
+    isaac_usd_path: ""
+    usd_flip_joints: {}
+    usd_flip_joint_limits: []
+
+    urdf_path: "${ASSETS_DIR}/piper100.urdf"
+    asset_root_path: "robot"
+
+    base_link: "arm_base"
+    ee_link: "link6"
+
+    # lock_joints: {"joint7": 0.0, "joint8": 0.0}
+    extra_links: {"attached_object":{"parent_link_name": "link6" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+
+
+    collision_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8",
+        "attached_object",
+      ]
+    collision_spheres:
+      arm_base:
+        - "center": [-0.016, -0.02, 0.028]
+          "radius": 0.01497
+      link1:
+        - "center": [-0.005, -0.01, -0.007]
+          "radius": 0.03343
+      link2:
+        - "center": [0.258, -0.005, -0.009]
+          "radius": 0.03
+        - "center": [0.058, 0.0, 0.013]
+          "radius": 0.03
+        - "center": [0.163, -0.014, -0.004]
+          "radius": 0.03
+      link3:
+        - "center": [-0.186, 0.051, -0.003]
+          "radius": 0.03
+        - "center": [-0.04, 0.02, -0.007]
+          "radius": 0.03
+        - "center": [-0.107, 0.036, -0.004]
+          "radius": 0.03
+      link4:
+        - "center": [-0.005, -0.0, -0.001]
+          "radius": 0.03
+      link5:
+        - "center": [-0.004, 0.053, -0.001]
+          "radius": 0.03
+      link6:
+        - "center": [-0.001, -0.002, 0.011]
+          "radius": 0.03
+      link7:
+        - "center": [0.017, -0.055, -0.015]
+          "radius": 0.0155
+        - "center": [-0.017, -0.057, -0.008]
+          "radius": 0.0155
+      link8:
+        - "center": [0.018, 0.055, -0.011]
+          "radius": 0.01601
+        - "center": [-0.019, 0.061, -0.007]
+          "radius": 0.0149
+    collision_sphere_buffer: 0.004
+    extra_collision_spheres: {"attached_object": 4}
+    self_collision_ignore:
+      {
+        "arm_base": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link4": ["link5", "link6", "link7", "link8", "attached_object"],
+        "link5": ["link6", "link7", "link8", "attached_object"],
+        "link6": ["link7", "link8", "attached_object"],
+        "link7": ["link8", "attached_object"]
+      }
+    self_collision_buffer:
+      {
+        "arm_base": 0.1,
+        "link1": 0.05,
+        "link2": 0.05,
+        "link3": 0.05,
+        "link4": 0.05,
+        "link5": 0.05,
+        "link6": 0.05,
+        "link7": 0.02,
+        "link8": 0.02,
+        "attached_object": 0.0,
+      }
+    use_global_cumul: True
+    mesh_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8"
+      ]
+    external_asset_path: null # Use this to add path for externally located assets/robot folder.
+    lock_joints: {"joint7": 0.05, "joint8": -0.05}
+
+    cspace:
+      joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
+      # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
+      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      null_space_weight: [1,1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0

genmanip_benchmark/curobo_cfg/piper100/piper100_right_arm.yml

@@ -0,0 +1,134 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    usd_path: "${ASSETS_DIR}/piper100.usd"
+    usd_robot_root: "/robot"
+    isaac_usd_path: ""
+    usd_flip_joints: {}
+    usd_flip_joint_limits: []
+
+    urdf_path: "${ASSETS_DIR}/piper100.urdf"
+    asset_root_path: "robot"
+
+    base_link: "arm_base"
+    ee_link: "link6"
+
+    # lock_joints: {"joint7": 0.0, "joint8": 0.0}
+    extra_links: {"attached_object":{"parent_link_name": "link6" ,
+    "link_name": "attached_object", "fixed_transform": [0,0,0,1,0,0,0], "joint_type":"FIXED",
+    "joint_name": "attach_joint" }}
+
+
+    collision_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8",
+        "attached_object",
+      ]
+    collision_spheres:
+      arm_base:
+        - "center": [-0.016, -0.02, 0.028]
+          "radius": 0.01497
+      link1:
+        - "center": [-0.005, -0.01, -0.007]
+          "radius": 0.03343
+      link2:
+        - "center": [0.258, -0.005, -0.009]
+          "radius": 0.03
+        - "center": [0.058, 0.0, 0.013]
+          "radius": 0.03
+        - "center": [0.163, -0.014, -0.004]
+          "radius": 0.03
+      link3:
+        - "center": [-0.186, 0.051, -0.003]
+          "radius": 0.03
+        - "center": [-0.04, 0.02, -0.007]
+          "radius": 0.03
+        - "center": [-0.107, 0.036, -0.004]
+          "radius": 0.03
+      link4:
+        - "center": [-0.005, -0.0, -0.001]
+          "radius": 0.03
+      link5:
+        - "center": [-0.004, 0.053, -0.001]
+          "radius": 0.03
+      link6:
+        - "center": [-0.001, -0.002, 0.011]
+          "radius": 0.03
+      link7:
+        - "center": [0.017, -0.055, -0.015]
+          "radius": 0.0155
+        - "center": [-0.017, -0.057, -0.008]
+          "radius": 0.0155
+      link8:
+        - "center": [0.018, 0.055, -0.011]
+          "radius": 0.01601
+        - "center": [-0.019, 0.061, -0.007]
+          "radius": 0.0149
+    collision_sphere_buffer: 0.004
+    extra_collision_spheres: {"attached_object": 4}
+    self_collision_ignore:
+      {
+        "arm_base": ["link1", "link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link1": ["link2", "link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link2": ["link3", "link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link3": ["link4", "link5", "link6", "link7", "link8", "attached_object"],
+        "link4": ["link5", "link6", "link7", "link8", "attached_object"],
+        "link5": ["link6", "link7", "link8", "attached_object"],
+        "link6": ["link7", "link8", "attached_object"],
+        "link7": ["link8", "attached_object"]
+      }
+    self_collision_buffer:
+      {
+        "arm_base": 0.1,
+        "link1": 0.05,
+        "link2": 0.05,
+        "link3": 0.05,
+        "link4": 0.05,
+        "link5": 0.05,
+        "link6": 0.05,
+        "link7": 0.02,
+        "link8": 0.02,
+        "attached_object": 0.0,
+      }
+    use_global_cumul: True
+    mesh_link_names:
+      [
+        "arm_base",
+        "link1",
+        "link2",
+        "link3",
+        "link4",
+        "link5",
+        "link6",
+        "link7",
+        "link8"
+      ]
+    external_asset_path: null # Use this to add path for externally located assets/robot folder.
+    lock_joints: {"joint7": 0.05, "joint8": -0.05}
+
+    cspace:
+      joint_names: ["joint1","joint2","joint3","joint4", "joint5", "joint6","joint7","joint8"]
+      # retract_config: [0.0, 0.35, -0.35, 0.0, 0.0, 0.0, 0.0, 0.0]
+      retract_config: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      null_space_weight: [1,1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0

genmanip_benchmark/curobo_cfg/piper100/piper_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(piper_description)
+
+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)

genmanip_benchmark/curobo_cfg/piper100/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>

genmanip_benchmark/curobo_cfg/piper100/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>

genmanip_benchmark/curobo_cfg/piper100/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_v100_camera.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>

genmanip_benchmark/curobo_cfg/piper100/piper_description/launch/piper_with_gripper/display_urdf_new.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_new.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>

genmanip_benchmark/curobo_cfg/piper100/piper_description/launch/piper_with_gripper/display_xacro.launch

@@ -0,0 +1,25 @@
+<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">
+    <param name="rate" value="100" />
+  </node>
+  <node
+    name="$(anon robot_state_publisher)"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" >
+    <param name="rate" value="100" />
+  </node>
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(arg rviz_config)" />
+</launch>

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/base_link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4a3d6d0266205fe3f725f048645be66592c23564db22e08b0807d5569b2c64
+size 607384

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/gripper_base.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2895bfa6f1eef2d0ad2cb9dfdedd5f6c760ec07388bcde2b4d1e412e1189c9cb
+size 649484

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link1.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee6e1d67c0241f42a0dbaf5c676d19230375ed078ee1943bb8c4c37ab303d14
+size 447784

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link2.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d37675b699b643f2e15348de99aed535fac10dc5f09a79b8e4b0acfaf4e0378
+size 3658384

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link3.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8ae51f17c0c7f6d67b753922e2cc269f5e8372a65734f859231639a64fe8fad
+size 1845784

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link4.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efa33022976218f246f736a6133494b5d0e5486e8b50b52900c42f285ae85558
+size 877984

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link5.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c69d1c7f6f8c60e2c82331c0f444725200ed4053d3e5ec23aa82cb5db5b29f
+size 833684

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link7.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:475a7d8db056524d7659fadf5a2c307d62791047b6214d733dfc7846ed1c613d
+size 104384

genmanip_benchmark/curobo_cfg/piper100/piper_description/meshes/link8.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f88d534a85e28a33ef7d2061adacbd1d25214aa9325f9e464aad0f9e4b74606
+size 104384

genmanip_benchmark/curobo_cfg/piper100/piper_description/mujoco_model/piper_description.xml

@@ -0,0 +1,70 @@
+<mujoco model="piper">
+    <compiler angle="radian" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <mesh name="base_link" file="../meshes/base_link.STL" />
+        <mesh name="link1" file="../meshes/link1.STL" />
+        <mesh name="link2" file="../meshes/link2.STL" />
+        <mesh name="link3" file="../meshes/link3.STL" />
+        <mesh name="link4" file="../meshes/link4.STL" />
+        <mesh name="link5" file="../meshes/link5.STL" />
+        <mesh name="link6" file="../meshes/link6.STL" />
+        <mesh name="gripper_base" file="../meshes/gripper_base.STL" />
+        <mesh name="link7" file="../meshes/link7.STL" />
+        <mesh name="link8" file="../meshes/link8.STL" />
+    </asset>
+    <worldbody>
+        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" />
+        <body name="link1" pos="0 0 0.123">
+            <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" />
+            <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/>
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" />
+            <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+                <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" />
+                <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/>
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" />
+                <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+                    <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" />
+                    <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/>
+                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" />
+                    <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+                        <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" />
+                        <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/>
+                        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" />
+                        <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                            <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" />
+                            <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/>
+                            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" />
+                            <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                                <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" />
+                                <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/>
+                                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" />
+                                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="gripper_base" />
+                                <body name="link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
+                                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" />
+                                    <joint name="joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 0.035" damping="100"/>
+                                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link7" />
+                                </body>
+                                <body name="link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
+                                    <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" />
+                                    <joint name="joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-0.035 0" damping="100"/>
+                                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link8" />
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/>
+        <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/>
+        <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/>
+        <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/>
+        <position name="joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="joint7" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/>
+        <position name="joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="joint8" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/>
+    </actuator>
+</mujoco>

genmanip_benchmark/curobo_cfg/piper100/piper_description/mujoco_model/piper_no_gripper_description.xml

@@ -0,0 +1,54 @@
+<mujoco model="piper">
+    <compiler angle="radian" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <mesh name="base_link" file="../meshes/base_link.STL" />
+        <mesh name="link1" file="../meshes/link1.STL" />
+        <mesh name="link2" file="../meshes/link2.STL" />
+        <mesh name="link3" file="../meshes/link3.STL" />
+        <mesh name="link4" file="../meshes/link4.STL" />
+        <mesh name="link5" file="../meshes/link5.STL" />
+        <mesh name="link6" file="../meshes/link6.STL" />
+    </asset>
+    <worldbody>
+        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" />
+        <body name="link1" pos="0 0 0.123">
+            <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" />
+            <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/>
+            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" />
+            <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205">
+                <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" />
+                <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/>
+                <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" />
+                <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042">
+                    <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" />
+                    <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/>
+                    <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" />
+                    <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0">
+                        <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" />
+                        <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/>
+                        <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" />
+                        <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0">
+                            <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" />
+                            <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/>
+                            <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" />
+                            <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0">
+                                <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" />
+                                <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/>
+                                <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <actuator>
+        <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/>
+        <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/>
+        <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/>
+        <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/>
+        <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/>
+    </actuator>
+</mujoco>

genmanip_benchmark/curobo_cfg/piper100/piper_description/package.xml

@@ -0,0 +1,21 @@
+<package format="2">
+  <name>piper_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for piper_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for piper_description robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="[email protected]" />
+  <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>

genmanip_benchmark/curobo_cfg/piper100/piper_description/rviz/piper_ctrl.rviz

@@ -0,0 +1,181 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: true
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        arm_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: arm_base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.985201120376587
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4603983163833618
+      Target Frame: <Fixed Frame>
+      Yaw: 1.340397596359253
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 27

genmanip_benchmark/curobo_cfg/piper100/piper_description/rviz/piper_no_gripper.rviz

@@ -0,0 +1,186 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.1567115783691406
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 27

genmanip_benchmark/curobo_cfg/piper100/piper_description/urdf/piper_description.csv

@@ -0,0 +1,10 @@
+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,-0.00473641164191482,2.56829134630247E-05,0.041451518036016,0,0,0,0.333893486740112,0.000254953479570424,2.06931238580746E-07,7.30912474718368E-06,0.00027202099920186,2.65131745382267E-07,0.000276534627629623,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/base_link.STL,,base_link-1,base_link_axis,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+link1,0.000121504734057468,0.000104632162460536,-0.00438597309559853,0,0,0,0.215052383265765,0.000109639007860341,2.50631260865109E-07,-1.89352789149844E-07,9.95612262461418E-05,1.00634716976093E-08,0.000116363910317385,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link1.STL,,link1-1,axis1,基准轴1,joint1,revolute,0,0,0.123,0,0,0,base_link,0,0,1,100,5,-2.618,2.168,,,,,,,,
+link2,0.198666145229743,-0.010926924140076,0.00142121714502687,0,0,0,0.463914239236335,0.000214137415059993,7.26120579340088E-05,-9.88224861011274E-07,0.00100030277518254,-1.32818212212246E-06,0.00104417184176783,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link2.STL,,link2-1,axis2,基准轴2,joint2,revolute,0,0,0,1.5708,-0.10095,-3.1416,link1,0,0,1,100,5,0,3.14,,,,,,,,
+link3,-0.0202737662122021,-0.133914995944595,-0.000458682652737356,0,0,0,0.219942452993132,0.00018953849076141,-8.05719205057736E-06,5.10255053956334E-07,7.1424497082494E-05,8.89044974368937E-07,0.000201212938725775,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link3.STL,,link3-1,axis3,基准轴3,joint3,revolute,0.28503,0,0,0,0,-1.759,link2,0,0,1,100,5,-2.697,0,,,,,,,,
+link4,-9.66635791618542E-05,0.000876064475651083,-0.00496880904640868,0,0,0,0.131814339939458,3.96965423235175E-05,-2.32268338444837E-08,-1.14702090783249E-07,5.13319789853892E-05,9.92852686264567E-08,4.14768131680711E-05,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link4.STL,,link4-1,axis4,基准轴4,joint4,revolute,-0.021984,-0.25075,0,1.5708,0,0,link3,0,0,1,100,5,-1.832,1.832,,,,,,,,
+link5,-4.10554118924211E-05,-0.0566486692356075,-0.0037205791677906,0,0,0,0.134101341225523,4.10994130543451E-05,-2.06433983793957E-08,1.29591347668502E-10,5.27723004189144E-05,1.9140716904272E-07,4.60418752810541E-05,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://piper_description/meshes/link5.STL,,link5-1,axis5,基准轴5,joint5,revolute,0,0,0,-1.5708,0,0,link4,0,0,1,100,5,-1.22,1.22,,,,,,,,
+link6,-8.82590762930069E-05,9.0598378529832E-06,-0.002,0,0,0,0.007,5.43015540542155E-07,-1.98305403089247E-22,-7.2791893904596E-23,5.43015540542155E-07,-3.4146026640245E-24,1.06738869138926E-06,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://piper_description/meshes/link6.STL,,link6-1,axis6,基准轴6,joint6,revolute,8.8259E-05,-0.091,0,1.5708,0,0,link5,0,0,1,100,5,-2.0944,2.0944,,,,,,,,
+link7,0.000651231850428001,0.0491929869132543,-0.00972258769184212,0,0,0,0.0303534920715453,1.13870358990681E-05,-4.28534109923149E-07,6.45170690452229E-08,6.26108891787295E-06,1.57290362128572E-06,1.57822030592225E-05,0,0,0,0,0,0,package://gripper_description/meshes/link7.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://gripper_description/meshes/link7.STL,,爪夹-夹子-1,坐标系2,基准轴2,joint7,prismatic,0,-0.035,0.1358,-1.5708,0,0,base_link,0,0,1,10,1,0,0.035,,,,,,,,
+link8,0.000651231850427983,0.0491929869132549,-0.00972258769184214,0,0,0,0.0303534920715448,1.13870358990674E-05,-4.28534109923206E-07,6.45170690452328E-08,6.26108891787295E-06,1.5729036212857E-06,1.57822030592218E-05,0,0,0,0,0,0,package://gripper_description/meshes/link8.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://gripper_description/meshes/link8.STL,,爪夹-夹子-2,坐标系3,基准轴2,joint8,prismatic,0,0.035,0.1358,-1.5708,0,-3.1416,base_link,0,0,-1,10,1,-0.035,0,,,,,,,,

genmanip_benchmark/curobo_cfg/piper100/piper_description/urdf/piper_description.urdf

@@ -0,0 +1,572 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="piper">
+  <link name="dummy_link"/>
+  <joint name="base_to_dummy" type="fixed">
+    <parent link="dummy_link"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433"
+        ixy="-0.00000073"
+        ixz="-0.00017389"
+        iyy="0.00282612"
+        iyz="0.0000004"
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916"
+        ixy="-0.00000036"
+        ixz="-0.00000224"
+        iyy="0.00040472"
+        iyz="-0.00000242"
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918"
+        ixy="-0.00180037"
+        ixz="0.00025146"
+        iyy="0.06785384"
+        iyz="-0.00000455"
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711"
+        ixy="0.00165794"
+        ixz="-0.00000048"
+        iyy="0.00045024"
+        iyz="-0.00000045"
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501"
+        ixy="0.00000054"
+        ixz="0.00000120"
+        iyy="0.00018965"
+        iyz="-0.00000841"
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169"
+        ixy="0.00000006"
+        ixz="-0.00000007"
+        iyy="0.00018510"
+        iyz="0.00001026"
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07"
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07"
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+</robot>

genmanip_benchmark/curobo_cfg/piper100/piper_description/urdf/piper_description.xacro

@@ -0,0 +1,635 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot
+  name="piper"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+<!-- world -->
+  <!-- <link name="world"/>
+  <joint name="fixed_base_joint" type="fixed">
+      <parent link="world"/>
+      <child link="base_link"/>
+  </joint> -->
+<!-- piper -->
+<link
+    name="arm_base">
+    <inertial>
+      <origin
+        xyz="-0.00473641164191482 2.56829134630247E-05 0.041451518036016"
+        rpy="0 0 0" />
+      <mass
+        value="1.02" />
+      <inertia
+        ixx="0.00267433"
+        ixy="-0.00000073"
+        ixz="-0.00017389"
+        iyy="0.00282612"
+        iyz="0.0000004"
+        izz="0.00089624" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.000121504734057468 0.000104632162460536 -0.00438597309559853"
+        rpy="0 0 0" />
+      <mass
+        value="0.71" />
+      <inertia
+        ixx="0.00048916"
+        ixy="-0.00000036"
+        ixz="-0.00000224"
+        iyy="0.00040472"
+        iyz="-0.00000242"
+        izz="0.00043982" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0 0.123"
+      rpy="0 0 0" />
+    <parent
+      link="arm_base" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.618"
+      upper="2.168"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.198666145229743 -0.010926924140076 0.00142121714502687"
+        rpy="0 0 0" />
+      <mass
+        value="1.17" />
+      <inertia
+        ixx="0.00116918"
+        ixy="-0.00180037"
+        ixz="0.00025146"
+        iyy="0.06785384"
+        iyz="-0.00000455"
+        izz="0.06774489" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -0.1359 -3.1416" />
+      <!-- rpy="1.5708 -0.10095-0.03490659 -3.1416" /> -->
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="3.14"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="-0.0202737662122021 -0.133914995944595 -0.000458682652737356"
+        rpy="0 0 0" />
+      <mass
+        value="0.5" />
+      <inertia
+        ixx="0.01361711"
+        ixy="0.00165794"
+        ixz="-0.00000048"
+        iyy="0.00045024"
+        iyz="-0.00000045"
+        izz="0.01380322" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0.28503 0 0"
+      rpy="0 0 -1.7939" />
+      <!-- rpy="0 0 -1.759-0.03490659" /> -->
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.967"
+      upper="0"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="-9.66635791618542E-05 0.000876064475651083 -0.00496880904640868"
+        rpy="0 0 0" />
+      <mass
+        value="0.38" />
+      <inertia
+        ixx="0.00018501"
+        ixy="0.00000054"
+        ixz="0.00000120"
+        iyy="0.00018965"
+        iyz="-0.00000841"
+        izz="0.00015484" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="-0.021984 -0.25075 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.745"
+      upper="1.745"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="-4.10554118924211E-05 -0.0566486692356075 -0.0037205791677906"
+        rpy="0 0 0" />
+      <mass
+        value="0.383" />
+      <inertia
+        ixx="0.00166169"
+        ixy="0.00000006"
+        ixz="-0.00000007"
+        iyy="0.00018510"
+        iyz="0.00001026"
+        izz="0.00164321" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.22"
+      upper="1.22"
+      effort="100"
+      velocity="5" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-8.82590762930069E-05 9.0598378529832E-06 -0.002"
+        rpy="0 0 0" />
+      <mass
+        value="0.007" />
+      <inertia
+        ixx="5.73015540542155E-07"
+        ixy="-1.98305403089247E-22"
+        ixz="-7.2791893904596E-23"
+        iyy="5.73015540542155E-07"
+        iyz="-3.4146026640245E-24"
+        izz="1.06738869138926E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="8.8259E-05 -0.091 0"
+      rpy="1.5708 0 0" />
+    <parent
+      link="link5" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.0944"
+      upper="2.0944"
+      effort="100"
+      velocity="3" />
+  </joint>
+  <link
+    name="gripper_base">
+    <inertial>
+      <origin
+        xyz="-0.000183807162235591 8.05033155577911E-05 0.0321436689908876"
+        rpy="0 0 0" />
+      <mass
+        value="0.45" />
+      <inertia
+        ixx="0.00092934"
+        ixy="0.00000034"
+        ixz="-0.00000738"
+        iyy="0.00071447"
+        iyz="0.00000005"
+        izz="0.00039442" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/gripper_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6_to_gripper_base"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link6" />
+    <child
+      link="gripper_base" />
+  </joint>
+  <link
+    name="link7">
+    <inertial>
+      <origin
+        xyz="0.00065123185041968 -0.0491929869131989 0.00972258769184025"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link7.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint7"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 0" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link7" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.035"
+      effort="10"
+      velocity="1" />
+  </joint>
+  <link
+    name="link8">
+    <inertial>
+      <origin
+        xyz="0.000651231850419722 -0.0491929869131991 0.00972258769184024"
+        rpy="0 0 0" />
+      <mass
+        value="0.025" />
+      <inertia
+        ixx="0.00007371"
+        ixy="-0.00000113"
+        ixz="0.00000021"
+        iyy="0.00000781"
+        iyz="-0.00001372"
+        izz="0.0000747" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://piper_description/meshes/link8.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint8"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.1358"
+      rpy="1.5708 0 -3.1416" />
+    <parent
+      link="gripper_base" />
+    <child
+      link="link8" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.035"
+      upper="0"
+      effort="10"
+      velocity="1" />
+  </joint>
+
+<!-- controller -->
+  <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
+    <transmission name="${tran_name}">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${joint_name}">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="$motor_name">
+            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
+  <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
+  <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
+  <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
+  <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
+  <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
+  <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
+  <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
+<!-- gazebo -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <robotNamespace>/piper</robotNamespace>
+        <legacyModeNS>true</legacyModeNS>
+    </plugin>
+  </gazebo>
+
+  <!-- <gazebo reference="base_link">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link2">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link3">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link4">
+    <material>Gazebo/Black</material>
+  </gazebo>
+
+  <gazebo reference="link5">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link6">
+    <material>Gazebo/White</material>
+  </gazebo>
+
+  <gazebo reference="link7">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+
+  <gazebo reference="link8">
+    <material>Gazebo/Orange</material>
+  </gazebo> -->
+</robot>