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@@ -33,3 +33,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+*.fbx filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.usd filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.exr filter=lfs diff=lfs merge=lfs -text
+*.usdc filter=lfs diff=lfs merge=lfs -text
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diff --git a/README.md b/README.md
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index 0000000000000000000000000000000000000000..3734641bb85257ba584710c61b0cd8c3c569d992
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+# OpenSpaceLab Assets
+
+Large USD, URDF, mesh, texture, and scene files are intentionally excluded
+from the GitHub repository. They are published separately on Hugging Face and
+must be restored under this `assets/` directory without changing its layout.
+
+Do not add these files to Git with `git add -f`. The asset repository URL,
+version, checksums, licenses, and download command will be recorded here after
+the public asset bundle is finalized.
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diff --git a/urdf/mobile_aloha/mobile_aloha_agilex_unique_import.urdf b/urdf/mobile_aloha/mobile_aloha_agilex_unique_import.urdf
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+++ b/urdf/mobile_aloha/mobile_aloha_agilex_unique_import.urdf
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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="aloha_description">
+
+    <link name="footprint">
+    </link>
+<link name="base_link">
+    <inertial>
+      <origin xyz="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" rpy="0 0 0" />
+      <mass value="2.4239552885625" />
+      <inertia ixx="0.0691541872284658" ixy="0.000423483205221006" ixz="-0.000201466160013829" iyy="0.0588857794520233" iyz="0.000250049528136794" izz="0.125132015686105" />
+    </inertial>
+    <visual>
+      <origin xyz="-0.019 0 -0.119" rpy="0 0 1.57" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/base_link__visual00__tracer2.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_link">
+    <inertial>
+      <origin xyz="4.7341E-15 1.5543E-15 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="3.4159E-20" ixz="-4.7556E-20" iyy="0.00013099" iyz="1.0561E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_joint" type="continuous">
+    <origin xyz="-0.018818 -0.2537 -0.0905" rpy="-1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="right_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="left_Link">
+    <inertial>
+      <origin xyz="-8.2507E-18 0 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="6.6936E-21" ixz="1.4318E-19" iyy="0.00013099" iyz="-5.3812E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_joint" type="continuous">
+    <origin xyz="-0.018818 0.2537 -0.0905" rpy="1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="left_Link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="right_front_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_joint" type="fixed">
+    <origin xyz="0.23918 -0.1977 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_rear_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rea_joint" type="fixed">
+    <origin xyz="-0.27082 -0.183 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_front_link">
+    <inertial>
+      <origin xyz="-0.013166 -2.7397E-05 -0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_joint" type="fixed">
+    <origin xyz="0.23918 0.1977 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_rear_link">
+    <inertial>
+      <origin xyz="-0.013166 -2.7397E-05 -0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_joint" type="fixed">
+    <origin xyz="-0.27077 0.18305 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  
+    
+    <joint name="base_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="body_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/body_Link__visual00__body_v2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/body_v2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="body_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="body_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+    <link name="camera_stand_1_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/camera_stand_1_Link__visual00__camera_stand_1.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_1.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_1_joint" type="prismatic">
+        <origin xyz="0.18 0 0.87" rpy="0 0 0" />
+        <parent link="body_Link" />
+        <child link="camera_stand_1_Link" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.5" effort="10" velocity="1" />
+    </joint>
+
+    <link name="camera_stand_2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0 0 0.0" rpy="0.0 3.14 0.0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/camera_stand_2_Link__visual00__camera_stand_2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.0 0 0.0" rpy="0.0 3.14 0.0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_2_joint" type="revolute">
+        <origin xyz="0.043 0.0 -0.002" rpy="0 0 0" />
+        <parent link="camera_stand_1_Link" />
+        <child link="camera_stand_2_Link" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.52" upper="0.52" effort="10" velocity="1.0" />
+    </joint>
+  <link name="d435_camera_link" />
+  
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="d435_camera_link" />
+    <child link="camera_bottom_screw_frame" />
+  </joint>
+  <link name="camera_bottom_screw_frame" />
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125" />
+    <parent link="camera_bottom_screw_frame" />
+    <child link="camera_link" />
+  </joint>
+  <link name="camera_link">
+    <visual>
+      
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 0.0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/camera_link__visual00__d435.dae" />
+      </geometry>
+    </visual>
+    <collision>
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+      <geometry>
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+    <joint name="d435_camera_joint" type="fixed">
+        <origin xyz="0.027 -0.0172 -0.014" rpy="0.0 0.0 0.0" />
+        <parent link="camera_stand_2_Link" />
+        <child link="d435_camera_link" />
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+    
+    <link name="fl_base_link">
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+        <geometry>
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+        <collision>
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+    <joint name="fl_base_joint" type="fixed">
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+        <parent link="body_Link" />
+        <child link="fl_base_link" />
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+    <link name="fl_link1">
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+    <link name="fl_link2">
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+    <joint name="fl_camera_stand_joint" type="fixed">
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+        <child link="fl_camera_stand" />
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+  <link name="fl_d435_camera_link" />
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+  <joint name="fl_camera_joint" type="fixed">
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+    <child link="fl_camera_bottom_screw_frame" />
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+  <joint name="fl_camera_link_joint" type="fixed">
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+    <parent link="fl_camera_bottom_screw_frame" />
+    <child link="fl_camera_link" />
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+        <child link="fl_d435_camera_link" />
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+    <link name="fl_link7">
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+        <inertia ixx="0.000328373107348731" ixy="2.61558325659115E-08" ixz="-6.40508594967983E-10" iyy="0.000153553731811504" iyz="-1.04759832101157E-05" izz="0.000384841404656954" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/bl_link6__visual00__link6.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link6_.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="bl_joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="bl_link5" />
+        <child link="bl_link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="bl_link7">
+        <inertial>
+        <origin xyz="0.0220608713440565 0.00159213407754896 -0.0140000105362036" rpy="0 0 0" />
+        <mass value="0.0163980774922961" />
+        <inertia ixx="1.1223995605395E-06" ixy="-1.7090699232665E-07" ixz="-1.95842510288234E-12" iyy="8.67113746385413E-06" iyz="-6.32854624480994E-13" izz="7.92440273384695E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/bl_link7__visual00__link7_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link7_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="bl_joint7" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="1.5708 0 1.5708" />
+        <parent link="bl_link6" />
+        <child link="bl_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04" effort="10" velocity="1" />
+    </joint>
+
+    <link name="bl_link8">
+        <inertial>
+        <origin xyz="0.023131213322327 -0.00164133214045334 -0.0139999978862491" rpy="0 0 0" />
+        <mass value="0.0159830768118613" />
+        <inertia ixx="1.09529854228106E-06" ixy="1.17861512151355E-07" ixz="4.93899747203005E-13" iyy="9.31448112120573E-06" iyz="-1.2871372298354E-13" izz="8.59093640430962E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/bl_link8__visual00__link8_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link8_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="bl_joint8" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="-1.5708 0 1.5708" />
+        <parent link="bl_link6" />
+        <child link="bl_link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.04" upper="0" effort="10" velocity="1" />
+    </joint>
+    
+    <link name="br_base_link">
+        <inertial>
+        <origin xyz="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia ixx="0.000226596924525071" ixy="-7.3397227015398E-08" ixz="2.13249977802621E-06" iyy="0.000269444772561524" iyz="8.15169009610875E-09" izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_base_link__visual00__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="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/base_link.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_base_joint" type="fixed">
+        <origin xyz="-0.379 -0.3075 0.901" rpy="0.0 0.0 0.0" />
+        <parent link="body_Link" />
+        <child link="br_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+
+    <link name="br_link1">
+        <inertial>
+        <origin xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437" rpy="0 0 0" />
+        <mass value="0.0978679932242826" />
+        <inertia ixx="7.76684558296782E-05" ixy="1.09084650459925E-07" ixz="-1.9748053243241E-06" iyy="9.24967780161546E-05" iyz="9.91284646834583E-07" izz="8.24589062407806E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link1__visual00__link1.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link1.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="br_base_link" />
+        <child link="br_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link2">
+        <inertial>
+        <origin xyz="0.148793602378802 -0.00242026983944155 0.00175154638467947" rpy="0 0 0" />
+        <mass value="0.290888938633388" />
+        <inertia ixx="0.000148959640166182" ixy="-7.37750384371659E-05" ixz="-9.68688405196305E-07" iyy="0.00172800946632652" iyz="-1.09692225564222E-06" izz="0.0017754628344594" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link2__visual00__link2.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link2.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="br_link1" />
+        <child link="br_link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link3">
+        <inertial>
+        <origin xyz="-0.0996835297298523 0.0349477267125974 0.000508019581893638" rpy="0 0 0" />
+        <mass value="0.290847805579065" />
+        <inertia ixx="0.000107879020798026" ixy="2.92669848509585E-05" ixz="6.82592307795026E-07" iyy="0.000214751827465516" iyz="-7.78468839754645E-07" izz="0.000241923602270227" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link3__visual00__link3.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="br_link2" />
+        <child link="br_link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link4">
+        <inertial>
+        <origin xyz="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" rpy="0 0 0" />
+        <mass value="0.127087348341362" />
+        <inertia ixx="3.82011730423025E-05" ixy="-4.92358351056127E-08" ixz="4.89589432974857E-08" iyy="4.87048555222535E-05" iyz="6.7080294248456E-08" izz="4.10592077565126E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link4__visual00__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="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="br_link3" />
+        <child link="br_link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link5">
+        <inertial>
+        <origin xyz="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" rpy="0 0 0" />
+        <mass value="0.144711242639457" />
+        <inertia ixx="4.39644313662491E-05" ixy="-3.59259686441454E-08" ixz="-1.89747741354704E-08" iyy="5.63173920951298E-05" iyz="-2.15407166895779E-07" izz="4.8871366467526E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 -3.14" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link5__visual00__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="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link5.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="br_link4" />
+        <child link="br_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link6">
+        <inertial>
+        <origin xyz="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" rpy="0 0 0" />
+        <mass value="0.214619908036656" />
+        <inertia ixx="0.000328373107348731" ixy="2.61558325659115E-08" ixz="-6.40508594967983E-10" iyy="0.000153553731811504" iyz="-1.04759832101157E-05" izz="0.000384841404656954" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link6__visual00__link6.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link6_.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="br_link5" />
+        <child link="br_link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link7">
+        <inertial>
+        <origin xyz="0.0220608713440565 0.00159213407754896 -0.0140000105362036" rpy="0 0 0" />
+        <mass value="0.0163980774922961" />
+        <inertia ixx="1.1223995605395E-06" ixy="-1.7090699232665E-07" ixz="-1.95842510288234E-12" iyy="8.67113746385413E-06" iyz="-6.32854624480994E-13" izz="7.92440273384695E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link7__visual00__link7_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link7_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint7" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="1.5708 0 1.5708" />
+        <parent link="br_link6" />
+        <child link="br_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04" effort="10" velocity="1" />
+    </joint>
+
+    <link name="br_link8">
+        <inertial>
+        <origin xyz="0.023131213322327 -0.00164133214045334 -0.0139999978862491" rpy="0 0 0" />
+        <mass value="0.0159830768118613" />
+        <inertia ixx="1.09529854228106E-06" ixy="1.17861512151355E-07" ixz="4.93899747203005E-13" iyy="9.31448112120573E-06" iyz="-1.2871372298354E-13" izz="8.59093640430962E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/OpenSpaceLab/assets/meshes/mobile_aloha_agilex_unique/br_link8__visual00__link8_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link8_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint8" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="-1.5708 0 1.5708" />
+        <parent link="br_link6" />
+        <child link="br_link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.04" upper="0" effort="10" velocity="1" />
+    </joint>
+    
+</robot>
\ No newline at end of file
diff --git a/urdf/mobile_aloha/mobile_aloha_dark_import.urdf b/urdf/mobile_aloha/mobile_aloha_dark_import.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2e80f8b53f878bfdd5e248da549817f446720a4
--- /dev/null
+++ b/urdf/mobile_aloha/mobile_aloha_dark_import.urdf
@@ -0,0 +1,1524 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="aloha_description">
+
+    <link name="footprint">
+    </link>
+<link name="base_link">
+    <inertial>
+      <origin xyz="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" rpy="0 0 0" />
+      <mass value="2.4239552885625" />
+      <inertia ixx="0.0691541872284658" ixy="0.000423483205221006" ixz="-0.000201466160013829" iyy="0.0588857794520233" iyz="0.000250049528136794" izz="0.125132015686105" />
+    </inertial>
+    <visual>
+      <origin xyz="-0.019 0 -0.119" rpy="0 0 1.57" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/tracer2.dae" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_link">
+    <inertial>
+      <origin xyz="4.7341E-15 1.5543E-15 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="3.4159E-20" ixz="-4.7556E-20" iyy="0.00013099" iyz="1.0561E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_joint" type="continuous">
+    <origin xyz="-0.018818 -0.2537 -0.0905" rpy="-1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="right_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="left_Link">
+    <inertial>
+      <origin xyz="-8.2507E-18 0 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="6.6936E-21" ixz="1.4318E-19" iyy="0.00013099" iyz="-5.3812E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_joint" type="continuous">
+    <origin xyz="-0.018818 0.2537 -0.0905" rpy="1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="left_Link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="right_front_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_joint" type="fixed">
+    <origin xyz="0.23918 -0.1977 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_rear_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rea_joint" type="fixed">
+    <origin xyz="-0.27082 -0.183 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_front_link">
+    <inertial>
+      <origin xyz="-0.013166 -2.7397E-05 -0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_joint" type="fixed">
+    <origin xyz="0.23918 0.1977 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_rear_link">
+    <inertial>
+      <origin xyz="-0.013166 -2.7397E-05 -0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_joint" type="fixed">
+    <origin xyz="-0.27077 0.18305 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  
+    
+    <joint name="base_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="body_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/body_v2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/body_v2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="body_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="body_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+    <link name="camera_stand_1_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_1.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_1.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_1_joint" type="prismatic">
+        <origin xyz="0.18 0 0.87" rpy="0 0 0" />
+        <parent link="body_Link" />
+        <child link="camera_stand_1_Link" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.5" effort="10" velocity="1" />
+    </joint>
+
+    <link name="camera_stand_2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0 0 0.0" rpy="0.0 3.14 0.0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.0 0 0.0" rpy="0.0 3.14 0.0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_2_joint" type="revolute">
+        <origin xyz="0.043 0.0 -0.002" rpy="0 0 0" />
+        <parent link="camera_stand_1_Link" />
+        <child link="camera_stand_2_Link" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.52" upper="0.52" effort="10" velocity="1.0" />
+    </joint>
+  <link name="d435_camera_link" />
+  
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="d435_camera_link" />
+    <child link="camera_bottom_screw_frame" />
+  </joint>
+  <link name="camera_bottom_screw_frame" />
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125" />
+    <parent link="camera_bottom_screw_frame" />
+    <child link="camera_link" />
+  </joint>
+  <link name="camera_link">
+    <visual>
+      
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 0.0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/realsense2_description/meshes/d435.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 0.0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/realsense2_description/meshes/d435.dae" />
+      </geometry>
+    </collision>
+    <inertial>
+      
+      <mass value="0.072" />
+      <origin xyz="0 0 0" />
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+    </inertial>
+  </link>
+
+    <joint name="d435_camera_joint" type="fixed">
+        <origin xyz="0.027 -0.0172 -0.014" rpy="0.0 0.0 0.0" />
+        <parent link="camera_stand_2_Link" />
+        <child link="d435_camera_link" />
+    </joint>
+
+    
+    <link name="fl_base_link">
+        <inertial>
+        <origin xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" rpy="0 0 0" />
+        <mass value="0.162548567403693" />
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+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/base_link.dae" />
+        </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/base_link.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_base_joint" type="fixed">
+        <origin xyz="0.23875 0.3 0.775" rpy="0.0 0.0 0.0" />
+        <parent link="body_Link" />
+        <child link="fl_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
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+
+    <link name="fl_link1">
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+        <mass value="0.0978679932242825" />
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+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link1.dae" />
+        </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link1.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint1" type="revolute">
+        <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
+        <parent link="fl_base_link" />
+        <child link="fl_link1" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
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+    <link name="fl_link2">
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+        <origin xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948" rpy="0 0 0" />
+        <mass value="0.290888938633388" />
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+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link2.dae" />
+        </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link2.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint2" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
+        <parent link="fl_link1" />
+        <child link="fl_link2" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="3.14" effort="100" velocity="3" />
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+    <link name="fl_link3">
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+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link3.dae" />
+        </geometry>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link3.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint3" type="revolute">
+        <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
+        <parent link="fl_link2" />
+        <child link="fl_link3" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.697" upper="0" effort="100" velocity="3" />
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+    <link name="fl_link4">
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+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link4.dae" />
+        </geometry>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="fl_link3" />
+        <child link="fl_link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
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+    <link name="fl_link5">
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+        <visual>
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+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link5.dae" />
+        </geometry>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 -3.14" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link5.dae" />
+        </geometry>
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+    </link>
+    <joint name="fl_joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="fl_link4" />
+        <child link="fl_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
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+    <link name="fl_link6">
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+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link6_.dae" />
+        </geometry>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_slave_meshes/link6_v2.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="fl_link5" />
+        <child link="fl_link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
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+    <link name="fl_camera_stand">
+        <inertial>
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+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/camera_stand.dae" />
+        </geometry>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_slave_meshes/camera_stand.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="fl_camera_stand_joint" type="fixed">
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+        <parent link="fl_link6" />
+        <child link="fl_camera_stand" />
+    </joint>
+
+  <link name="fl_d435_camera_link" />
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+  <joint name="fl_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="fl_d435_camera_link" />
+    <child link="fl_camera_bottom_screw_frame" />
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+  <link name="fl_camera_bottom_screw_frame" />
+  <joint name="fl_camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125" />
+    <parent link="fl_camera_bottom_screw_frame" />
+    <child link="fl_camera_link" />
+  </joint>
+  <link name="fl_camera_link">
+    <visual>
+      
+      <origin rpy="0.0 0.0 0.0" xyz="0.0043 0.0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/realsense2_description/meshes/d435.dae" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0043 0.0 0" />
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+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/realsense2_description/meshes/d435.dae" />
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+      <mass value="0.072" />
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+  </link>
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+    <joint name="fl_d435_camera_joint" type="fixed">
+        <origin xyz="-0.003 0.023 0.023" rpy="0.35 0.0 0.0" />
+        <parent link="fl_camera_stand" />
+        <child link="fl_d435_camera_link" />
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+    <link name="fl_link7">
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+        <visual>
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+        <geometry>
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+        <material name="">
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+    <joint name="fl_joint7" type="prismatic">
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+    <link name="fl_link8">
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+        <visual>
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+        <material name="">
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+        <origin xyz="0 0 0" rpy="0 0 0" />
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+    <joint name="fl_joint8" type="prismatic">
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+        <child link="fl_link8" />
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+        <geometry>
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+        <material name="">
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+            <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/base_link.dae" />
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+    <joint name="fr_base_joint" type="fixed">
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+        <parent link="body_Link" />
+        <child link="fr_base_link" />
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+    <link name="fr_link1">
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+        <geometry>
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+        <material name="">
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+            <origin xyz="0 0 0" rpy="0 0 0" />
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+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link1.STL" />
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+        <parent link="fr_base_link" />
+        <child link="fr_link1" />
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+    <link name="fr_link2">
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+        <material name="">
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+            <origin xyz="0 0 0" rpy="0 0 0" />
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+        <parent link="fr_link1" />
+        <child link="fr_link2" />
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+    <link name="fr_link3">
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+        <origin xyz="0 0 0" rpy="0 0 0" />
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+        <child link="fr_link3" />
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+    <link name="fr_link4">
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+    <link name="fr_link5">
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+    <joint name="fr_joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
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+        <child link="fr_link5" />
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+    <link name="fr_link6">
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+        <geometry>
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+        <material name="">
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+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_slave_meshes/link6_v2.dae" />
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+    <joint name="fr_joint6" type="revolute">
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+        <child link="fr_link6" />
+        <axis xyz="0 0 1" />
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+    <link name="fr_camera_stand">
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+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/camera_stand.dae" />
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+        <material name="">
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+    <joint name="fr_camera_stand_joint" type="fixed">
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+        <parent link="fr_link6" />
+        <child link="fr_camera_stand" />
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+  <link name="fr_d435_camera_link" />
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+  <joint name="fr_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="fr_d435_camera_link" />
+    <child link="fr_camera_bottom_screw_frame" />
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+  <link name="fr_camera_bottom_screw_frame" />
+  <joint name="fr_camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125" />
+    <parent link="fr_camera_bottom_screw_frame" />
+    <child link="fr_camera_link" />
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+  <link name="fr_camera_link">
+    <visual>
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+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/realsense2_description/meshes/d435.dae" />
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+    <joint name="fr_d435_camera_joint" type="fixed">
+        <origin xyz="-0.003 0.023 0.023" rpy="0.35 0.0 0.0" />
+        <parent link="fr_camera_stand" />
+        <child link="fr_d435_camera_link" />
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+    <link name="fr_link7">
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+    <joint name="fr_joint7" type="prismatic">
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+        <child link="fr_link7" />
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+        <limit lower="0" upper="0.04" effort="10" velocity="1" />
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+    <link name="fr_link8">
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+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link4.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint4" type="revolute">
+        <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
+        <parent link="br_link3" />
+        <child link="br_link4" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link5">
+        <inertial>
+        <origin xyz="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" rpy="0 0 0" />
+        <mass value="0.144711242639457" />
+        <inertia ixx="4.39644313662491E-05" ixy="-3.59259686441454E-08" ixz="-1.89747741354704E-08" iyy="5.63173920951298E-05" iyz="-2.15407166895779E-07" izz="4.8871366467526E-05" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 -3.14" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_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="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link5.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint5" type="revolute">
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <parent link="br_link4" />
+        <child link="br_link5" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link6">
+        <inertial>
+        <origin xyz="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" rpy="0 0 0" />
+        <mass value="0.214619908036656" />
+        <inertia ixx="0.000328373107348731" ixy="2.61558325659115E-08" ixz="-6.40508594967983E-10" iyy="0.000153553731811504" iyz="-1.04759832101157E-05" izz="0.000384841404656954" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link6_.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link6_.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint6" type="revolute">
+        <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
+        <parent link="br_link5" />
+        <child link="br_link6" />
+        <axis xyz="0 0 1" />
+        <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
+    </joint>
+
+    <link name="br_link7">
+        <inertial>
+        <origin xyz="0.0220608713440565 0.00159213407754896 -0.0140000105362036" rpy="0 0 0" />
+        <mass value="0.0163980774922961" />
+        <inertia ixx="1.1223995605395E-06" ixy="-1.7090699232665E-07" ixz="-1.95842510288234E-12" iyy="8.67113746385413E-06" iyz="-6.32854624480994E-13" izz="7.92440273384695E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link7_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link7_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint7" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="1.5708 0 1.5708" />
+        <parent link="br_link6" />
+        <child link="br_link7" />
+        <axis xyz="0 0 -1" />
+        <limit lower="0" upper="0.04" effort="10" velocity="1" />
+    </joint>
+
+    <link name="br_link8">
+        <inertial>
+        <origin xyz="0.023131213322327 -0.00164133214045334 -0.0139999978862491" rpy="0 0 0" />
+        <mass value="0.0159830768118613" />
+        <inertia ixx="1.09529854228106E-06" ixy="1.17861512151355E-07" ixz="4.93899747203005E-13" iyy="9.31448112120573E-06" iyz="-1.2871372298354E-13" izz="8.59093640430962E-06" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link8_master.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/dark_dae/link8_master.dae" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint8" type="prismatic">
+        <origin xyz="0 -0.043177 0.0685" rpy="-1.5708 0 1.5708" />
+        <parent link="br_link6" />
+        <child link="br_link8" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.04" upper="0" effort="10" velocity="1" />
+    </joint>
+    
+</robot>
\ No newline at end of file
diff --git a/urdf/mobile_aloha/mobile_aloha_import.urdf b/urdf/mobile_aloha/mobile_aloha_import.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a94b9a4de1de8ebaf69ffa20a79fe7ce0088335f
--- /dev/null
+++ b/urdf/mobile_aloha/mobile_aloha_import.urdf
@@ -0,0 +1,1372 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="aloha_description">
+    
+
+    
+<link name="footprint">
+    </link>
+ <link name="base_link">
+    <inertial>
+      <origin xyz="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" rpy="0 0 0" />
+      <mass value="34" />
+      <inertia ixx="0.970002366323438" ixy="0.00594005551399961" ixz="-0.00282589760330621" iyy="0.825970887671004" iyz="0.00350736005600698" izz="1.75518441012608" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_link">
+    <inertial>
+      <origin xyz="4.7341E-15 1.5543E-15 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="3.4159E-20" ixz="-4.7556E-20" iyy="0.00013099" iyz="1.0561E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_joint" type="continuous">
+    <origin xyz="-0.018818 -0.2537 -0.0905" rpy="-1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="right_link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="left_Link">
+    <inertial>
+      <origin xyz="-8.2507E-18 0 -0.005" rpy="0 0 0" />
+      <mass value="0.14836" />
+      <inertia ixx="0.00013099" ixy="6.6936E-21" ixz="1.4318E-19" iyy="0.00013099" iyz="-5.3812E-21" izz="0.00023781" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_joint" type="continuous">
+    <origin xyz="-0.018818 0.2537 -0.0905" rpy="1.5708 0 0" />
+    <parent link="base_link" />
+    <child link="left_Link" />
+    <axis xyz="0 0 1" />
+  </joint>
+  <link name="right_front_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_joint" type="fixed">
+    <origin xyz="0.23918 -0.1977 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_rear_link">
+    <inertial>
+      <origin xyz="-0.013166 2.7397E-05 0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="5.5901E-08" ixz="5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/right_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rea_joint" type="fixed">
+    <origin xyz="-0.27082 -0.183 -0.058" rpy="3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="right_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_front_link">
+    <inertial>
+      <origin xyz="-0.013166 -2.7397E-05 -0.04181" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_front_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_joint" type="fixed">
+    <origin xyz="0.23918 0.1977 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_front_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_rear_link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.2864" />
+      <inertia ixx="0.00029479" ixy="-5.5901E-08" ixz="-5.9543E-05" iyy="0.00032696" iyz="-1.5316E-07" izz="0.00020885" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/tracer2_description/meshes/left_rear_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_joint" type="fixed">
+    <origin xyz="-0.27077 0.18305 -0.058" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="left_rear_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  
+    
+    <joint name="base_joint" type="fixed">
+        <origin xyz="0 0 0.15" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="base_link" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <link name="body_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/body_v2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.168" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/body_v2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="body_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="footprint" />
+        <child link="body_Link" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+    <link name="camera_stand_1_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_1.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.025 0 0.0" rpy="0 3.14 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_1.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_1_joint" type="prismatic">
+        <origin xyz="0.18 0 0.87" rpy="0 0 0" />
+        <parent link="body_Link" />
+        <child link="camera_stand_1_Link" />
+        <axis xyz="0 0 1" />
+        <limit lower="0" upper="0.5" effort="10" velocity="1" />
+    </joint>
+
+    <link name="camera_stand_2_Link">
+        <inertial>
+            <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
+            <mass value="3.736" />
+            <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
+        </inertial>
+        <visual>
+            <origin xyz="0.0 0 0.0" rpy="0.0 3.14 0.0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_2.dae" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/camera_stand_2.dae" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="camera_stand_2_joint" type="revolute">
+        <origin xyz="0.043 0.0 -0.002" rpy="0 0 0" />
+        <parent link="camera_stand_1_Link" />
+        <child link="camera_stand_2_Link" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.52" upper="0.52" effort="10" velocity="1.0" />
+    </joint>
+
+    <link name="fl_base_link">
+        <inertial>
+        <origin xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" rpy="0 0 0" />
+        <mass value="0.162548567403693" />
+        <inertia ixx="0.000226596924525071" ixy="-7.33972270153965E-08" ixz="2.13249977802622E-06" iyy="0.000269444772561524" iyz="8.15169009611054E-09" izz="0.000222318258878636" />
+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/base_link.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="fl_base_joint" type="fixed">
+        <origin xyz="0.23875 0.3 0.775" rpy="0.0 0.0 0.0" />
+        <parent link="body_Link" />
+        <child link="fl_base_link" />
+        <axis xyz="0.0 0.0 1.0" />
+    </joint>
+
+    <link name="fl_link1">
+        <inertial>
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+        <origin xyz="-0.0996835297298523 0.0349477267125974 0.000508019581893638" rpy="0 0 0" />
+        <mass value="0.290847805579065" />
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+        </inertial>
+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link3.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link3.STL" />
+        </geometry>
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+    </link>
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+        <origin xyz="0 0 0" rpy="0 0 0" />
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+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link4.dae" />
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+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link4.STL" />
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+        <parent link="br_link3" />
+        <child link="br_link4" />
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+
+    <link name="br_link5">
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+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link5.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/link5.STL" />
+        </geometry>
+        </collision>
+    </link>
+    <joint name="br_joint5" type="revolute">
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+        <parent link="br_link4" />
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+        <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_master_meshes/link6.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
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+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_master_meshes/link6.STL" />
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+        <parent link="br_link5" />
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+        <material name="">
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+        <origin xyz="0 0 0" rpy="0 0 0" />
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+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_master_meshes/link7.STL" />
+        </geometry>
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+    </link>
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+        </inertial>
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+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_master_meshes/link8.dae" />
+        </geometry>
+        <material name="">
+            <color rgba="1 1 1 1" />
+        </material>
+        </visual>
+        <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+            <mesh filename="/home/ruilin/robotics/ref_mobile_aloha_sim/aloha_new_description/meshes/piper_master_meshes/link8.STL" />
+        </geometry>
+        </collision>
+    </link>
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\ No newline at end of file
diff --git a/usd/mobile_aloha/.asset_hash b/usd/mobile_aloha/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..c7df1d5983494baf370ea57f24369fc4e7f3fa59
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\ No newline at end of file
diff --git a/usd/mobile_aloha/.gitkeep b/usd/mobile_aloha/.gitkeep
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--- /dev/null
+++ b/usd/mobile_aloha/.gitkeep
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+
diff --git a/usd/mobile_aloha/config.yaml b/usd/mobile_aloha/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8edcd411372a72e5150cca9fa397db8842064b4d
--- /dev/null
+++ b/usd/mobile_aloha/config.yaml
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+asset_path: /home/ruilin/robotics/OpenSpaceLab/assets/urdf/mobile_aloha/mobile_aloha_import.urdf
+usd_dir: /home/ruilin/robotics/OpenSpaceLab/assets/usd/mobile_aloha
+usd_file_name: mobile_aloha.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 10.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-07-07 at 20:27:07.
+##
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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diff --git a/usd/mobile_aloha_agilex/config.yaml b/usd/mobile_aloha_agilex/config.yaml
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--- /dev/null
+++ b/usd/mobile_aloha_agilex/config.yaml
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+asset_path: /home/ruilin/robotics/OpenSpaceLab/assets/urdf/mobile_aloha/mobile_aloha_dark_import.urdf
+usd_dir: /home/ruilin/robotics/OpenSpaceLab/assets/usd/mobile_aloha_agilex
+usd_file_name: mobile_aloha_agilex.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
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+    damping: 10.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-06-23 at 19:02:27.
+##
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diff --git a/usd/mobile_aloha_agilex_unique/config.yaml b/usd/mobile_aloha_agilex_unique/config.yaml
new file mode 100644
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--- /dev/null
+++ b/usd/mobile_aloha_agilex_unique/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/ruilin/robotics/OpenSpaceLab/assets/urdf/mobile_aloha/mobile_aloha_agilex_unique_import.urdf
+usd_dir: /home/ruilin/robotics/OpenSpaceLab/assets/usd/mobile_aloha_agilex_unique
+usd_file_name: mobile_aloha_agilex_unique.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
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+    damping: 10.0
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+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-06-23 at 19:06:57.
+##
diff --git a/usd/mobile_aloha_agilex_unique/configuration/mobile_aloha_agilex_unique_base.usd b/usd/mobile_aloha_agilex_unique/configuration/mobile_aloha_agilex_unique_base.usd
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+size 657
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1484
diff --git a/usd/mobile_aloha_dark/.asset_hash b/usd/mobile_aloha_dark/.asset_hash
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+335e3e757c2cb343784d914256b5cd87
\ No newline at end of file
diff --git a/usd/mobile_aloha_dark/config.yaml b/usd/mobile_aloha_dark/config.yaml
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--- /dev/null
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+asset_path: /home/ruilin/robotics/OpenSpaceLab/assets/urdf/mobile_aloha/mobile_aloha_dark_import.urdf
+usd_dir: /home/ruilin/robotics/OpenSpaceLab/assets/usd/mobile_aloha_dark
+usd_file_name: mobile_aloha_dark.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 10.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-06-23 at 18:22:06.
+##
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+size 3681
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