diff --git a/crocoddyl/actuation.py b/crocoddyl/actuation.py
index a3f2ff57875b98a42ce65c785f62d710fccc2a10..4da7abda2299fa2aced15258d501787feae743d6 100644
--- a/crocoddyl/actuation.py
+++ b/crocoddyl/actuation.py
@@ -22,9 +22,10 @@ class ActuationModelUAM:
self.cf = coefF
def calc(self, data, x, u):
+ # data.a[2:] = u
d, cf, cm = self.d, self.cf, self.cf
S = np.array(np.zeros([self.nv,self.nu]))
- S[2:6,:4] = np.array([[1,1,1,1],[-d,d,-d,d],[-d,-d,d,d],[-cm/cf,-cm/cf,cm/cf,cm/cf]])
+ S[2:6,:4] = np.array([[1,1,1,1],[-d,d,d,-d],[-d,d,-d,d],[-cm/cf,-cm/cf,cm/cf,cm/cf]])
np.fill_diagonal(S[6:, 4:], 1)
data.a = np.dot(S,u)
return data.a
@@ -48,17 +49,14 @@ class ActuationDataUAM:
self.Au = self.A[:, ndx:]
self.Au[2:6,:4] = np.array([[1,1,1,1],[-d,d,d,-d],[-d,d,-d,d],[-cm/cf,-cm/cf,cm/cf,cm/cf]])
np.fill_diagonal(self.Au[6:, 4:], 1)
- # Actuation considering motor forces instead of thrust and moments
- # This is the matrix that, given a force vector representing the four motors, outputs the thrust and moment
- # [ 0, 0, 0, 0]
- # [ 0, 0, 0, 0]
- # [ 1, 1, 1, 1]
- # [ -d, d, -d, d]
- # [ -d, -d, d, d]
- # [ -cm/cf, -cm/cf, cm/cf, cm/cf]
-
-
-
+ #np.fill_diagonal(self.Au[2:, :], 1)
+# This is the matrix that, given a force vector representing the four motors, outputs the thrust and moment
+# [ 0, 0, 0, 0]
+# [ 0, 0, 0, 0]
+# [ 1, 1, 1, 1]
+# [ -d, d, -d, d]
+# [ -d, -d, d, d]
+# [ -cm/cf, -cm/cf, cm/cf, cm/cf]
class ActuationModelFreeFloating:
diff --git a/crocoddyl/fddp.py b/crocoddyl/fddp.py
index b209133a66e7b2ea4fed7f6e052ca7b97039e354..7f81ab26f727c91379f20685384988fa0ca37021 100644
--- a/crocoddyl/fddp.py
+++ b/crocoddyl/fddp.py
@@ -1,5 +1,6 @@
import numpy as np
import scipy.linalg as scl
+import time
from .solver import SolverAbstract
from .utils import raiseIfNan
@@ -140,7 +141,9 @@ class SolverFDDP(SolverAbstract):
recalc = True
while True:
try:
+ # t = time.time()
self.computeDirection(recalc=recalc)
+ # print "TIME, Solving: Compute direction. Iteration " + str(i) + ": " + str(time.time()-t)
except ArithmeticError:
recalc = False
self.increaseRegularization()
diff --git a/examples/kinton_flying_base.py b/examples/kinton_flying_base.py
new file mode 100644
index 0000000000000000000000000000000000000000..8aab5679203b7b784d5d7e61bf21c1fcf3e9fc77
--- /dev/null
+++ b/examples/kinton_flying_base.py
@@ -0,0 +1,178 @@
+from crocoddyl import *
+import pinocchio as pin
+import numpy as np
+from crocoddyl.diagnostic import displayTrajectory
+
+# LOAD ROBOT
+robot = loadKinton()
+robot.initViewer(loadModel=True)
+robot.display(robot.q0)
+
+robot.framesForwardKinematics(robot.q0)
+
+rmodel = robot.model
+
+# DEFINE TARGET POSITION
+target_pos = np.array([0,0,1])
+target_quat = pin.Quaternion(1, 0, 0, 0)
+target_quat.normalize()
+
+# Plot goal frame
+robot.viewer.gui.addXYZaxis('world/framegoal', [1., 0., 0., 1.], .015, 4)
+robot.viewer.gui.applyConfiguration('world/framegoal', target_pos.tolist() + [target_quat[0], target_quat[1], target_quat[2], target_quat[3]])
+robot.viewer.gui.refresh()
+
+# ACTUATION MODEL
+distanceRotorCOG = 0.1525
+cf = 6.6e-5
+cm = 1e-6
+actModel = ActuationModelUAM(robot.model, distanceRotorCOG, cf, cm)
+
+# COST MODEL
+# Create a cost model per the running and terminal action model.
+runningCostModel = CostModelSum(robot.model, actModel.nu)
+terminalCostModel = CostModelSum(robot.model, actModel.nu)
+
+frameName = 'base_link'
+state = StatePinocchio(robot.model)
+SE3ref = pin.SE3()
+SE3ref.translation = target_pos.reshape(3,1)
+SE3ref.rotation = target_quat.matrix()
+
+
+wBasePos = [1]
+wBaseOri = [500]
+wArmPos = [1]
+wBaseVel = [10]
+wBaseRate = [10]
+wArmVel = [10]
+stateWeights = np.array(wBasePos * 3 + wBaseOri * 3 + wArmPos * (robot.model.nv - 6) + wBaseVel * robot.model.nv)
+controlWeights = np.array([0.1]*4 + [100]*6)
+
+goalTrackingCost = CostModelFramePlacement(rmodel,
+ frame=rmodel.getFrameId(frameName),
+ ref=SE3ref,
+ nu =actModel.nu)
+
+xRegCost = CostModelState(rmodel,
+ state,
+ ref=state.zero(),
+ nu=actModel.nu,
+ activation=ActivationModelWeightedQuad(stateWeights))
+uRegCost = CostModelControl(rmodel,
+ nu=robot.
+ model.nv-2,
+ activation = ActivationModelWeightedQuad(controlWeights))
+uLimCost = CostModelControl(rmodel,
+ nu=robot.
+ model.nv-2,
+ activation = ActivationModelInequality(np.array([0.1, 0.1, 0.1, 0.1, -1, -1, -1, -1, -1, -1]),
+ np.array([5, 5, 5, 5, 1, 1, 1, 1, 1, 1])))
+
+# Then let's add the running and terminal cost functions
+runningCostModel.addCost(name="pos", weight=0.1, cost=goalTrackingCost)
+runningCostModel.addCost(name="regx", weight=1e-4, cost=xRegCost)
+runningCostModel.addCost(name="regu", weight=1e-6, cost=uRegCost)
+runningCostModel.addCost(name="limu", weight=1e-3, cost=uLimCost)
+terminalCostModel.addCost(name="pos", weight=0, cost=goalTrackingCost)
+
+# DIFFERENTIAL ACTION MODEL
+runningModel = IntegratedActionModelEuler(DifferentialActionModelUAM(robot.model, actModel, runningCostModel))
+terminalModel = IntegratedActionModelEuler(DifferentialActionModelUAM(robot.model, actModel, terminalCostModel))
+
+# DEFINING THE SHOOTING PROBLEM & SOLVING
+import time
+
+# Defining the time duration for running action models and the terminal one
+dt = 1e-2
+runningModel.timeStep = dt
+
+T = 100
+q0 = rmodel.referenceConfigurations["initial_pose"].copy()
+v0 = pin.utils.zero(rmodel.nv)
+x0 = m2a(np.concatenate([q0, v0]))
+rmodel.defaultState = x0.copy()
+
+t = time.time()
+problem = ShootingProblem(x0, [runningModel] * T, terminalModel)
+print "TIME: Shooting problem, " + str(time.time()-t)
+
+# Creating the DDP solver for this OC problem, defining a logger
+fddp = SolverFDDP(problem)
+fddp.callback = [CallbackDDPVerbose()]
+fddp.callback.append(CallbackDDPLogger())
+#fddp.setCallbacks([CallbackVerbose()])
+
+# us0 = [
+# m.differential.quasiStatic(d.differential, rmodel.defaultState)
+# if isinstance(m, IntegratedActionModelEuler) else np.zeros(0)
+# for m, d in zip(fddp.problem.runningModels, fddp.problem.runningDatas)]
+# xs0 = [problem.initialState]*len(fddp.models())
+
+# Solving it with the DDP algorithm
+#fddp.solve(init_xs=xs0, init_us=us0)
+t = time.time()
+fddp.solve()
+print "TIME: Solve time, " + str(time.time()-t)
+
+displayTrajectory(robot, fddp.xs, runningModel.timeStep)
+
+# Control trajectory
+f1 = []
+f2 = [];
+f3 = [];
+f4 = [];
+
+for u in fddp.us:
+ f1.append(u[0])
+ f2.append(u[1])
+ f3.append(u[2])
+ f4.append(u[3])
+
+# State trajectory
+Xx = [];
+Xy = [];
+Xz = [];
+Vx = [];
+Vy = [];
+Vz = [];
+
+
+for x in fddp.xs:
+ Xx.append(x[0])
+ Xy.append(x[1])
+ Xz.append(x[2])
+ Vx.append(x[13])
+ Vy.append(x[14])
+ Vz.append(x[15])
+
+import matplotlib.pyplot as plt
+t = np.arange(0., 1, dt)
+
+fig, axs = plt.subplots(2,2, figsize=(15,10))
+fig.suptitle('Motor forces')
+axs[0, 0].plot(t,f1)
+axs[0, 0].set_title('Motor 1')
+axs[0, 1].plot(t,f2)
+axs[0, 1].set_title('Motor 2')
+axs[1, 0].plot(t,f3)
+axs[1, 0].set_title('Motor 3')
+axs[1, 1].plot(t,f4)
+axs[1, 1].set_title('Motor 4')
+
+plt.figure()
+t = np.append(t, 1)
+plt.plot(t,Xx,t,Xy,t,Xz)
+plt.legend(['x','y','z'])
+plt.title('State - Position')
+plt.ylabel('Position, [m]')
+plt.xlabel('[s]')
+
+plt.figure()
+plt.plot(t,Vx,t,Vy,t,Vz)
+plt.legend(['x','y','z'])
+plt.title('State - Velocity')
+plt.ylabel('Velocity, [m/s]')
+plt.xlabel('[s]')
+
+plt.show()
diff --git a/examples/notebooks/kinton_fixed_base.ipynb b/examples/notebooks/kinton_fixed_base.ipynb
index c47122f4878dcf4e48104cca531c156cf708a445..dad285041ad10db2eaef228e0e630ec32cc823bb 100644
--- a/examples/notebooks/kinton_fixed_base.ipynb
+++ b/examples/notebooks/kinton_fixed_base.ipynb
@@ -45,16 +45,21 @@
"target_quat.normalize()\n",
"\n",
"# Plot goal frame\n",
- "robot.viewer.gui.addXYZaxis('world/framegoal', [1., 0., 0., 1.], .015, 4)\n",
+ "robot.viewer.gui.addXYZaxis('world/framegoal', [1., 0., 0., 1.], .015, 1)\n",
"robot.viewer.gui.applyConfiguration('world/framegoal', target_pos.tolist() + [target_quat[0], target_quat[1], target_quat[2], target_quat[3]])\n",
"robot.viewer.gui.refresh()\n",
"\n",
"IDX_BASE = robot.model.getFrameId('base_link', pin.FrameType.BODY)\n",
"Mbase = robot.data.oMf[IDX_BASE]\n",
- "robot.viewer.gui.addXYZaxis('world/framebase', [1., 0., 0., 1.], .015, 4)\n",
+ "robot.viewer.gui.addXYZaxis('world/framebase', [1., 0., 0., 1.], .03, 0.5)\n",
"robot.viewer.gui.applyConfiguration('world/framebase', pin.se3ToXYZQUATtuple(Mbase))\n",
"robot.viewer.gui.refresh()\n",
- "Mbase"
+ "\n",
+ "IDX_EE = robot.model.getFrameId('link6', pin.FrameType.BODY)\n",
+ "Mee = robot.data.oMf[IDX_EE]\n",
+ "robot.viewer.gui.addXYZaxis('world/frameee', [1., 0., 0., 1.], .03, 0.5)\n",
+ "robot.viewer.gui.applyConfiguration('world/frameee', pin.se3ToXYZQUATtuple(Mee))\n",
+ "robot.viewer.gui.refresh()"
]
},
{
@@ -1430,7 +1435,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython2",
- "version": "2.7.12"
+ "version": "2.7.16"
}
},
"nbformat": 4,
diff --git a/examples/notebooks/kinton_flying_base.ipynb b/examples/notebooks/kinton_flying_base.ipynb
index 0ab3183e4a3955bc193bea078bff43ff29b6fc45..c37bf320d9121f118a33155357499842492c37e0 100644
--- a/examples/notebooks/kinton_flying_base.ipynb
+++ b/examples/notebooks/kinton_flying_base.ipynb
@@ -302,7 +302,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython2",
- "version": "2.7.12"
+ "version": "2.7.16"
}
},
"nbformat": 4,
diff --git a/examples/notebooks/kinton_flying_mission.ipynb b/examples/notebooks/kinton_flying_mission.ipynb
index 51afa8a87f65ed4940f5a518908bf5abc78390cb..e86064df1cdeeb1a6ee4384f70c5fd94648c6261 100644
--- a/examples/notebooks/kinton_flying_mission.ipynb
+++ b/examples/notebooks/kinton_flying_mission.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 66,
+ "execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
@@ -14,13 +14,13 @@
},
{
"cell_type": "code",
- "execution_count": 67,
+ "execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"# LOAD ROBOT\n",
"robot = loadKinton()\n",
- "robot.initDisplay(loadModel=True)\n",
+ "robot.initViewer(loadModel=True)\n",
"robot.display(robot.q0)\n",
"\n",
"robot.framesForwardKinematics(robot.q0)\n",
@@ -30,7 +30,7 @@
},
{
"cell_type": "code",
- "execution_count": 113,
+ "execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
@@ -81,10 +81,11 @@
" np.array([5, 5, 5, 5, 1, 1, 1, 1, 1, 1])))\n",
"\n",
" # Then let's add the running and terminal cost functions\n",
- " runningCostModel.addCost(name=\"pos\", weight=1, cost=goalTrackingCost)\n",
- " runningCostModel.addCost(name=\"regx\", weight=1e-7, cost=xRegCost)\n",
- " runningCostModel.addCost(name=\"regu\", weight=1e-4, cost=uRegCost)\n",
+ " runningCostModel.addCost(name=\"pos\", weight=0.1, cost=goalTrackingCost)\n",
+ " runningCostModel.addCost(name=\"regx\", weight=1e-4, cost=xRegCost)\n",
+ " runningCostModel.addCost(name=\"regu\", weight=1e-6, cost=uRegCost)\n",
" #runningCostModel.addCost(name=\"limu\", weight=1e-3, cost=uLimCost)\n",
+ " terminalCostModel.addCost(name=\"pos\", weight=10, cost=goalTrackingCost)\n",
"\n",
" # DIFFERENTIAL ACTION MODEL\n",
" dmodel = DifferentialActionModelUAM(rmodel, actModel, runningCostModel)\n",
@@ -95,7 +96,7 @@
},
{
"cell_type": "code",
- "execution_count": 114,
+ "execution_count": 4,
"metadata": {
"scrolled": true
},
@@ -104,11 +105,11 @@
"# DEFINING THE SHOOTING PROBLEM & SOLVING\n",
"\n",
"# Defining the time duration for running action models and the terminal one\n",
- "dt = 1e-3\n",
+ "dt = 1e-2\n",
"\n",
"# For this optimal control problem, we define 250 knots (or running action\n",
"# models) plus a terminal knot\n",
- "T = 500\n",
+ "T = 50\n",
"\n",
"\n",
"# DEFINE POSITION WAYPOINTS\n",
@@ -129,7 +130,7 @@
},
{
"cell_type": "code",
- "execution_count": 115,
+ "execution_count": 5,
"metadata": {},
"outputs": [
{
@@ -137,121 +138,37 @@
"output_type": "stream",
"text": [
"iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 0 4.12884e+02 3.67938e-02 1.31497e+03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 1 2.38168e+02 4.37121e-02 4.15129e+02 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 2 2.07246e+02 3.80014e-02 8.08585e+01 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 3 2.01504e+02 6.09189e-03 1.26262e+01 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 4 2.00397e+02 1.11327e-02 2.47216e+00 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 5 2.00145e+02 4.89374e-04 9.23825e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 6 1.99985e+02 4.08639e-04 7.66832e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 7 1.99885e+02 2.97127e-04 6.72826e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 8 1.99826e+02 2.78160e-04 5.62730e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 9 1.99788e+02 3.32463e-04 4.99581e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 0 3.51425e+00 1.27336e-04 1.22872e+01 1.00000e-09 1.00000e-09 0.5000 0\n",
+ " 1 2.32067e+00 4.16275e-05 3.89873e+00 1.00000e-09 1.00000e-09 0.5000 0\n",
+ " 2 1.17724e+00 5.80554e-05 2.00231e+00 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 3 1.09163e+00 1.06224e-05 2.37892e-01 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 4 1.06827e+00 1.78135e-06 7.83426e-02 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 5 1.06011e+00 1.57027e-06 2.81042e-02 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 6 1.05728e+00 1.83779e-07 1.06911e-02 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 7 1.05611e+00 3.19838e-07 4.55371e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 8 1.05558e+00 3.47870e-08 2.19753e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 9 1.05530e+00 9.59146e-08 1.17187e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
"iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 10 1.99673e+02 4.31859e-04 4.33920e-01 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 11 1.99659e+02 3.16549e-05 2.10171e-02 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 12 1.99654e+02 3.98525e-06 7.16689e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 13 1.99651e+02 5.27315e-06 4.64218e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 14 1.99649e+02 6.87421e-06 3.54310e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 15 1.99648e+02 9.59427e-06 3.31298e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 16 1.99648e+02 1.33639e-05 3.50811e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 17 1.99647e+02 1.92685e-05 4.33352e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 18 1.99646e+02 2.77032e-05 5.52910e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 19 1.99645e+02 3.59833e-07 6.54565e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 10 1.05514e+00 1.33286e-08 6.87744e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 11 1.05505e+00 3.73615e-08 4.35857e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 12 1.05499e+00 7.66134e-09 2.97648e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 13 1.05496e+00 1.79607e-08 2.15688e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 14 1.05493e+00 5.28123e-09 1.64650e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 15 1.05491e+00 1.02704e-08 1.30749e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 16 1.05490e+00 3.91971e-09 1.07069e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 17 1.05488e+00 6.66467e-09 8.96834e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 18 1.05487e+00 3.00024e-09 7.63338e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 19 1.05487e+00 4.68907e-09 6.57508e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
"iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 20 1.99645e+02 4.93022e-07 6.38851e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 21 1.99644e+02 7.04896e-07 6.54829e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 22 1.99644e+02 1.00715e-06 6.96629e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 23 1.99643e+02 1.46463e-06 7.69297e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 24 1.99643e+02 2.12629e-06 8.79861e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 25 1.99642e+02 3.11183e-06 1.04658e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 26 1.99642e+02 4.54850e-06 1.28989e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 27 1.99641e+02 6.67282e-06 1.65051e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 28 1.99641e+02 9.78380e-06 2.17569e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 29 1.99641e+02 1.43706e-05 2.95283e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 30 1.99640e+02 2.11225e-05 4.09048e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 31 1.99639e+02 2.83572e-07 5.96823e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 32 1.99639e+02 3.96363e-07 6.20164e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 33 1.99638e+02 5.65593e-07 6.53720e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 34 1.99637e+02 8.01686e-07 6.99668e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 35 1.99637e+02 1.15466e-06 7.64695e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 36 1.99636e+02 1.65631e-06 8.55478e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 37 1.99636e+02 2.39368e-06 9.85617e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 38 1.99635e+02 3.45025e-06 1.16962e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 39 1.99635e+02 4.98928e-06 1.43516e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 40 1.99634e+02 7.20340e-06 1.81347e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 41 1.99634e+02 1.04132e-05 2.36121e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 42 1.99634e+02 1.50477e-05 3.14641e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 43 1.99633e+02 2.17590e-05 4.28683e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 44 1.99632e+02 3.15119e-05 5.93587e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 45 1.99631e+02 3.80198e-07 7.03865e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 46 1.99631e+02 5.23991e-07 7.32775e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 47 1.99630e+02 7.38637e-07 7.74974e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 48 1.99629e+02 1.02834e-06 8.31246e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 49 1.99629e+02 1.45715e-06 9.09909e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 50 1.99628e+02 2.04964e-06 1.01689e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 51 1.99627e+02 2.90795e-06 1.16822e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 52 1.99627e+02 4.10701e-06 1.37673e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 53 1.99626e+02 5.82397e-06 1.67332e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 54 1.99626e+02 8.23618e-06 2.08521e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 55 1.99625e+02 1.16689e-05 2.67241e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 56 1.99625e+02 1.65142e-05 3.49328e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 57 1.99624e+02 2.33965e-05 4.66633e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 58 1.99623e+02 3.31810e-05 6.32127e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 59 1.99622e+02 3.63119e-07 7.96719e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 60 1.99621e+02 4.87484e-07 8.21522e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 61 1.99620e+02 6.70729e-07 8.57725e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 62 1.99620e+02 9.08512e-07 9.04717e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 63 1.99619e+02 1.25716e-06 9.69006e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 64 1.99618e+02 1.72338e-06 1.05410e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 65 1.99617e+02 2.38848e-06 1.17185e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 66 1.99617e+02 3.29106e-06 1.32984e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 67 1.99616e+02 4.55918e-06 1.54961e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 68 1.99615e+02 6.29277e-06 1.84679e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 69 1.99615e+02 8.70729e-06 2.26081e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 70 1.99614e+02 1.20237e-05 2.82389e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 71 1.99614e+02 1.66223e-05 3.60888e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 72 1.99613e+02 2.29727e-05 4.68360e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 73 1.99611e+02 3.17782e-05 6.18582e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 74 1.99611e+02 3.11900e-07 8.72919e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 75 1.99610e+02 4.07247e-07 8.90782e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 76 1.99609e+02 5.43301e-07 9.17106e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 77 1.99608e+02 7.12379e-07 9.50400e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 78 1.99607e+02 9.57466e-07 9.95153e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 79 1.99607e+02 1.27369e-06 1.05274e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 80 1.99606e+02 1.71701e-06 1.13089e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 81 1.99605e+02 2.29949e-06 1.23268e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 82 1.99604e+02 3.10158e-06 1.37149e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 83 1.99603e+02 4.16385e-06 1.55334e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 84 1.99602e+02 5.61273e-06 1.80175e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 85 1.99602e+02 7.53748e-06 2.12814e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 86 1.99601e+02 1.01511e-05 2.57435e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 87 1.99600e+02 1.36278e-05 3.16181e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 88 1.99600e+02 1.83472e-05 3.96650e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 89 1.99599e+02 2.46376e-05 5.02936e-03 1.00000e-09 1.00000e-09 1.0000 1\n"
- ]
- },
- {
- "name": "stdout",
- "output_type": "stream",
- "text": [
- "iter \t cost \t stop \t grad \t xreg \t ureg \t step \t feas\n",
- " 90 1.99599e+02 3.32130e-05 6.49300e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 91 1.99597e+02 4.47017e-05 8.43978e-03 1.00000e-09 1.00000e-09 0.5000 1\n",
- " 92 1.99596e+02 3.66901e-07 9.40917e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 93 1.99595e+02 4.64742e-07 9.53069e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 94 1.99594e+02 6.07280e-07 9.76036e-04 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 95 1.99593e+02 7.73138e-07 1.00503e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 96 1.99592e+02 1.01393e-06 1.04490e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 97 1.99592e+02 1.30863e-06 1.09510e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 98 1.99591e+02 1.71772e-06 1.16344e-03 1.00000e-09 1.00000e-09 1.0000 1\n",
- " 99 1.99590e+02 2.23199e-06 1.24991e-03 1.00000e-09 1.00000e-09 1.0000 1\n"
+ " 20 1.05486e+00 2.32762e-09 5.70767e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 21 1.05486e+00 3.45906e-09 4.98511e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 22 1.05485e+00 1.81663e-09 4.36968e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 23 1.05485e+00 2.62022e-09 3.84228e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 24 1.05484e+00 1.42137e-09 3.38379e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 25 1.05484e+00 2.01389e-09 2.98487e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 26 1.05484e+00 1.11298e-09 2.63449e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 27 1.05484e+00 1.56013e-09 2.32720e-05 1.00000e-09 1.00000e-09 1.0000 1\n",
+ " 28 1.05484e+00 8.71453e-10 2.05599e-05 1.00000e-09 1.00000e-09 1.0000 1\n"
]
},
{
@@ -259,10000 +176,1000 @@
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+ " -2.49928842e-04, 1.48297328e-02]),\n",
+ " array([ 4.12711237e+00, 3.74772562e+00, 3.74556633e+00, 4.12914994e+00,\n",
+ " 1.17609346e-04, 6.85825504e-02, -1.17218599e-03, -6.45867567e-04,\n",
+ " -2.52264037e-04, 1.48215437e-02]),\n",
+ " array([ 4.13800943e+00, 3.76292548e+00, 3.76075729e+00, 4.14006414e+00,\n",
+ " 1.10288658e-04, 6.78495525e-02, -1.17747659e-03, -6.49226423e-04,\n",
+ " -2.53992495e-04, 1.46669921e-02]),\n",
+ " array([ 4.13842425e+00, 3.77127426e+00, 3.76910156e+00, 4.14049119e+00,\n",
+ " 1.03339971e-04, 6.64726106e-02, -1.18014581e-03, -6.51138267e-04,\n",
+ " -2.55151547e-04, 1.43742594e-02]),\n",
+ " array([ 4.12952231e+00, 3.77361713e+00, 3.77144391e+00, 4.13159702e+00,\n",
+ " 9.67365116e-05, 6.45055165e-02, -1.18046251e-03, -6.51740434e-04,\n",
+ " -2.55784895e-04, 1.39545792e-02]),\n",
+ " array([ 4.11258927e+00, 3.77086073e+00, 3.76869051e+00, 4.11466777e+00,\n",
+ " 9.04477011e-05, 6.20125434e-02, -1.17872105e-03, -6.51183923e-04,\n",
+ " -2.55941191e-04, 1.34214423e-02]),\n",
+ " array([ 4.08897434e+00, 3.76394015e+00, 3.76177603e+00, 4.09105315e+00,\n",
+ " 8.44410256e-05, 5.90644744e-02, -1.17523010e-03, -6.49627921e-04,\n",
+ " -2.55672530e-04, 1.27897670e-02]),\n",
+ " array([ 4.06003565e+00, 3.75378715e+00, 3.75163172e+00, 4.06211182e+00,\n",
+ " 7.86835449e-05, 5.57347411e-02, -1.17030198e-03, -6.47234069e-04,\n",
+ " -2.55032516e-04, 1.20750873e-02]),\n",
+ " array([ 4.02709148e+00, 3.74130178e+00, 3.73915722e+00, 4.02916252e+00,\n",
+ " 7.31430925e-05, 5.20959108e-02, -1.16424041e-03, -6.44161285e-04,\n",
+ " -2.54075198e-04, 1.12928124e-02]),\n",
+ " array([ 3.99138006e+00, 3.72732947e+00, 3.72519751e+00, 3.99344399e+00,\n",
+ " 6.77891771e-05, 4.82167047e-02, -1.15733394e-03, -6.40560446e-04,\n",
+ " -2.52852114e-04, 1.04575925e-02]),\n",
+ " array([ 3.95402961e+00, 3.71264407e+00, 3.71052605e+00, 3.95608487e+00,\n",
+ " 6.25936375e-05, 4.41596623e-02, -1.14984610e-03, -6.36569871e-04,\n",
+ " -2.51410891e-04, 9.58281710e-03]),\n",
+ " array([ 3.91603883e+00, 3.69793735e+00, 3.69583429e+00, 3.91808420e+00,\n",
+ " 5.75310551e-05, 3.99795017e-02, -1.14200871e-03, -6.32310877e-04,\n",
+ " -2.49792814e-04, 8.68025791e-03]),\n",
+ " array([ 3.87826718e+00, 3.68381421e+00, 3.68172685e+00, 3.88030176e+00,\n",
+ " 5.25789513e-05, 3.57221641e-02, -1.13401701e-03, -6.27883681e-04,\n",
+ " -2.48030058e-04, 7.75985493e-03]),\n",
+ " array([ 3.84143381e+00, 3.67079274e+00, 3.66872167e+00, 3.84345687e+00,\n",
+ " 4.77178145e-05, 3.14244880e-02, -1.12602430e-03, -6.23363368e-04,\n",
+ " -2.46142943e-04, 6.82963632e-03]),\n",
+ " array([ 3.80612314e+00, 3.65930809e+00, 3.65725385e+00, 3.80813403e+00,\n",
+ " 4.29309937e-05, 2.71144344e-02, -1.11813711e-03, -6.18795397e-04,\n",
+ " -2.44136436e-04, 5.89575722e-03]),\n",
+ " array([ 3.77279543e+00, 3.64971868e+00, 3.64768193e+00, 3.77479341e+00,\n",
+ " 3.82045091e-05, 2.28117750e-02, -1.11040974e-03, -6.14190274e-04,\n",
+ " -2.41995834e-04, 4.96264066e-03]),\n",
+ " array([ 3.74180053e+00, 3.64231369e+00, 3.64029538e+00, 3.74378456e+00,\n",
+ " 3.35268443e-05, 1.85291715e-02, -1.10283714e-03, -6.09516715e-04,\n",
+ " -2.39681287e-04, 4.03320695e-03]),\n",
+ " array([ 3.71339317e+00, 3.63732053e+00, 3.63532216e+00, 3.71536168e+00,\n",
+ " 2.88887994e-05, 1.42736011e-02, -1.09534507e-03, -6.04692458e-04,\n",
+ " -2.37120556e-04, 3.10918395e-03]),\n",
+ " array([ 3.68774895e+00, 3.63491135e+00, 3.63293530e+00, 3.68969949e+00,\n",
+ " 2.42835109e-05, 1.00481324e-02, -1.08777612e-03, -5.99571634e-04,\n",
+ " -2.34199338e-04, 2.19150136e-03]),\n",
+ " array([ 3.66497986e+00, 3.63520750e+00, 3.63325746e+00, 3.66690870e+00,\n",
+ " 1.97067896e-05, 5.85412142e-03, -1.07986968e-03, -5.93927297e-04,\n",
+ " -2.30748161e-04, 1.28078692e-03]),\n",
+ " array([ 3.64514924e+00, 3.63828090e+00, 3.63636239e+00, 3.64705079e+00,\n",
+ " 1.51579955e-05, 1.69398546e-03, -1.07123388e-03, -5.87427270e-04,\n",
+ " -2.26524586e-04, 3.78003045e-04]),\n",
+ " array([ 3.62828565e+00, 3.64415066e+00, 3.64227183e+00, 3.63015170e+00,\n",
+ " 1.06417762e-05, -2.42516251e-03, -1.06130603e-03, -5.79600857e-04,\n",
+ " -2.21189014e-04, -5.14709000e-04]),\n",
+ " array([ 3.61439495e+00, 3.65277231e+00, 3.65094491e+00, 3.61621367e+00,\n",
+ " 6.17115790e-06, -6.48656633e-03, -1.04929788e-03, -5.69793192e-04,\n",
+ " -2.14271878e-04, -1.39286939e-03]),\n",
+ " array([ 3.60346679e+00, 3.66401267e+00, 3.66225340e+00, 3.60522136e+00,\n",
+ " 1.77272959e-06, -1.04568625e-02, -1.03411973e-03, -5.57103013e-04,\n",
+ " -2.05129536e-04, -2.24801676e-03]),\n",
+ " array([ 3.59546071e+00, 3.67759093e+00, 3.67592323e+00, 3.59712748e+00,\n",
+ " -2.50497553e-06, -1.42760232e-02, -1.01427525e-03, -5.40298605e-04,\n",
+ " -1.92886184e-04, -3.06532334e-03]),\n",
+ " array([ 3.59021700e+00, 3.69292430e+00, 3.69138077e+00, 3.59176307e+00,\n",
+ " -6.57826075e-06, -1.78425538e-02, -9.87713408e-04, -5.17706365e-04,\n",
+ " -1.76361520e-04, -3.82006639e-03]),\n",
+ " array([ 3.58709708e+00, 3.70867301e+00, 3.70729848e+00, 3.58847710e+00,\n",
+ " -1.03078273e-05, -2.09913680e-02, -9.51611398e-04, -4.87069750e-04,\n",
+ " -1.53995366e-04, -4.47231978e-03]),\n",
+ " array([ 3.58367064e+00, 3.72128649e+00, 3.72014175e+00, 3.58482302e+00,\n",
+ " -1.34678176e-05, -2.34602133e-02, -9.02026028e-04, -4.45393945e-04,\n",
+ " -1.23824369e-04, -4.95883366e-03]),\n",
+ " array([ 3.57107534e+00, 3.72015252e+00, 3.71931764e+00, 3.57191872e+00,\n",
+ " -1.57002893e-05, -2.48378328e-02, -8.33235570e-04, -3.88860236e-04,\n",
+ " -8.37231873e-05, -5.18042207e-03]),\n",
+ " array([ 3.51782116e+00, 3.67107341e+00, 3.67064616e+00, 3.51825577e+00,\n",
+ " -1.64520078e-05, -2.44824373e-02, -7.36215199e-04, -3.13139791e-04,\n",
+ " -3.26658630e-05, -4.98243519e-03]),\n",
+ " array([ 3.31356513e+00, 3.45946346e+00, 3.45953460e+00, 3.31349722e+00,\n",
+ " -1.48985113e-05, -2.13919115e-02, -5.94487640e-04, -2.15263700e-04,\n",
+ " 2.44565878e-05, -4.12851385e-03]),\n",
+ " array([ 2.57458619e+00, 2.69413091e+00, 2.69464954e+00, 2.57406254e+00,\n",
+ " -9.89238399e-06, -1.39969790e-02, -3.72692469e-04, -1.00585553e-04,\n",
+ " 6.12364647e-05, -2.31966354e-03])],\n",
+ " True)"
]
},
- "execution_count": 115,
+ "execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
@@ -10280,7 +1197,7 @@
},
{
"cell_type": "code",
- "execution_count": 116,
+ "execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
@@ -10289,7 +1206,7 @@
},
{
"cell_type": "code",
- "execution_count": 109,
+ "execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
@@ -10325,24 +1242,24 @@
},
{
"cell_type": "code",
- "execution_count": 112,
+ "execution_count": 9,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
- "<matplotlib.text.Text at 0x7feda970e3d0>"
+ "Text(0.5,0,'[s]')"
]
},
- "execution_count": 112,
+ "execution_count": 9,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
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\n",
+ "image/png": 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\n",
"text/plain": [
- "<matplotlib.figure.Figure at 0x7fedb118a8d0>"
+ "<Figure size 1080x720 with 4 Axes>"
]
},
"metadata": {
@@ -10352,9 +1269,9 @@
},
{
"data": {
- "image/png": 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\n",
+ "image/png": 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\n",
"text/plain": [
- "<matplotlib.figure.Figure at 0x7fedc0323710>"
+ "<Figure size 432x288 with 1 Axes>"
]
},
"metadata": {
@@ -10364,9 +1281,9 @@
},
{
"data": {
- "image/png": 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\n",
+ "image/png": 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\n",
"text/plain": [
- "<matplotlib.figure.Figure at 0x7feda9a1a210>"
+ "<Figure size 432x288 with 1 Axes>"
]
},
"metadata": {
@@ -10430,7 +1347,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython2",
- "version": "2.7.12"
+ "version": "2.7.16"
}
},
"nbformat": 4,
diff --git a/kinton_description/meshes/arm/base.dae b/kinton_description/meshes/arm/base.dae
new file mode 100644
index 0000000000000000000000000000000000000000..448793b8ca9d74daaa0a30489f9af189ac7d9990
--- /dev/null
+++ b/kinton_description/meshes/arm/base.dae
@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor/>
+ <created>2019-07-22T14:43:13.264623</created>
+ <modified>2019-07-22T14:43:13.264636</modified>
+ <unit name="meter" meter="1.0"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_effects>
+ <effect name="effect_Mesh" id="effect_Mesh">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color>0.0 0.0 0.0 1.0</color>
+ </emission>
+ <ambient>
+ <color>0.0 0.0 0.0 1.0</color>
+ </ambient>
+ <diffuse>
+ <color>0.0298847109079 0.0291743408889 0.0299277901649 1.0</color>
+ </diffuse>
+ <specular>
+ <color>1 1 1 1.0</color>
+ </specular>
+ <shininess>
+ <float>0.0</float>
+ </shininess>
+ <reflective>
+ <color>0.0 0.0 0.0 1.0</color>
+ </reflective>
+ <reflectivity>
+ <float>0.0</float>
+ </reflectivity>
+ <transparent>
+ <color>0.0 0.0 0.0 1.0</color>
+ </transparent>
+ <transparency>
+ <float>1.0</float>
+ </transparency>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>0</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="geometry0" name="Mesh">
+ <mesh>
+ <source id="cubenormals-array0">
+ <float_array count="9924" id="cubenormals-array0-array">0 0 -1 0 0 -1 -1.235028e-07 -4.309375e-06 -1 1.476825e-11 2.379623e-05 -1 -2.975653e-06 -1.236559e-05 -1 -2.491544e-07 2.147589e-05 -1 -2.29198e-06 5.096582e-09 -1 9.732698e-06 6.233865e-05 -1 -2.92974e-06 -3.861118e-05 -1 -2.385068e-06 1.155276e-05 -1 -6.036795e-06 7.302383e-06 -1 0 0 -1 0 0 -1 0 0 -1 -1.493661e-07 -5.211822e-06 -1 4.686544e-07 1.204792e-06 -1 -1.487106e-05 4.976026e-05 -1 -1.979541e-05 -1.392951e-05 -1 -0.008209096 0.005069415 -0.9999534 -0.002069905 0.003636481 -0.9999912 0.06367473 0.00028195 -0.9979706 -8.306118e-07 -1 -0 -8.306118e-07 -1 -0 8.306117e-07 1 -0 8.306117e-07 1 -0 0.006684914 0.007615675 -0.9999487 0.01041509 0.006397921 -0.9999253 0.01088734 2.069786e-06 -0.9999408 0.009237493 -0.001046328 -0.9999568 -2.454837e-08 -0.02983577 -0.9995548 -0.03018006 0.003666843 -0.9995378 -0.01182313 1.026409e-08 -0.9999301 -0.01235328 -0.004295451 -0.9999145 -0.0290721 2.566096e-08 -0.9995773 0.007953665 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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_materials>
+ <material name="Mesh001" id="mat_Mesh001">
+ <instance_effect url="#effect_Mesh001"/>
+ </material>
+ </library_materials>
+ <library_visual_scenes>
+ <visual_scene id="myscene">
+ <node name="node0" id="node0">
+ <instance_geometry url="#geometry0">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="ref_Mesh001" target="#mat_Mesh001"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#myscene"/>
+ </scene>
+</COLLADA>
diff --git a/kinton_description/meshes/arm/link1.stl b/kinton_description/meshes/arm/link1.stl
new file mode 100755
index 0000000000000000000000000000000000000000..fbbd91d197d607a38a2b849fc2e9b4fb685f2ab3
Binary files /dev/null and b/kinton_description/meshes/arm/link1.stl differ
diff --git a/kinton_description/meshes/arm/link2.dae b/kinton_description/meshes/arm/link2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a05b0f1fb0b096db05828a4123930da076cd2d18
--- /dev/null
+++ b/kinton_description/meshes/arm/link2.dae
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2015-07-29T19:29:02</created>
+ <modified>2015-07-29T19:29:02</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera_001-camera" name="Camera.003">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp_001-light" name="Lamp.003">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <adapt_thresh>9.99987e-4</adapt_thresh>
+ <area_shape>1</area_shape>
+ <area_size>0.1</area_size>
+ <area_sizey>0.1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
+ <att2>1</att2>
+ <backscattered_light>1</backscattered_light>
+ <bias>1</bias>
+ <blue>1</blue>
+ <buffers>1</buffers>
+ <bufflag>0</bufflag>
+ <bufsize>2880</bufsize>
+ <buftype>2</buftype>
+ <clipend>30.002</clipend>
+ <clipsta>1.000799</clipsta>
+ <compressthresh>0.04999995</compressthresh>
+ <dist sid="blender_dist">29.99998</dist>
+ <energy sid="blender_energy">1</energy>
+ <falloff_type>2</falloff_type>
+ <filtertype>0</filtertype>
+ <flag>0</flag>
+ <gamma sid="blender_gamma">1</gamma>
+ <green>1</green>
+ <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+ <horizon_brightness>1</horizon_brightness>
+ <mode>8192</mode>
+ <ray_samp>1</ray_samp>
+ <ray_samp_method>1</ray_samp_method>
+ <ray_samp_type>0</ray_samp_type>
+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
+ <red>1</red>
+ <samp>3</samp>
+ <shadhalostep>0</shadhalostep>
+ <shadow_b sid="blender_shadow_b">0</shadow_b>
+ <shadow_g sid="blender_shadow_g">0</shadow_g>
+ <shadow_r sid="blender_shadow_r">0</shadow_r>
+ <shadspotsize>45</shadspotsize>
+ <sky_colorspace>0</sky_colorspace>
+ <sky_exposure>1</sky_exposure>
+ <skyblendfac>1</skyblendfac>
+ <skyblendtype>1</skyblendtype>
+ <soft>3</soft>
+ <spotblend>0.15</spotblend>
+ <spotsize>75</spotsize>
+ <spread>1</spread>
+ <sun_brightness>1</sun_brightness>
+ <sun_effect_type>0</sun_effect_type>
+ <sun_intensity>1</sun_intensity>
+ <sun_size>1</sun_size>
+ <type>0</type>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_effects>
+ <effect id="Material_002-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.07084059 0.06348874 0.06348874 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.125 0.125 0.125 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="Material_002-material" name="Material_002">
+ <instance_effect url="#Material_002-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="Link2-mesh" name="Link2">
+ <mesh>
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2237 4500 2237 4501 2114 4501 2115 4501 2237 4502 2115 4502 2238 4502 2238 4503 2115 4503 2116 4503 2238 4504 2116 4504 2239 4504 2239 4505 2116 4505 2117 4505 2239 4506 2117 4506 2240 4506 2240 4507 2117 4507 2109 4507 2240 4508 2109 4508 2232 4508 2232 4509 2109 4509 2110 4509 2232 4510 2110 4510 2233 4510 2233 4511 2110 4511 2111 4511 2233 4512 2111 4512 2234 4512 2234 4513 2111 4513 2112 4513 2241 4514 2243 4514 2244 4514 2244 4515 2245 4515 2241 4515 2245 4516 2246 4516 2241 4516 2246 4517 2247 4517 2241 4517 2247 4518 2248 4518 2241 4518 2241 4519 2248 4519 2242 4519 2242 4520 2249 4520 2241 4520 2244 4521 2250 4521 2245 4521 2245 4522 2250 4522 2251 4522 2245 4523 2251 4523 2246 4523 2246 4524 2251 4524 2252 4524 2246 4525 2252 4525 2247 4525 2247 4526 2252 4526 2253 4526 2247 4527 2253 4527 2254 4527 2247 4528 2254 4528 2248 4528 2248 4529 2254 4529 2242 4529 2242 4530 2254 4530 2255 4530 2242 4531 2255 4531 2249 4531 2249 4532 2255 4532 2256 4532 2249 4533 2256 4533 2241 4533 2241 4534 2256 4534 2257 4534 2241 4535 2257 4535 2243 4535 2243 4536 2257 4536 2258 4536 2243 4537 2258 4537 2244 4537 2244 4538 2258 4538 2250 4538 2257 4539 2259 4539 2258 4539 2258 4540 2259 4540 2260 4540 2258 4541 2260 4541 2250 4541 2250 4542 2260 4542 2261 4542 2250 4543 2261 4543 2251 4543 2251 4544 2261 4544 2262 4544 2251 4545 2262 4545 2252 4545 2252 4546 2262 4546 2263 4546 2252 4547 2263 4547 2253 4547 2253 4548 2263 4548 2264 4548 2253 4549 2264 4549 2254 4549 2254 4550 2264 4550 2265 4550 2254 4551 2265 4551 2255 4551 2255 4552 2265 4552 2266 4552 2255 4553 2266 4553 2256 4553 2256 4554 2266 4554 2267 4554 2256 4555 2267 4555 2257 4555 2257 4556 2267 4556 2259 4556 2265 4557 2268 4557 2269 4557 2265 4558 2269 4558 2266 4558 2266 4559 2269 4559 2270 4559 2266 4560 2270 4560 2267 4560 2267 4561 2270 4561 2271 4561 2267 4562 2271 4562 2259 4562 2259 4563 2271 4563 2272 4563 2259 4564 2272 4564 2260 4564 2260 4565 2272 4565 2273 4565 2260 4566 2273 4566 2261 4566 2261 4567 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+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="transform">0.6858804 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="transform">-0.2908648 -0.7711007 0.5663931 4.076245 0.9551712 -0.1998834 0.2183913 1.005454 -0.05518911 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ <node id="Link2" name="Link2" type="NODE">
+ <matrix sid="transform">-7.58967e-10 -7.58967e-10 0.001 -0.015 -0.001 2.98027e-11 -7.58967e-10 0.015 -2.98021e-11 -0.001 -7.58967e-10 0.0091 0 0 0 1</matrix>
+ <instance_geometry url="#Link2-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_002-material" target="#Material_002-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/arm/link2.stl b/kinton_description/meshes/arm/link2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..881ed7aa9d02d6c21eb63e8cd4feda568fcc7b90
Binary files /dev/null and b/kinton_description/meshes/arm/link2.stl differ
diff --git a/kinton_description/meshes/arm/link3.dae b/kinton_description/meshes/arm/link3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..e7da9d83f98f768056f96c584471559116a38b5c
--- /dev/null
+++ b/kinton_description/meshes/arm/link3.dae
@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2015-07-29T19:29:46</created>
+ <modified>2015-07-29T19:29:46</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="Material_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.03699346 0.03699346 0.03699346 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.25 0.25 0.25 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="Material_001-material" name="Material_001">
+ <instance_effect url="#Material_001-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="Link3-mesh" name="Link3">
+ <mesh>
+ <source id="Link3-mesh-positions">
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6.492619 19.90572 4.28611 6.492624 19.46201 3.974333 6.492622 18.45037 4.501705 6.492622 19.84377 5.306885 6.492622 20.05506 4.807449 6.492621 18.57336 5.236069 6.492622 11.051 3.965977 6.492622 10.88503 5.581026 6.492622 10.25145 4.109737 6.492622 9.924919 4.780264 6.492622 11.44256 5.197421 6.49262 11.56983 4.620679 6.492622 10.23461 5.381995 6.492622 19.89559 13.74342 6.492619 19.81641 12.66612 6.492622 19.3656 14.04799 6.492622 18.63443 12.68983 6.492619 19.25902 12.42099 6.492621 18.42896 13.26315 6.492621 20.05171 13.15472 6.492621 18.70927 13.88292 6.492623 11.48482 13.62653 6.492622 10.95127 14.04264 6.492622 10.06437 12.80054 6.492622 11.52342 12.94789 6.492621 11.10762 12.5094 6.492621 10.56607 12.45366 6.492621 9.967082 13.47106 6.492622 10.34758 13.94665 6.492621 5.199998 9.95279 22.72633 5.199999 10.98238 24.87548 5.199998 8.536011 26.47363 5.199998 9.128769 22.47844 5.199998 9.713746 26.38075 5.199999 7.965561 22.74085 5.199999 10.54404 25.79324 5.199999 7.179565 23.62288 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9.800507 3.492622 19.14164 10.70695 3.492624 20.40393 11.47345 3.492622 21.8985 11.35307 3.492623 22.78436 10.76343 3.492619 23.36013 9.891968 3.492622 23.49509 8.627839 3.492622 23.09894 7.627808 3.492617 22.36852 6.881405 3.492622 17.25276 1.854202 3.492621 16.19993 0.7580986 3.492621 14.93145 0.4935862 3.492622 13.9128 0.7242622 3.492621 12.87476 1.619964 3.492622 12.49136 2.787258 3.492622 12.62279 3.800476 3.492622 13.27373 4.868755 3.492622 14.43457 5.444335 3.492622 15.47849 5.477787 3.492621 16.62576 4.929886 3.492621 17.26955 4.06839 3.492622 17.52223 3.054867 3.492622 7.737424 6.831102 3.492617 6.810268 7.706764 3.492621 6.492162 8.962856 3.492622 6.67939 9.990387 3.49262 7.612154 11.13152 3.492622 9.261691 11.53078 3.492622 10.62579 10.92986 3.49262 11.36013 9.891983 3.492621 11.49509 8.627835 3.492622 10.87847 7.285917 3.492622 9.7706 6.613964 3.492622 8.733294 6.492106 3.492622 12.77867 16.17002 3.492624 13.6142 17.13361 3.492623 15.05296 17.52303 3.492622 16.46236 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7.196739 26.28563 26.2 6.702486 13.58224 26.2 6.505847 12.11862 26.2 7.005066 10.94933 26.2 7.810822 10.28476 26.2 9.062535 9.949872 26.2 10.64624 10.55307 26.2 11.42829 11.8058 26.2 11.48348 12.84879 26.2 11.00841 14.05429 26.2 9.581734 14.96889 26.2 7.897163 14.78423 17.94458 11.85611 3.492622 12.14467 12.1641 3.492622 7.029304 12.60244 3.492526 10.92676 16.69788 3.492541 13.16712 17.50549 3.492616 22.67473 4.779802 3.492568 17.54759 0.6821339 3.492624 6.593668 6.642211 3.492554 6.300525 9.5914 3.492461 7.882675 3.982777 3.492474 12.61475 0.6253629 3.492563 9.941368 1.884822 3.492437 15.37055 0.2778726 3.492395 21.2811 2.980961 3.49264 19.36181 1.441684 3.492355 17.94458 6.17403 3.492622 23.55372 10.74318 3.492506 23.62826 7.728049 3.491641 20.86491 15.46477 3.49248 22.66047 13.20211 3.492561 18.91708 16.76917 3.492616 16.69103 17.55474 3.492458 14.63076 17.69294 3.492622 8.872291 15.2154 3.492496 10.78266 32.0545 7.292621 10.46234 30.91967 7.292623 10.09479 31.30527 7.292625 8.963058 30.96631 7.292622 9.2809 30.50843 7.292623 8.209656 30.60496 7.292622 7.834869 31.35275 7.292621 7.314636 31.14331 7.292628 7.098442 32.27653 7.292623 6.67939 32.01114 7.292624 6.491446 33.26857 7.292623 7.036424 33.46735 7.292623 6.829147 34.25702 7.292628 7.618942 34.49512 7.292619 7.543701 35.06079 7.292622 8.700776 34.99673 7.292624 8.733269 35.50943 7.292623 9.558472 34.92801 7.292619 9.990693 35.32094 7.292621 10.30063 34.54401 7.292625 10.83673 34.70874 7.292642 10.81564 33.8548 7.29263 11.47627 33.5817 7.292623 11.01778 33.04406 7.292623 11.36014 32.10956 7.292625 16.81564 33.85474 7.292626 17.2283 34.18368 7.292627 17.03106 32.87752 7.292623 17.52223 32.94668 7.292623 17.26953 31.93311 7.292621 16.5028 31.62891 7.292623 16.46234 30.91969 7.292624 15.3074 30.98933 7.292623 14.83038 30.46294 7.292623 14.28021 31.12787 7.292619 13.45673 31.00501 7.292622 13.44836 31.68445 7.292621 12.6794 32.01117 7.292624 12.9658 32.95138 7.292623 12.50427 33.49137 7.292623 13.4795 34.38474 7.292623 13.36645 34.95036 7.292629 14.70073 34.99671 7.292623 14.50864 35.4603 7.292623 15.58426 35.45499 7.292623 16.03258 34.77871 7.292623 16.52173 34.99451 7.292628 20.96307 30.96632 7.292623 20.62596 30.50585 7.292623 19.69321 31.4411 7.292621 19.45667 31.00507 7.292622 18.67938 32.01117 7.292622 19.0034 32.60833 7.292623 18.50427 33.49139 7.292623 19.14355 33.79255 7.292627 19.21649 34.78505 7.292617 19.6517 34.48678 7.292623 20.36789 34.91749 7.292625 20.31316 35.42827 7.292625 21.38284 34.98237 7.292624 21.80365 35.41399 7.292623 22.3006 34.54401 7.292623 22.83679 34.70862 7.292613 22.95611 33.56116 7.292623 23.47627 33.58169 7.292623 22.94917 32.52455 7.292623 23.29159 31.89715 7.292623 22.39763 31.49283 7.292623 22.08965 30.7025 7.292623 17.02269 32.77907 8.692624 16.54273 31.6995 8.692625 15.54841 31.04126 8.692624 14.19566 31.13169 8.692627 13.20001 32.05186 8.692624 12.99372 33.03112 8.692624 13.17915 33.87129 8.692618 13.8349 34.6488 8.692626 14.96303 35.03525 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9.492624 17.41738 32.33222 9.492628 16.79303 31.19676 9.492625 3.8 7.292877 26.32938 3.8 8.419808 26.96888 3.799999 9.89209 26.85277 3.8 10.76349 26.27692 3.8 11.45014 25.17817 3.8 11.39661 23.70235 3.8 10.55012 22.47547 3.799999 9.160786 21.9749 3.8 8.129578 22.14063 3.8 7.216492 22.70917 3.8 6.573269 23.80575 3.8 6.587561 25.29623 3.8 11.49571 12.11863 3.8 11.11639 11.14545 3.8 10.36833 10.37263 3.8 9.387223 10.01445 3.8 8.312851 10.06542 3.8 7.395782 10.56525 3.8 6.724251 11.40543 3.8 6.493586 12.42408 3.8 6.680588 13.48322 3.8 7.292831 14.32936 3.8 8.419804 14.96889 3.8 9.669373 14.91 3.8 10.62733 14.42101 3.8 11.3613 13.38287 16.46234 35.08186 27.49262 14.73329 30.4921 27.49262 15.28098 35.49311 27.49262 14.20969 35.39659 27.49262 13.31467 34.85828 27.49262 12.6794 33.9904 27.49262 15.77054 30.61392 27.4926 16.8785 31.28595 27.49262 17.26959 34.0683 27.49263 12.50427 32.51015 27.49262 13.36642 31.05121 27.49263 17.53883 32.84671 27.49262 27 8.211487 26.88879 27 7.143143 26.19962 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3.69681 10.33372 1.422164 3.692644 8.39921 2.990995 3.692635 6.849355 5.386951 3.698969 6.228026 7.496659 3.692621 11.43648 32.40557 6.492621 10.87849 31.28594 6.492624 9.770569 30.61394 6.492622 8.524659 30.50209 6.492622 7.06041 31.35535 6.492625 6.457249 32.93902 6.492621 6.982834 34.55011 6.492621 8.403885 35.47343 6.492621 9.69806 35.40979 6.492619 10.62573 34.9299 6.492619 11.44515 33.70122 6.492622 17.34246 32.00967 6.492622 16.36852 30.88139 6.492626 15.16109 30.48312 6.492621 13.91275 30.72427 6.492621 12.81026 31.70677 6.492617 12.48339 33.36964 6.492622 13.02501 34.54678 6.49262 13.81625 35.22862 6.492626 14.85571 35.50474 6.492621 15.69806 35.40976 6.492624 16.62567 34.92987 6.492614 17.44514 33.70126 6.492621 23.52223 33.05487 6.492622 23.30082 32.0023 6.492622 22.707 31.14317 6.492621 21.7706 30.61397 6.49262 20.7333 30.49211 6.492621 19.36646 31.05124 6.492625 18.50427 32.51015 6.492622 18.67941 33.99042 6.492619 19.45674 34.9965 6.492625 20.83057 35.53868 6.491474 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13.09467 79.7616 1.692622 15.9234 80.42525 1.692623 15.79834 79.84156 1.692624 16.48602 79.36634 1.692624 17.10138 79.48621 1.692624 16.96339 78.46817 1.692623 17.59394 78.04794 1.692623 16.942 77.45127 1.692623 17.1618 76.60498 1.692623 16.31638 76.4491 1.692623 16.01096 75.61151 1.692623 14.61957 75.4558 0.492623 13.42694 75.96436 0.4926231 12.63338 76.99048 0.4926229 12.45134 78.48567 0.492623 13.17999 79.82001 0.4926231 14.49954 80.54642 0.492623 15.8158 80.42554 0.4926231 16.90527 79.76166 0.492623 17.49243 78.57752 0.4926231 17.49838 77.30158 0.4926231 16.79797 76.18079 0.4926231 15.90912 75.59348 0.4926229 19.34076 70.03382 1.692622 18.59229 71.09272 1.692623 19.13092 71.19647 1.692623 18.44595 72.14803 1.692623 19.0405 72.54922 1.692623 20.46484 73.93451 1.692623 19.6051 74.16315 1.692624 19.69867 73.54349 1.692623 18.72762 73.20824 1.692623 20.60577 74.5285 1.692623 21.46475 73.98179 1.692623 21.70154 74.47657 1.692623 22.82007 73.81989 1.692625 22.48602 73.36634 1.692623 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17.16177 64.60495 1.692623 17.56801 65.83647 1.692623 16.99807 66.48558 1.692623 17.24158 67.30698 1.692623 13.69727 63.78155 1.692622 14.04797 64.23456 1.692623 14.87414 63.98827 1.692623 14.94483 63.42809 1.692623 15.25555 63.45529 0.4926231 14.19489 63.55669 0.4926229 13.25806 64.1272 0.4926231 12.53852 65.18106 0.4926231 12.52394 66.7014 0.492623 13.0542 67.66168 0.492623 13.89001 68.32236 0.492623 15.37627 68.56771 0.492623 16.74036 67.8963 0.4926231 17.52213 66.60877 0.4926231 17.40776 65.09281 0.492623 16.50446 63.88719 0.4926231 20.20129 73.84149 3.492622 21.04328 74.01856 3.492622 17.0178 78.04322 3.492622 16.94978 65.34835 3.492622 16.85031 77.22464 3.492622 16.36481 76.5141 3.492622 22.98161 72.38356 3.492622 14.45654 64.05518 3.492622 16.02179 67.7414 3.492626 19.1788 71.13105 3.492622 14.12952 76.17993 3.492623 10.97814 71.52394 3.492622 16.83865 66.8725 3.492622 19.83423 70.35321 3.492619 20.62695 70.02873 3.492622 14.87677 68.03186 3.492622 18.98587 72.12963 3.492622 15.22174 80.02347 3.492622 19.3938 73.24999 3.492622 15.29288 75.98851 3.492622 22.33237 73.56668 3.492621 22.91667 71.36856 3.492622 10.83861 72.8725 3.492623 16.09399 64.30481 3.492622 22.36499 70.51416 3.492626 13.40491 79.21802 3.492622 7.766052 73.5979 3.492621 8.70163 73.99684 3.492621 21.43512 70.02667 3.492622 14.05377 79.78357 3.492623 16.57785 79.31897 3.492621 13.09407 65.28818 3.492622 9.292832 69.98851 3.492622 8.129273 70.17993 3.492622 7.241913 70.97632 3.49262 13.03237 77.60782 3.492622 9.882874 73.83408 3.492623 10.36499 70.51416 3.492623 13.90173 67.67993 3.492622 6.98587 72.12965 3.492621 7.222198 72.93122 3.492625 15.27533 64.0114 3.492622 13.01383 66.28569 3.492622 13.30444 67.09552 3.492622 13.71594 64.45886 3.492622 13.35199 76.83576 3.492622 13.03661 78.46815 3.492621 3 22.00078 15.49262 3 22.00078 21.49262 1.2 29.54577 18.87299 0 29.44485 17.68761 1.2 29.3382 17.36691 0 28.74183 16.59779 1.2 28.11221 16.14838 0 27.59669 15.98931 1.2 26.85355 15.93857 0 26.09219 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15.00136 1.2 27.59673 14.99593 0 28.3027 14.71223 1.2 28.91683 14.24176 0 29.21985 13.79547 1.2 25.34309 11.31261 1.2 26.28854 10.6042 1.2 27.47763 10.51448 1.2 24.98299 12.44932 1.2 25.28775 13.59078 1.2 26.35787 14.42319 1.2 27.55023 14.43463 1.2 28.55241 13.80905 1.2 28.61453 11.25316 1.2 29.02936 12.54443 1.2 27.80508 22.62353 1.2 28.65898 22.52487 1.2 27.71283 22.03545 1.2 26.39276 21.97051 1.2 26.45238 22.53312 1.2 25.28186 22.5979 1.2 25.34308 23.31262 1.2 24.63377 23.48322 1.2 24.98299 24.44933 1.2 24.44278 24.53131 1.2 24.67922 25.60259 1.2 25.21811 25.43889 1.2 25.51542 26.59391 1.2 25.78333 26.08759 1.2 26.69339 26.50407 1.2 26.95366 27.08657 1.2 28.02527 26.25072 1.2 28.18689 26.75928 1.2 29.03702 26.06592 1.2 28.82156 25.36325 1.2 29.59039 24.6498 1.2 28.80075 23.54367 1.2 29.31577 23.40378 1.2 29.00745 24.51886 0 29.54577 24.11224 0 28.91681 22.74346 0 27.7868 22.05808 0 26.72878 21.93378 0 25.51535 22.39139 0 24.6792 23.38266 0 24.43383 24.86885 0 24.98625 26.06949 0 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+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Link3" name="Link3" type="NODE">
+ <matrix sid="transform">0.001 0 0 -0.0149 0 0.001 0 -0.0719 0 0 0.001 -0.019 0 0 0 1</matrix>
+ <instance_geometry url="#Link3-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/arm/link3.stl b/kinton_description/meshes/arm/link3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3c49a4ca0c3e3d0008fa4e5136107f468e1f0a67
Binary files /dev/null and b/kinton_description/meshes/arm/link3.stl differ
diff --git a/kinton_description/meshes/arm/link4.dae b/kinton_description/meshes/arm/link4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b2024ed32850b7f34ff4b5019f0b275eef39ea13
--- /dev/null
+++ b/kinton_description/meshes/arm/link4.dae
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2015-07-29T19:30:12</created>
+ <modified>2015-07-29T19:30:12</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera_003-camera" name="Camera.005">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp_003-light" name="Lamp.005">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <adapt_thresh>9.99987e-4</adapt_thresh>
+ <area_shape>1</area_shape>
+ <area_size>0.1</area_size>
+ <area_sizey>0.1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
+ <att2>1</att2>
+ <backscattered_light>1</backscattered_light>
+ <bias>1</bias>
+ <blue>1</blue>
+ <buffers>1</buffers>
+ <bufflag>0</bufflag>
+ <bufsize>2880</bufsize>
+ <buftype>2</buftype>
+ <clipend>30.002</clipend>
+ <clipsta>1.000799</clipsta>
+ <compressthresh>0.04999995</compressthresh>
+ <dist sid="blender_dist">29.99998</dist>
+ <energy sid="blender_energy">1</energy>
+ <falloff_type>2</falloff_type>
+ <filtertype>0</filtertype>
+ <flag>0</flag>
+ <gamma sid="blender_gamma">1</gamma>
+ <green>1</green>
+ <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+ <horizon_brightness>1</horizon_brightness>
+ <mode>8192</mode>
+ <ray_samp>1</ray_samp>
+ <ray_samp_method>1</ray_samp_method>
+ <ray_samp_type>0</ray_samp_type>
+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
+ <red>1</red>
+ <samp>3</samp>
+ <shadhalostep>0</shadhalostep>
+ <shadow_b sid="blender_shadow_b">0</shadow_b>
+ <shadow_g sid="blender_shadow_g">0</shadow_g>
+ <shadow_r sid="blender_shadow_r">0</shadow_r>
+ <shadspotsize>45</shadspotsize>
+ <sky_colorspace>0</sky_colorspace>
+ <sky_exposure>1</sky_exposure>
+ <skyblendfac>1</skyblendfac>
+ <skyblendtype>1</skyblendtype>
+ <soft>3</soft>
+ <spotblend>0.15</spotblend>
+ <spotsize>75</spotsize>
+ <spread>1</spread>
+ <sun_brightness>1</sun_brightness>
+ <sun_effect_type>0</sun_effect_type>
+ <sun_intensity>1</sun_intensity>
+ <sun_size>1</sun_size>
+ <type>0</type>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_effects>
+ <effect id="Material_002_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.03699346 0.03699346 0.03699346 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.25 0.25 0.25 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="Material_002_001-material" name="Material_002_001">
+ <instance_effect url="#Material_002_001-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="Link4-mesh" name="Link4">
+ <mesh>
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15.22174 80.02347 3.492622 19.3938 73.24999 3.492622 15.29288 75.98851 3.492622 22.33237 73.56668 3.492621 22.91667 71.36856 3.492622 10.83861 72.8725 3.492623 16.09399 64.30481 3.492622 22.36499 70.51416 3.492626 13.40491 79.21802 3.492622 7.766052 73.5979 3.492621 8.70163 73.99684 3.492621 21.43512 70.02667 3.492622 14.05377 79.78357 3.492623 16.57785 79.31897 3.492621 13.09407 65.28818 3.492622 9.292832 69.98851 3.492622 8.129273 70.17993 3.492622 7.241913 70.97632 3.49262 13.03237 77.60782 3.492622 9.882874 73.83408 3.492623 10.36499 70.51416 3.492623 13.90173 67.67993 3.492622 6.98587 72.12965 3.492621 7.222198 72.93122 3.492625 15.27533 64.0114 3.492622 13.01383 66.28569 3.492622 13.30444 67.09552 3.492622 13.71594 64.45886 3.492622 13.35199 76.83576 3.492622 13.03661 78.46815 3.492621 3 22.00078 15.49262 3 22.00078 21.49262 1.2 29.54577 18.87299 0 29.44485 17.68761 1.2 29.3382 17.36691 0 28.74183 16.59779 1.2 28.11221 16.14838 0 27.59669 15.98931 1.2 26.85355 15.93857 0 26.09219 16.06256 1.2 25.79321 16.22026 0 25.03491 16.85553 1.2 24.98627 16.91565 0 24.45513 17.9922 1.2 24.49721 17.89774 1.2 24.48611 18.96301 0 24.57602 19.30835 1.2 25.02243 20.171 0 25.10526 20.23295 0 26.3928 21.01475 1.2 26.30023 20.96869 1.2 27.59676 20.99592 0 27.90878 20.90038 1.2 28.91681 20.24176 0 28.82074 20.29047 0 29.49482 19.20709 1.199998 29.00814 18.28186 1.2 28.72324 19.61533 1.2 27.46555 20.47362 1.2 26.11787 20.32589 1.2 25.2599 19.51375 1.2 24.98298 18.53507 1.2 25.15042 17.71655 1.2 25.76128 16.87892 1.2 27.05019 16.45843 1.2 28.00573 16.75592 1.2 28.64879 17.32758 1.2 29.54577 12.87305 0 29.59039 12.33546 1.2 29.4081 11.58356 0 28.91684 10.74349 1.2 28.82077 10.69476 1.2 27.90884 10.0849 0 27.3927 9.928023 1.2 26.85355 9.938573 0 25.89175 10.17059 1.2 25.79334 10.22025 0 24.76721 11.17278 1.2 24.98627 10.91577 1.2 24.49722 11.89778 0 24.43269 12.6558 1.2 24.57632 13.41607 0 24.7487 13.70627 0 25.42659 14.52821 1.2 25.51531 14.59382 0 26.82774 15.08122 1.2 26.49969 15.00136 1.2 27.59673 14.99593 0 28.3027 14.71223 1.2 28.91683 14.24176 0 29.21985 13.79547 1.2 25.34309 11.31261 1.2 26.28854 10.6042 1.2 27.47763 10.51448 1.2 24.98299 12.44932 1.2 25.28775 13.59078 1.2 26.35787 14.42319 1.2 27.55023 14.43463 1.2 28.55241 13.80905 1.2 28.61453 11.25316 1.2 29.02936 12.54443 1.2 27.80508 22.62353 1.2 28.65898 22.52487 1.2 27.71283 22.03545 1.2 26.39276 21.97051 1.2 26.45238 22.53312 1.2 25.28186 22.5979 1.2 25.34308 23.31262 1.2 24.63377 23.48322 1.2 24.98299 24.44933 1.2 24.44278 24.53131 1.2 24.67922 25.60259 1.2 25.21811 25.43889 1.2 25.51542 26.59391 1.2 25.78333 26.08759 1.2 26.69339 26.50407 1.2 26.95366 27.08657 1.2 28.02527 26.25072 1.2 28.18689 26.75928 1.2 29.03702 26.06592 1.2 28.82156 25.36325 1.2 29.59039 24.6498 1.2 28.80075 23.54367 1.2 29.31577 23.40378 1.2 29.00745 24.51886 0 29.54577 24.11224 0 28.91681 22.74346 0 27.7868 22.05808 0 26.72878 21.93378 0 25.51535 22.39139 0 24.6792 23.38266 0 24.43383 24.86885 0 24.98625 26.06949 0 25.79332 26.765 0 27.26772 27.07323 0 28.49072 26.57221 0 29.33817 25.61838 3 30.40078 21.49262 3 30.40078 27.49262 10.97813 32.52392 11.29262 11.55 31.40077 11.29262 7.834259 31.3533 11.29262 7.205841 33.96067 11.29262 8.860016 35.00238 11.29262 9.882905 34.83403 11.29262 10.36491 31.51408 11.29263 9.121562 30.94833 11.29262 7.275757 31.97473 11.29262 6.993064 32.7874 11.29262 8.053772 34.78343 11.29263 10.83864 33.87245 11.29262 9.631287 34.91774 25.69262 7.456757 34.30142 25.69264 6.944252 33.03513 25.69262 8.439621 34.9569 25.69262 6.449999 30.40078 25.69262 7.505661 31.61969 25.69262 8.704934 30.98749 25.69262 9.870545 31.17995 25.69263 10.64799 31.83571 25.69259 11.55 31.40077 25.69262 11.03447 32.9638 25.69262 10.60611 34.25009 25.69262 9.383667 34.98223 27.49262 8.207154 34.87476 27.49262 7.304504 34.09558 27.49264 7.01383 33.28569 27.49262 7.094063 32.28815 27.49263 8.105149 31.14967 27.49261 9.631089 31.06632 27.49262 10.48599 31.65247 27.49258 10.97813 32.52392 27.49262 10.9272 33.55929 27.49261 10.44322 34.43516 27.49261 7.011626 33.39388 24.69262 7.176437 32.06923 24.69263 7.217728 32.0538 12.29263 8.051011 31.20082 12.29262 8.275727 31.09926 24.69262 9.392457 31.00418 12.29262 9.631089 31.06632 24.69262 10.42737 31.57391 12.29262 10.70627 31.89216 24.69261 10.942 32.45128 12.29262 11.00318 32.88533 24.69262 10.98617 33.28567 12.29262 10.88841 33.713 24.69262 10.60611 34.25011 12.29262 10.18008 34.65845 24.69262 9.798707 34.8414 12.29262 9.20047 34.99724 24.69262 8.778222 35.02346 12.29262 8.368622 34.91772 24.69262 7.851257 34.64584 12.29262 7.513885 34.36629 24.69261 7.259109 34.02183 12.29262 6.985322 33.04037 12.29262 9.123295 35.03184 9.492625 7.978149 34.74123 9.492622 7.259117 34.02188 9.492629 6.982198 33.04317 9.492622 7.149719 32.22458 9.49262 7.760529 31.38704 9.492622 8.871987 30.9866 9.492623 10.03525 31.24902 9.492628 10.90593 32.28815 9.492626 10.96337 33.4682 9.492623 10.37192 34.50354 9.492626 3 29.02936 24.44083 3 28.6145 25.73209 3 27.63306 26.40927 3 26.45236 26.45212 3 25.23223 25.54119 3 25.0452 23.85779 3 25.78339 22.89764 3 26.53345 22.52924 3 27.71338 22.58668 3 28.64832 23.32687 3 29.00745 12.46639 3 28.80075 13.44162 3 27.94779 14.27487 3 26.79138 14.51661 3 25.70017 14.03591 3 25.11267 13.20561 3 25.01977 12.02782 3 25.63519 11.00656 3 26.69339 10.48117 3 28.02525 10.73454 3 28.82159 11.62198 27 22.00078 15.49262 27 22.00078 21.49262 28.8 29.54577 18.11225 30 29.57971 18.20992 28.8 29.40813 19.40164 30 29.34763 19.51093 30 28.74194 20.38745 28.8 28.49237 20.61534 30 27.59674 20.99592 28.8 27.05483 21.06532 30 26.4997 21.00136 28.8 25.58728 20.66812 30 25.5153 20.59382 30 24.78648 19.77396 28.8 24.63377 19.50206 30 24.44205 18.76574 28.8 24.44278 18.45394 30 24.70578 17.28273 28.8 24.76726 17.17273 30 25.79321 16.22026 28.8 26.09218 16.06255 30 26.85353 15.93857 28.8 27.59669 15.98932 30 28.1122 16.14838 28.8 28.91684 16.74348 30 29.09836 17.02808 28.8 28.92801 19.05109 28.8 28.98796 18.03793 28.8 28.36567 17.00589 28.8 27.29585 16.47933 28.8 26.13019 16.67181 28.8 25.47455 17.18988 28.8 25.05875 17.94312 28.8 25.01461 18.77759 28.8 25.30526 19.58742 28.8 25.9024 20.17179 28.8 26.70239 20.48869 28.8 27.53577 20.4265 28.8 28.44397 19.927 28.8 29.52658 11.90009 30 29.5797 12.20991 28.8 29.40811 13.40167 30 29.34766 13.51086 30 28.74191 14.38739 28.8 28.49243 14.61533 30 27.3927 15.05722 28.8 27.05484 15.06532 30 25.89184 14.81468 28.8 25.5873 14.66813 30 24.76724 13.81252 28.8 24.53433 13.29727 30 24.43269 12.32944 28.8 24.52505 11.79089 30 24.94328 10.91231 28.8 25.03491 10.85559 28.8 25.89179 10.17058 30 26.19469 10.04887 28.8 27.39269 9.928022 30 27.70003 9.99426 28.8 28.74187 10.59781 30 28.96771 10.83345 28.8 28.82163 11.62207 28.8 24.96605 12.19741 28.8 25.18509 13.34671 28.8 25.75145 10.8865 28.8 27.03775 10.45815 28.8 28.16581 10.84459 28.8 28.76715 13.44452 28.8 29.01328 12.6184 28.8 28.23541 14.08917 28.8 27.1365 14.52289 28.8 25.83089 14.15749 28.8 25.08385 23.86121 28.8 25.01934 24.87633 28.8 24.43269 24.6558 28.8 24.74874 25.70635 28.8 25.4581 25.79394 28.8 25.58731 26.66814 28.8 26.45235 26.45212 28.8 27.05486 27.06532 28.8 27.633 26.40929 28.8 28.11792 26.79416 28.8 28.48746 25.85767 28.8 28.96771 26.15173 28.8 28.93995 25.0311 28.8 29.52711 24.98177 28.8 28.99362 24.20647 28.8 29.44487 23.68759 28.8 28.55246 23.1763 28.8 28.8743 22.75053 28.8 28.01124 22.12606 28.8 27.20935 22.4472 28.8 26.51598 21.94396 28.8 25.7515 22.88652 28.8 25.18161 22.67267 28.8 24.60187 23.60376 30 29.55284 24.67104 30 29.18483 25.89282 30 27.82048 26.9541 30 26.09216 26.92268 30 24.90019 25.97899 30 24.4861 24.96303 30 24.53435 23.68794 30 25.42664 22.457 30 26.82778 21.90403 30 28.49241 22.36994 30 29.40811 23.58354 27 30.40078 27.49262 19.62814 34.50358 11.29262 19.31604 31.82114 11.29262 22.33241 34.56663 11.29262 20.8767 35.03184 11.29262 22.98162 33.38359 11.29262 22.8691 32.19649 11.29262 21.94897 31.20081 11.29262 20.60758 31.00417 11.29262 18.98855 33.30816 11.29262 21.1233 35.03184 25.69262 19.82001 34.65847 25.69263 19.0405 33.54921 25.69262 18.45 31.40077 25.69262 19.04516 32.54843 25.69262 19.40341 31.76618 25.69264 20.04797 31.2345 25.69261 21.04942 30.96657 25.69262 22.8729 32.28082 25.69262 23.55 30.40078 25.69262 22.31638 31.44915 25.69262 23.01413 33.12963 25.69262 22.50792 34.39844 25.69263 20.36865 34.91772 27.49262 19.39389 34.25011 27.49262 18.96553 32.96379 27.49262 19.35199 31.83569 27.49262 20.1294 31.17992 27.49263 20.96967 30.99451 27.49262 21.94896 31.2008 27.49261 22.8691 32.19649 27.49261 22.98161 33.38356 27.49262 22.54324 34.30145 27.49263 21.56035 34.95691 27.49262 23.01468 33.04036 24.69262 23.00675 32.7902 12.29262 22.79416 33.96066 12.29262 22.66487 34.17065 24.69262 21.94635 34.78345 12.29262 21.85413 34.81637 24.69262 21.04328 35.01856 24.69262 20.95672 35.01856 12.29262 19.90184 34.71379 24.69262 19.6676 34.56665 12.29262 19.14386 33.79328 24.69261 18.976 33.21014 12.29262 19.00104 32.62054 24.69262 19.29373 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diff --git a/kinton_description/meshes/arm/link4.stl b/kinton_description/meshes/arm/link4.stl
new file mode 100644
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diff --git a/kinton_description/meshes/arm/link5.dae b/kinton_description/meshes/arm/link5.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7313764416de3d88bb7ad05d9dbad1d213bd3c94
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_materials>
+ <material name="Mesh001" id="mat_Mesh001">
+ <instance_effect url="#effect_Mesh001"/>
+ </material>
+ </library_materials>
+ <library_visual_scenes>
+ <visual_scene id="myscene">
+ <node name="node0" id="node0">
+ <instance_geometry url="#geometry0">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="ref_Mesh001" target="#mat_Mesh001"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#myscene"/>
+ </scene>
+</COLLADA>
diff --git a/kinton_description/meshes/arm/link5.stl b/kinton_description/meshes/arm/link5.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6c51fb5f1d4966aea8e18f28ed42cb872cca3903
Binary files /dev/null and b/kinton_description/meshes/arm/link5.stl differ
diff --git a/kinton_description/meshes/arm/link6.dae b/kinton_description/meshes/arm/link6.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3fa3992b5dabc5c837c447988fa9ff6f7c51dd1e
--- /dev/null
+++ b/kinton_description/meshes/arm/link6.dae
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2015-07-29T19:31:24</created>
+ <modified>2015-07-29T19:31:24</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera_003-camera" name="Camera.007">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp_003-light" name="Lamp.007">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <adapt_thresh>9.99987e-4</adapt_thresh>
+ <area_shape>1</area_shape>
+ <area_size>0.1</area_size>
+ <area_sizey>0.1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
+ <att2>1</att2>
+ <backscattered_light>1</backscattered_light>
+ <bias>1</bias>
+ <blue>1</blue>
+ <buffers>1</buffers>
+ <bufflag>0</bufflag>
+ <bufsize>2880</bufsize>
+ <buftype>2</buftype>
+ <clipend>30.002</clipend>
+ <clipsta>1.000799</clipsta>
+ <compressthresh>0.04999995</compressthresh>
+ <dist sid="blender_dist">29.99998</dist>
+ <energy sid="blender_energy">1</energy>
+ <falloff_type>2</falloff_type>
+ <filtertype>0</filtertype>
+ <flag>0</flag>
+ <gamma sid="blender_gamma">1</gamma>
+ <green>1</green>
+ <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+ <horizon_brightness>1</horizon_brightness>
+ <mode>8192</mode>
+ <ray_samp>1</ray_samp>
+ <ray_samp_method>1</ray_samp_method>
+ <ray_samp_type>0</ray_samp_type>
+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
+ <red>1</red>
+ <samp>3</samp>
+ <shadhalostep>0</shadhalostep>
+ <shadow_b sid="blender_shadow_b">0</shadow_b>
+ <shadow_g sid="blender_shadow_g">0</shadow_g>
+ <shadow_r sid="blender_shadow_r">0</shadow_r>
+ <shadspotsize>45</shadspotsize>
+ <sky_colorspace>0</sky_colorspace>
+ <sky_exposure>1</sky_exposure>
+ <skyblendfac>1</skyblendfac>
+ <skyblendtype>1</skyblendtype>
+ <soft>3</soft>
+ <spotblend>0.15</spotblend>
+ <spotsize>75</spotsize>
+ <spread>1</spread>
+ <sun_brightness>1</sun_brightness>
+ <sun_effect_type>0</sun_effect_type>
+ <sun_intensity>1</sun_intensity>
+ <sun_size>1</sun_size>
+ <type>0</type>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_effects>
+ <effect id="Material_003_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.05576943 0.05576943 0.05576943 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.25 0.25 0.25 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="Material_003_001-material" name="Material_003_001">
+ <instance_effect url="#Material_003_001-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="Link5_001-mesh" name="Link5.001">
+ <mesh>
+ <source id="Link5_001-mesh-positions">
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218 744 53 744 225 744 57 745 190 745 54 745 57 746 198 746 190 746 47 747 228 747 51 747 46 748 50 748 194 748 50 749 54 749 194 749 244 750 47 750 104 750 47 751 98 751 101 751 104 752 100 752 244 752 47 753 43 753 98 753 78 754 46 754 75 754 75 755 46 755 71 755 71 756 46 756 207 756 81 757 46 757 78 757 67 758 71 758 207 758 84 759 46 759 81 759 67 760 207 760 65 760 44 761 46 761 84 761 93 762 250 762 97 762 93 763 248 763 250 763 40 764 91 764 94 764 87 765 38 765 86 765 227 766 38 766 70 766 89 767 238 767 93 767 87 768 91 768 38 768 70 769 38 769 72 769 72 770 146 770 145 770 434 771 146 771 72 771 72 772 38 772 435 772 158 773 72 773 145 773 434 774 426 774 146 774 426 775 163 775 146 775 35 776 432 776 38 776 34 777 39 777 285 777 309 778 158 778 161 778 413 779 176 779 168 779 35 780 418 780 423 780 32 781 411 781 418 781 432 782 35 782 423 782 162 783 149 783 148 783 149 784 162 784 153 784 273 785 34 785 285 785 263 786 34 786 273 786 309 787 161 787 166 787 153 788 173 788 169 788 288 789 299 789 165 789 403 790 184 790 181 790 403 791 393 791 184 791 187 792 184 792 393 792 411 793 28 793 400 793 253 794 27 794 263 794 288 795 165 795 170 795 395 796 28 796 26 796 282 797 170 797 175 797 186 798 383 798 380 798 383 799 186 799 393 799 22 800 388 800 395 800 187 801 393 801 188 801 22 802 395 802 26 802 355 803 265 803 185 803 265 804 355 804 112 804 116 805 256 805 265 805 355 806 363 806 112 806 256 807 116 807 252 807 133 808 22 808 130 808 185 809 22 809 133 809 185 810 186 810 22 810 252 811 27 811 253 811 121 812 21 812 116 812 369 813 107 813 112 813 369 814 105 814 107 814 337 815 142 815 139 815 126 816 130 816 18 816 127 817 126 817 18 817 18 818 132 818 127 818 18 819 130 819 22 819 109 820 105 820 377 820 115 821 377 821 17 821 17 822 122 822 118 822 115 823 109 823 377 823 21 824 121 824 122 824 15 825 136 825 132 825 136 826 332 826 139 826 17 827 377 827 371 827 15 828 11 828 323 828 359 829 14 829 17 829 316 830 11 830 9 830 350 831 340 831 6 831 14 832 359 832 350 832 324 833 2 833 331 833 5 834 2 834 324 834 324 835 9 835 5 835 6 836 2 836 3 836 62 837 58 837 59 837 58 838 212 838 52 838 212 839 58 839 202 839 52 840 212 840 226 840 195 841 55 841 196 841 49 842 233 842 242 842 48 843 203 843 196 843 99 844 42 844 103 844 103 845 42 845 242 845 203 846 48 846 74 846 90 847 37 847 95 847 245 848 96 848 249 848 68 849 213 849 74 849 223 850 64 850 66 850 213 851 68 851 64 851 64 852 223 852 213 852 69 853 37 853 88 853 90 854 85 854 37 854 37 855 85 855 88 855 66 856 88 856 92 856 73 857 37 857 69 857 231 858 92 858 237 858 80 859 41 859 76 859 36 860 37 860 76 860 37 861 73 861 76 861 311 862 438 862 301 862 37 863 36 863 301 863 37 864 431 864 421 864 416 865 37 865 421 865 301 866 36 866 291 866 37 867 416 867 30 867 297 868 419 868 303 868 291 869 33 869 284 869 33 870 278 870 284 870 291 871 36 871 33 871 29 872 270 872 278 872 407 873 401 873 24 873 297 874 290 874 405 874 405 875 419 875 297 875 274 876 397 876 280 876 397 877 274 877 387 877 29 878 262 878 270 878 24 879 387 879 264 879 264 880 387 880 274 880 257 881 23 881 258 881 134 882 23 882 113 882 134 883 113 883 110 883 134 884 131 884 24 884 110 885 138 885 134 885 125 886 128 886 20 886 138 887 353 887 143 887 360 888 353 888 138 888 106 889 367 889 360 889 343 890 137 890 141 890 335 891 16 891 135 891 329 892 16 892 335 892 376 893 375 893 114 893 375 894 367 894 114 894 123 895 19 895 119 895 124 896 19 896 123 896 367 897 108 897 111 897 23 898 19 898 124 898 10 899 321 899 318 899 320 900 10 900 318 900 352 901 8 901 341 901 8 902 333 902 341 902 8 903 7 903 333 903 352 904 13 904 8 904 7 905 328 905 333 905 328 906 7 906 320 906 8 907 0 907 4 907</p>
+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera_003" name="Camera_003" type="NODE">
+ <matrix sid="transform">0.6858804 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera_003-camera"/>
+ </node>
+ <node id="Lamp_003" name="Lamp_003" type="NODE">
+ <matrix sid="transform">-0.2908648 -0.7711007 0.5663931 4.076245 0.9551712 -0.1998834 0.2183913 1.005454 -0.05518911 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp_003-light"/>
+ </node>
+ <node id="Link5_001" name="Link5_001" type="NODE">
+ <matrix sid="transform">0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1</matrix>
+ <instance_geometry url="#Link5_001-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_003_001-material" target="#Material_003_001-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/arm/link6.stl b/kinton_description/meshes/arm/link6.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e49ba9579346d5ef1b8337d11518e0804cb05b76
Binary files /dev/null and b/kinton_description/meshes/arm/link6.stl differ
diff --git a/kinton_description/meshes/kinton/kinton.blend b/kinton_description/meshes/kinton/kinton.blend
new file mode 100644
index 0000000000000000000000000000000000000000..41bd14ba1b70f394d385f6b831421b7d6771162e
Binary files /dev/null and b/kinton_description/meshes/kinton/kinton.blend differ
diff --git a/kinton_description/meshes/kinton/kinton.dae b/kinton_description/meshes/kinton/kinton.dae
new file mode 100755
index 0000000000000000000000000000000000000000..9038a2cdfcb997008e76c634f1881989d3ade69b
--- /dev/null
+++ b/kinton_description/meshes/kinton/kinton.dae
@@ -0,0 +1,454 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
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162.9048 -150.3704 30.53329 162.9048 -153.4268 30.53329 162.2072 -150.5707 63.53329 150.7606 -151.2175 63.53329 149.6404 -149.4505 63.53329 151.4074 -148.1563 63.53329 151.4076 -147.0353 63.53329 150.7605 -146.3881 63.53329 149.6394 -146.3883 63.53329 148.3453 -147.0351 63.53329 147.2251 -148.1553 63.53329 146.5782 -149.4495 63.53329 146.578 -150.5705 63.53329 147.2252 -151.2177 63.53329 148.3462 156.2887 3.53328 158.4397 139.4421 3.533283 141.5931 140.4037 3.533283 140.5075 138.9895 8.533284 139.0933 157.3743 3.53328 157.4781 141.4893 3.533283 139.5459 141.4406 8.533283 137.1387 155.0968 3.53328 159.2622 138.6196 3.533283 142.785 137.0349 8.533283 141.5443 153.8143 3.53328 159.9353 137.9465 3.533282 144.0676 152.4598 3.53328 160.4491 137.4327 3.533282 145.422 135.6746 8.533283 144.3689 151.0524 3.53328 160.7962 137.0856 3.533282 146.8294 149.6131 3.53328 160.9709 136.9109 3.533282 148.2687 134.977 8.533282 147.4253 148.1641 3.53328 160.9708 136.911 3.533282 149.7177 146.7262 3.53328 160.7961 137.0857 3.533282 151.1556 134.977 8.533282 150.5603 145.3197 3.53328 160.4496 137.4322 3.533282 152.5621 143.9645 3.53328 159.9358 137.946 3.533282 153.9173 135.6747 8.533281 153.6167 142.6806 3.53328 159.2619 138.6199 3.533281 155.2012 141.488 3.53328 158.4386 139.4432 3.533281 156.3938 137.0349 8.533281 156.4412 140.4038 3.53328 157.478 138.9895 8.533281 158.8923 141.4406 8.53328 160.8469 144.2651 8.53328 162.2071 147.3215 8.53328 162.9048 150.4565 8.533279 162.9048 153.5129 8.53328 162.2072 156.3375 8.53328 160.8469 158.3359 3.53328 156.3925 158.7885 8.53328 158.8923 142.6813 3.533283 138.7234 159.1584 3.53328 155.2005 160.7431 8.53328 156.4412 143.9638 3.533283 138.0503 159.8315 3.533281 153.918 145.3183 3.533283 137.5364 160.3454 3.533281 152.5635 162.1034 8.53328 153.6167 146.7256 3.533283 137.1894 160.6924 3.533281 151.1562 148.1649 3.533283 137.0147 160.8671 3.533281 149.7169 162.801 8.533281 150.5603 149.6139 3.533283 137.0148 160.867 3.533281 148.2679 151.0518 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157.9698 157.6833 35.53328 147.08 146.9762 35.53328 157.7871 147.3215 30.53328 162.9048 157.3216 35.53328 145.848 145.7443 35.53328 157.4254 144.2651 30.53328 162.2072 156.7883 35.53328 144.68 144.5762 35.53328 156.8921 149.5364 35.53328 151.4074 143.4958 35.53328 156.1979 141.4406 30.53328 160.8469 150.6568 35.53328 150.7606 147.1213 35.53328 150.7606 142.5251 35.53328 155.3568 148.2416 35.53328 151.4074 146.4744 35.53328 149.6402 141.684 35.53328 154.386 138.9895 30.53328 158.8923 147.1212 35.53328 147.225 140.9897 35.53328 153.3056 137.0349 30.53328 156.4412 146.4744 35.53328 148.3454 152.0338 35.53328 140.5602 140.4564 35.53328 152.1375 153.2018 35.53328 141.0935 150.8018 35.53328 140.1985 140.0947 35.53328 150.9056 135.6747 30.53328 153.6167 149.531 35.53328 140.0158 139.9121 35.53328 149.6347 134.9771 30.53328 150.5603 148.2471 35.53328 140.0158 139.9121 35.53328 148.3509 146.9762 35.53328 140.1985 140.0947 35.53328 147.08 134.977 30.53328 147.4253 145.7443 35.53328 140.5602 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24962 12153 24962 11013 24963 12154 24963 12155 24963 11013 24964 11016 24964 12154 24964 11012 24965 12155 24965 12059 24965 11012 24966 11013 24966 12155 24966 11011 24967 11012 24967 12059 24967 12156 24968 11404 24968 11190 24968 12056 24969 12157 24969 11409 24969 12158 24970 12156 24970 11190 24970 11191 24971 12158 24971 11190 24971 12056 24972 12159 24972 12157 24972 11402 24973 11404 24973 12156 24973 12160 24974 12156 24974 12158 24974 12160 24975 11402 24975 12156 24975 11192 24976 12158 24976 11191 24976 12161 24977 12158 24977 11192 24977 12160 24978 12158 24978 12161 24978 12162 24979 11192 24979 11189 24979 12161 24980 11192 24980 12162 24980 12162 24981 11189 24981 11193 24981 12163 24982 10980 24982 10981 24982 12163 24983 11115 24983 10980 24983 11410 24984 10981 24984 10979 24984 11410 24985 12163 24985 10981 24985 11408 24986 10979 24986 10984 24986 11408 24987 11410 24987 10979 24987 11369 24988 10984 24988 10983 24988 11408 24989 10984 24989 11369 24989 12056 24990 11369 24990 11370 24990 11408 24991 11369 24991 12056 24991 12159 24992 11370 24992 11371 24992 12056 24993 11370 24993 12159 24993 12164 24994 11371 24994 11372 24994 12159 24995 11371 24995 12164 24995 12165 24996 11372 24996 11373 24996 12164 24997 11372 24997 12165 24997 12166 24998 11373 24998 11374 24998 12165 24999 11373 24999 12166 24999 12167 25000 11374 25000 11375 25000 12166 25001 11374 25001 12167 25001 12168 25002 11375 25002 11376 25002 12167 25003 11375 25003 12168 25003 12169 25004 11376 25004 11377 25004 12168 25005 11376 25005 12169 25005 12170 25006 11377 25006 11378 25006 12169 25007 11377 25007 12170 25007 12171 25008 11378 25008 11379 25008 12170 25009 11378 25009 12171 25009 12172 25010 11379 25010 11380 25010 12171 25011 11379 25011 12172 25011 12173 25012 11380 25012 11381 25012 12172 25013 11380 25013 12173 25013 12174 25014 11381 25014 11382 25014 12173 25015 11381 25015 12174 25015 12175 25016 11382 25016 11383 25016 12174 25017 11382 25017 12175 25017 12176 25018 11383 25018 11384 25018 12175 25019 11383 25019 12176 25019 12177 25020 11384 25020 11385 25020 12176 25021 11384 25021 12177 25021 12178 25022 11385 25022 11386 25022 12177 25023 11385 25023 12178 25023 12179 25024 11386 25024 11387 25024 12178 25025 11386 25025 12179 25025 12180 25026 11387 25026 11388 25026 12179 25027 11387 25027 12180 25027 12181 25028 11388 25028 11389 25028 12180 25029 11388 25029 12181 25029 12182 25030 11389 25030 11390 25030 12181 25031 11389 25031 12182 25031 12183 25032 11390 25032 11391 25032 12182 25033 11390 25033 12183 25033 12184 25034 11391 25034 11392 25034 12183 25035 11391 25035 12184 25035 12185 25036 11392 25036 11393 25036 12184 25037 11392 25037 12185 25037 12186 25038 11393 25038 11394 25038 12185 25039 11393 25039 12186 25039 12187 25040 11394 25040 11395 25040 12186 25041 11394 25041 12187 25041 12188 25042 11395 25042 11396 25042 12187 25043 11395 25043 12188 25043 12189 25044 11396 25044 11397 25044 12188 25045 11396 25045 12189 25045 12190 25046 11397 25046 11398 25046 12189 25047 11397 25047 12190 25047 12191 25048 11398 25048 11399 25048 12190 25049 11398 25049 12191 25049 12192 25050 11399 25050 11401 25050 12191 25051 11399 25051 12192 25051 12193 25052 11401 25052 11400 25052 12192 25053 11401 25053 12193 25053 12160 25054 11400 25054 11402 25054 12193 25055 11400 25055 12160 25055 12194 25056 11193 25056 11194 25056 12194 25057 12162 25057 11193 25057 12195 25058 11194 25058 11196 25058 12195 25059 12194 25059 11194 25059 12196 25060 11196 25060 11195 25060 12196 25061 12195 25061 11196 25061 12197 25062 11195 25062 11197 25062 12197 25063 12196 25063 11195 25063 12198 25064 11197 25064 11199 25064 12198 25065 12197 25065 11197 25065 12199 25066 11199 25066 11200 25066 12199 25067 12198 25067 11199 25067 12200 25068 11200 25068 11198 25068 12200 25069 12199 25069 11200 25069 12201 25070 11198 25070 11202 25070 12201 25071 12200 25071 11198 25071 12202 25072 11202 25072 11201 25072 12202 25073 12201 25073 11202 25073 12203 25074 11201 25074 11204 25074 12203 25075 12202 25075 11201 25075 12204 25076 11204 25076 11205 25076 12204 25077 12203 25077 11204 25077 12205 25078 11205 25078 11203 25078 12205 25079 12204 25079 11205 25079 12206 25080 11203 25080 11207 25080 12206 25081 12205 25081 11203 25081 12207 25082 11207 25082 11206 25082 12207 25083 12206 25083 11207 25083 12208 25084 11206 25084 11209 25084 12208 25085 12207 25085 11206 25085 12209 25086 11209 25086 11208 25086 12209 25087 12208 25087 11209 25087 12210 25088 11208 25088 11210 25088 12210 25089 12209 25089 11208 25089 12211 25090 11210 25090 11212 25090 12211 25091 12210 25091 11210 25091 12212 25092 11212 25092 11211 25092 12212 25093 12211 25093 11212 25093 12213 25094 11211 25094 11213 25094 12213 25095 12212 25095 11211 25095 12214 25096 11213 25096 11214 25096 12214 25097 12213 25097 11213 25097 12215 25098 11214 25098 11215 25098 12215 25099 12214 25099 11214 25099 12216 25100 11215 25100 11216 25100 12216 25101 12215 25101 11215 25101 12217 25102 11216 25102 11217 25102 12217 25103 12216 25103 11216 25103 12218 25104 11217 25104 11218 25104 12218 25105 12217 25105 11217 25105 12219 25106 11218 25106 11219 25106 12219 25107 12218 25107 11218 25107 12220 25108 11219 25108 11220 25108 12220 25109 12219 25109 11219 25109 12221 25110 11220 25110 11221 25110 12221 25111 12220 25111 11220 25111 12222 25112 11221 25112 11222 25112 12222 25113 12221 25113 11221 25113 12223 25114 11222 25114 11223 25114 12223 25115 12222 25115 11222 25115 12224 25116 11223 25116 11224 25116 12224 25117 12223 25117 11223 25117 12225 25118 11224 25118 11225 25118 12225 25119 12224 25119 11224 25119 12163 25120 11225 25120 11115 25120 12163 25121 12225 25121 11225 25121 12226 25122 12162 25122 12194 25122 12226 25123 12161 25123 12162 25123 12227 25124 12194 25124 12195 25124 12227 25125 12226 25125 12194 25125 12228 25126 12195 25126 12196 25126 12228 25127 12227 25127 12195 25127 12229 25128 12196 25128 12197 25128 12229 25129 12228 25129 12196 25129 12230 25130 12197 25130 12198 25130 12230 25131 12229 25131 12197 25131 12231 25132 12198 25132 12199 25132 12231 25133 12230 25133 12198 25133 12232 25134 12199 25134 12200 25134 12232 25135 12231 25135 12199 25135 12233 25136 12200 25136 12201 25136 12233 25137 12232 25137 12200 25137 12234 25138 12201 25138 12202 25138 12234 25139 12233 25139 12201 25139 12235 25140 12202 25140 12203 25140 12235 25141 12234 25141 12202 25141 12236 25142 12203 25142 12204 25142 12236 25143 12235 25143 12203 25143 12237 25144 12204 25144 12205 25144 12237 25145 12236 25145 12204 25145 12238 25146 12205 25146 12206 25146 12238 25147 12237 25147 12205 25147 12239 25148 12206 25148 12207 25148 12239 25149 12238 25149 12206 25149 12240 25150 12207 25150 12208 25150 12240 25151 12239 25151 12207 25151 12241 25152 12208 25152 12209 25152 12241 25153 12240 25153 12208 25153 12242 25154 12209 25154 12210 25154 12242 25155 12241 25155 12209 25155 12243 25156 12210 25156 12211 25156 12243 25157 12242 25157 12210 25157 12244 25158 12211 25158 12212 25158 12244 25159 12243 25159 12211 25159 12245 25160 12212 25160 12213 25160 12245 25161 12244 25161 12212 25161 12246 25162 12213 25162 12214 25162 12246 25163 12245 25163 12213 25163 12247 25164 12214 25164 12215 25164 12247 25165 12246 25165 12214 25165 12248 25166 12215 25166 12216 25166 12248 25167 12247 25167 12215 25167 12249 25168 12216 25168 12217 25168 12249 25169 12248 25169 12216 25169 12250 25170 12217 25170 12218 25170 12250 25171 12249 25171 12217 25171 12251 25172 12218 25172 12219 25172 12251 25173 12250 25173 12218 25173 12252 25174 12219 25174 12220 25174 12252 25175 12251 25175 12219 25175 12253 25176 12220 25176 12221 25176 12253 25177 12252 25177 12220 25177 12254 25178 12221 25178 12222 25178 12254 25179 12253 25179 12221 25179 12255 25180 12222 25180 12223 25180 12255 25181 12254 25181 12222 25181 12157 25182 12223 25182 12224 25182 12157 25183 12255 25183 12223 25183 11409 25184 12224 25184 12225 25184 11409 25185 12157 25185 12224 25185 11410 25186 12225 25186 12163 25186 11410 25187 11409 25187 12225 25187 12193 25188 12161 25188 12226 25188 12193 25189 12160 25189 12161 25189 12192 25190 12226 25190 12227 25190 12192 25191 12193 25191 12226 25191 12191 25192 12227 25192 12228 25192 12191 25193 12192 25193 12227 25193 12190 25194 12228 25194 12229 25194 12190 25195 12191 25195 12228 25195 12189 25196 12229 25196 12230 25196 12189 25197 12190 25197 12229 25197 12188 25198 12230 25198 12231 25198 12188 25199 12189 25199 12230 25199 12187 25200 12231 25200 12232 25200 12187 25201 12188 25201 12231 25201 12186 25202 12232 25202 12233 25202 12186 25203 12187 25203 12232 25203 12185 25204 12233 25204 12234 25204 12185 25205 12186 25205 12233 25205 12184 25206 12234 25206 12235 25206 12184 25207 12185 25207 12234 25207 12183 25208 12235 25208 12236 25208 12183 25209 12184 25209 12235 25209 12182 25210 12236 25210 12237 25210 12182 25211 12183 25211 12236 25211 12181 25212 12237 25212 12238 25212 12181 25213 12182 25213 12237 25213 12180 25214 12238 25214 12239 25214 12180 25215 12181 25215 12238 25215 12179 25216 12239 25216 12240 25216 12179 25217 12180 25217 12239 25217 12178 25218 12240 25218 12241 25218 12178 25219 12179 25219 12240 25219 12177 25220 12241 25220 12242 25220 12177 25221 12178 25221 12241 25221 12176 25222 12242 25222 12243 25222 12176 25223 12177 25223 12242 25223 12175 25224 12243 25224 12244 25224 12175 25225 12176 25225 12243 25225 12174 25226 12244 25226 12245 25226 12174 25227 12175 25227 12244 25227 12173 25228 12245 25228 12246 25228 12173 25229 12174 25229 12245 25229 12172 25230 12246 25230 12247 25230 12172 25231 12173 25231 12246 25231 12171 25232 12247 25232 12248 25232 12171 25233 12172 25233 12247 25233 12170 25234 12248 25234 12249 25234 12170 25235 12171 25235 12248 25235 12169 25236 12249 25236 12250 25236 12169 25237 12170 25237 12249 25237 12168 25238 12250 25238 12251 25238 12168 25239 12169 25239 12250 25239 12167 25240 12251 25240 12252 25240 12167 25241 12168 25241 12251 25241 12166 25242 12252 25242 12253 25242 12166 25243 12167 25243 12252 25243 12165 25244 12253 25244 12254 25244 12165 25245 12166 25245 12253 25245 12164 25246 12254 25246 12255 25246 12164 25247 12165 25247 12254 25247 12159 25248 12255 25248 12157 25248 12159 25249 12164 25249 12255 25249 12256 25250 12257 25250 12258 25250 12258 25251 12259 25251 12260 25251 12260 25252 12261 25252 12262 25252 12262 25253 12263 25253 12264 25253 12264 25254 12265 25254 12266 25254 12266 25255 12267 25255 12268 25255 12268 25256 12269 25256 12270 25256 12270 25257 12271 25257 12272 25257 12272 25258 12273 25258 12275 25258 12274 25259 12275 25259 12277 25259 12276 25260 12277 25260 12279 25260 12278 25261 12279 25261 12281 25261 12280 25262 12281 25262 12283 25262 12282 25263 12283 25263 12285 25263 12284 25264 12285 25264 12287 25264 12286 25265 12287 25265 12289 25265 12288 25266 12289 25266 12291 25266 12290 25267 12291 25267 12293 25267 12292 25268 12293 25268 12295 25268 12294 25269 12295 25269 12297 25269 12296 25270 12297 25270 12299 25270 12298 25271 12299 25271 12301 25271 12300 25272 12301 25272 12303 25272 12302 25273 12303 25273 12305 25273 12304 25274 12305 25274 12306 25274 12306 25275 12307 25275 12308 25275 12308 25276 12309 25276 12310 25276 12310 25277 12311 25277 12312 25277 12312 25278 12313 25278 12314 25278 12314 25279 12315 25279 12316 25279 12259 25280 12257 25280 12319 25280 12318 25281 12319 25281 12256 25281 12316 25282 12317 25282 12318 25282 12306 25283 12302 25283 12304 25283 10803 25284 10805 25284 10804 25284 10805 25285 10807 25285 10806 25285 10807 25286 10809 25286 10808 25286 10809 25287 10811 25287 10810 25287 10811 25288 10813 25288 10812 25288 10813 25289 10815 25289 10814 25289 10815 25290 10817 25290 10816 25290 10817 25291 10819 25291 10818 25291 10820 25292 10818 25292 10821 25292 10822 25293 10820 25293 10823 25293 10824 25294 10822 25294 10825 25294 10826 25295 10824 25295 10827 25295 10828 25296 10826 25296 10829 25296 10830 25297 10828 25297 10831 25297 10832 25298 10830 25298 10833 25298 10834 25299 10832 25299 10835 25299 10836 25300 10834 25300 10837 25300 10838 25301 10836 25301 10839 25301 10840 25302 10838 25302 10841 25302 10842 25303 10840 25303 10843 25303 10844 25304 10842 25304 10845 25304 10846 25305 10844 25305 10847 25305 10848 25306 10846 25306 10849 25306 10850 25307 10848 25307 10851 25307 10851 25308 10853 25308 10852 25308 10853 25309 10855 25309 10854 25309 10855 25310 10857 25310 10856 25310 10857 25311 10859 25311 10858 25311 10859 25312 10861 25312 10860 25312 10861 25313 10863 25313 10862 25313 10807 25314 10805 25314 10809 25314 10805 25315 10865 25315 10809 25315 10865 25316 10863 25316 10861 25316 10809 25317 10865 25317 10811 25317 10865 25318 10861 25318 10859 25318 10865 25319 10859 25319 10857 25319 10865 25320 10857 25320 10855 25320 10847 25321 10851 25321 10849 25321 10845 25322 10851 25322 10847 25322 10843 25323 10851 25323 10845 25323 10839 25324 10843 25324 10841 25324 10839 25325 10851 25325 10843 25325 10835 25326 10839 25326 10837 25326 10831 25327 10835 25327 10833 25327 10827 25328 10831 25328 10829 25328 10825 25329 10831 25329 10827 25329 10813 25330 10811 25330 10815 25330 10815 25331 10811 25331 10817 25331 10823 25332 10831 25332 10825 25332 10819 25333 10823 25333 10821 25333 10819 25334 10831 25334 10823 25334 10819 25335 10835 25335 10831 25335 10819 25336 10839 25336 10835 25336 10811 25337 10865 25337 10817 25337 10865 25338 10855 25338 10817 25338 10855 25339 10853 25339 10817 25339 10853 25340 10851 25340 10817 25340 10851 25341 10839 25341 10817 25341 10839 25342 10819 25342 10817 25342 10865 25343 10803 25343 10802 25343 10863 25344 10865 25344 10864 25344 10852 25345 10846 25345 10848 25345 10854 25346 10846 25346 10852 25346 10854 25347 10844 25347 10846 25347 10856 25348 10844 25348 10854 25348 10856 25349 10842 25349 10844 25349 10858 25350 10842 25350 10856 25350 10858 25351 10840 25351 10842 25351 10860 25352 10840 25352 10858 25352 10860 25353 10838 25353 10840 25353 10862 25354 10838 25354 10860 25354 10862 25355 10836 25355 10838 25355 10864 25356 10836 25356 10862 25356 10864 25357 10834 25357 10836 25357 10864 25358 10802 25358 10834 25358 10802 25359 10804 25359 10834 25359 10834 25360 10804 25360 10832 25360 10804 25361 10806 25361 10832 25361 10832 25362 10806 25362 10830 25362 10806 25363 10808 25363 10830 25363 10830 25364 10808 25364 10828 25364 10808 25365 10810 25365 10828 25365 10828 25366 10810 25366 10826 25366 10810 25367 10812 25367 10826 25367 10826 25368 10812 25368 10824 25368 10812 25369 10814 25369 10824 25369 10824 25370 10814 25370 10822 25370 10814 25371 10816 25371 10822 25371 10816 25372 10818 25372 10820 25372 10822 25373 10816 25373 10820 25373 12257 25374 12259 25374 12258 25374 12259 25375 12261 25375 12260 25375 12261 25376 12263 25376 12262 25376 12263 25377 12265 25377 12264 25377 12265 25378 12267 25378 12266 25378 12267 25379 12269 25379 12268 25379 12269 25380 12271 25380 12270 25380 12271 25381 12273 25381 12272 25381 12274 25382 12272 25382 12275 25382 12276 25383 12274 25383 12277 25383 12278 25384 12276 25384 12279 25384 12280 25385 12278 25385 12281 25385 12282 25386 12280 25386 12283 25386 12284 25387 12282 25387 12285 25387 12286 25388 12284 25388 12287 25388 12288 25389 12286 25389 12289 25389 12290 25390 12288 25390 12291 25390 12292 25391 12290 25391 12293 25391 12294 25392 12292 25392 12295 25392 12296 25393 12294 25393 12297 25393 12298 25394 12296 25394 12299 25394 12300 25395 12298 25395 12301 25395 12302 25396 12300 25396 12303 25396 12304 25397 12302 25397 12305 25397 12305 25398 12307 25398 12306 25398 12307 25399 12309 25399 12308 25399 12309 25400 12311 25400 12310 25400 12311 25401 12313 25401 12312 25401 12313 25402 12315 25402 12314 25402 12315 25403 12317 25403 12316 25403 12261 25404 12259 25404 12263 25404 12259 25405 12319 25405 12263 25405 12319 25406 12317 25406 12315 25406 12263 25407 12319 25407 12265 25407 12319 25408 12315 25408 12313 25408 12319 25409 12313 25409 12311 25409 12319 25410 12311 25410 12309 25410 12301 25411 12305 25411 12303 25411 12299 25412 12305 25412 12301 25412 12297 25413 12305 25413 12299 25413 12293 25414 12297 25414 12295 25414 12293 25415 12305 25415 12297 25415 12289 25416 12293 25416 12291 25416 12285 25417 12289 25417 12287 25417 12281 25418 12285 25418 12283 25418 12279 25419 12285 25419 12281 25419 12273 25420 12277 25420 12275 25420 12273 25421 12279 25421 12277 25421 12273 25422 12285 25422 12279 25422 12273 25423 12289 25423 12285 25423 12273 25424 12293 25424 12289 25424 12267 25425 12271 25425 12269 25425 12267 25426 12265 25426 12271 25426 12265 25427 12319 25427 12271 25427 12319 25428 12309 25428 12271 25428 12309 25429 12307 25429 12271 25429 12307 25430 12305 25430 12271 25430 12305 25431 12293 25431 12271 25431 12293 25432 12273 25432 12271 25432 12319 25433 12257 25433 12256 25433 12317 25434 12319 25434 12318 25434 12306 25435 12300 25435 12302 25435 12308 25436 12300 25436 12306 25436 12308 25437 12298 25437 12300 25437 12310 25438 12298 25438 12308 25438 12310 25439 12296 25439 12298 25439 12312 25440 12296 25440 12310 25440 12312 25441 12294 25441 12296 25441 12314 25442 12294 25442 12312 25442 12314 25443 12292 25443 12294 25443 12316 25444 12292 25444 12314 25444 12316 25445 12290 25445 12292 25445 12318 25446 12290 25446 12316 25446 12318 25447 12288 25447 12290 25447 12318 25448 12256 25448 12288 25448 12256 25449 12258 25449 12288 25449 12288 25450 12258 25450 12286 25450 12258 25451 12260 25451 12286 25451 12286 25452 12260 25452 12284 25452 12260 25453 12262 25453 12284 25453 12284 25454 12262 25454 12282 25454 12262 25455 12264 25455 12282 25455 12282 25456 12264 25456 12280 25456 12264 25457 12266 25457 12280 25457 12280 25458 12266 25458 12278 25458 12266 25459 12268 25459 12278 25459 12278 25460 12268 25460 12276 25460 12268 25461 12270 25461 12276 25461 12270 25462 12272 25462 12274 25462 12276 25463 12270 25463 12274 25463</p>
+ </polylist>
+ <polylist material="mat_pc_embed-material" count="12">
+ <input semantic="VERTEX" source="#Kinton-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Kinton-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+ <p>12321 25464 12320 25464 12325 25464 12325 25465 12326 25465 12321 25465 12326 25466 12327 25466 12323 25466 12320 25467 12323 25467 12327 25467 12320 25468 12321 25468 12322 25468 12327 25469 12326 25469 12324 25469 12320 25470 12324 25470 12325 25470 12326 25471 12322 25471 12321 25471 12322 25472 12326 25472 12323 25472 12324 25473 12320 25473 12327 25473 12323 25474 12320 25474 12322 25474 12326 25475 12325 25475 12324 25475</p>
+ </polylist>
+ <polylist material="mat_battery-material" count="12">
+ <input semantic="VERTEX" source="#Kinton-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Kinton-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+ <p>12329 25476 12328 25476 12333 25476 12333 25477 12334 25477 12330 25477 12334 25478 12335 25478 12331 25478 12328 25479 12331 25479 12332 25479 12328 25480 12329 25480 12330 25480 12335 25481 12334 25481 12332 25481 12328 25482 12332 25482 12333 25482 12329 25483 12333 25483 12330 25483 12330 25484 12334 25484 12331 25484 12331 25485 12335 25485 12332 25485 12331 25486 12328 25486 12330 25486 12334 25487 12333 25487 12332 25487</p>
+ </polylist>
+ <polylist material="mat_marker-material" count="24">
+ <input semantic="VERTEX" source="#Kinton-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Kinton-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+ </polylist>
+ <polylist material="mat_potes-material" count="6000">
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15286 31608 15289 31608 15225 31609 15253 31609 15273 31609 15224 31610 15252 31610 15253 31610 15287 31611 15277 31611 15255 31611 15172 31612 15221 31612 15252 31612 15252 31613 15224 31613 15173 31613 15218 31614 15219 31614 15175 31614 15219 31615 15217 31615 15171 31615 15220 31616 15250 31616 15251 31616 15190 31617 15251 31617 15264 31617 15216 31618 15250 31618 15220 31618 15251 31619 15190 31619 15237 31619 15217 31620 15216 31620 15169 31620 15240 31621 15238 31621 15193 31621 15242 31622 15240 31622 15195 31622 15243 31623 15242 31623 15197 31623 15241 31624 15243 31624 15196 31624 15239 31625 15241 31625 15194 31625 15143 31626 15245 31626 15266 31626 15266 31627 15265 31627 15189 31627 15199 31628 15245 31628 15143 31628 15239 31629 15191 31629 15189 31629 15080 31630 15200 31630 15144 31630 15200 31631 15080 31631 15146 31631 15084 31632 15147 31632 15146 31632 15084 31633 15086 31633 15150 31633 15153 31634 15152 31634 15086 31634 15088 31635 15087 31635 15153 31635 15148 31636 15151 31636 15087 31636 15201 31637 15121 31637 15154 31637 15198 31638 15149 31638 15121 31638 15121 31639 15148 31639 15083 31639 15083 31640 15052 31640 15121 31640 15051 31641 15092 31641 15091 31641 15092 31642 15051 31642 15093 31642 15093 31643 15053 31643 15090 31643 15012 31644 15089 31644 15049 31644 15090 31645 15050 31645 15049 31645 15055 31646 15094 31647 15119 31648 15012 31649 14977 31649 15016 31649 15016 31650 14977 31650 15017 31650 15017 31651 14976 31651 15019 31651 15019 31652 14979 31652 15018 31652 14943 31653 15020 31653 14975 31653 14945 31654 14981 31654 15020 31654 15020 31655 15015 31655 14975 31655 14943 31656 14910 31656 14945 31656 14948 31657 14911 31657 14949 31657 14913 31658 14946 31658 14949 31658 14912 31659 14909 31659 14916 31659 14916 31660 14848 31660 14878 31660 14913 31661 14912 31661 14916 31661</p>
+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_controllers/>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Kinton" name="Kinton" type="NODE">
+ <matrix sid="transform">-6.39758e-10 -6.39758e-10 -0.001 0 -0.001 -7.82652e-12 6.39758e-10 0 -7.82693e-12 0.001 -6.39758e-10 0 0 0 0 1</matrix>
+ <instance_geometry url="#Kinton-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="mat_kinton_struct-material" target="#mat_kinton_struct-material"/>
+ <instance_material symbol="mat_helix_front-material" target="#mat_helix_front-material"/>
+ <instance_material symbol="mat_helix_back-material" target="#mat_helix_back-material"/>
+ <instance_material symbol="mat_pc_embed-material" target="#mat_pc_embed-material"/>
+ <instance_material symbol="mat_battery-material" target="#mat_battery-material"/>
+ <instance_material symbol="mat_marker-material" target="#mat_marker-material"/>
+ <instance_material symbol="mat_potes-material" target="#mat_potes-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <node id="Camera_001" name="Camera_001" type="NODE">
+ <matrix sid="parentinverse">0.7071065 0.707107 -7.82691e-9 0 4.57912e-7 -4.46842e-7 1 0 0.707107 -0.7071065 -6.39758e-7 0 0 0 0 1</matrix>
+ <matrix sid="transform">-7.07107e-4 7.07106e-4 4.96011e-13 -1.43438e-4 -7.07106e-4 -7.07107e-4 -7.82707e-12 -4.64445e-5 -5.18379e-12 -5.8853e-12 0.001 -0.0018667 0 0 0 1</matrix>
+ <instance_camera url="#Camera_001-camera"/>
+ </node>
+ <node id="Lamp_001" name="Lamp_001" type="NODE">
+ <matrix sid="parentinverse">0.7071065 0.707107 -7.82691e-9 0 4.57912e-7 -4.46842e-7 1 0 0.707107 -0.7071065 -6.39758e-7 0 0 0 0 1</matrix>
+ <matrix sid="transform">-7.07108e-7 7.07106e-4 4.96011e-13 -1.43438e-4 -7.07106e-7 -7.07107e-4 -7.82707e-12 -4.64445e-5 -5.18379e-15 -5.8853e-12 0.001 -0.0018667 0 0 0 1</matrix>
+ <instance_light url="#Lamp_001-light"/>
+ </node>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/kinton/kinton.stl b/kinton_description/meshes/kinton/kinton.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9d3f82ceb385f1cb7755e89d943d31e1808b1167
Binary files /dev/null and b/kinton_description/meshes/kinton/kinton.stl differ
diff --git a/kinton_description/meshes/kinton/kinton2.dae b/kinton_description/meshes/kinton/kinton2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..5483a48efda9ca8b860afa7820a3b066e677eab9
--- /dev/null
+++ b/kinton_description/meshes/kinton/kinton2.dae
@@ -0,0 +1,319 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2015-07-28T13:18:28</created>
+ <modified>2015-07-28T13:18:28</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="mat_pc_embed-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.01503303 0.05598268 0.01891075 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="mat_kinton_struct-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0.2 0.2 0.2 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.02485064 0.02485064 0.02485064 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="mat_marker-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0.2 0.2 0.2 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.8 0.16 0.01876392 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="mat_helix_front-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0.2 0.2 0.2 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.8 0.7547448 0.7886858 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="mat_helix_back-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.1752779 0.1752779 0.1752779 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <transparency>
+ <float sid="transparency">0.2</float>
+ </transparency>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="mat_battery-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0.2 0.2 0.2 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
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+ </diffuse>
+ <specular>
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+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="mat_pc_embed-material" name="mat_pc_embed">
+ <instance_effect url="#mat_pc_embed-effect"/>
+ </material>
+ <material id="mat_kinton_struct-material" name="mat_kinton_struct">
+ <instance_effect url="#mat_kinton_struct-effect"/>
+ </material>
+ <material id="mat_marker-material" name="mat_marker">
+ <instance_effect url="#mat_marker-effect"/>
+ </material>
+ <material id="mat_helix_front-material" name="mat_helix_front">
+ <instance_effect url="#mat_helix_front-effect"/>
+ </material>
+ <material id="mat_helix_back-material" name="mat_helix_back">
+ <instance_effect url="#mat_helix_back-effect"/>
+ </material>
+ <material id="mat_battery-material" name="mat_battery">
+ <instance_effect url="#mat_battery-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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25848 12536 25849 12534 25849 12537 25849 12538 25850 12536 25850 12539 25850 12540 25851 12538 25851 12541 25851 12505 25852 12509 25852 12507 25852 12483 25853 12481 25853 12485 25853 12481 25854 12543 25854 12485 25854 12543 25855 12541 25855 12485 25855 12541 25856 12537 25856 12485 25856 12537 25857 12535 25857 12485 25857 12535 25858 12533 25858 12485 25858 12533 25859 12531 25859 12485 25859 12531 25860 12529 25860 12485 25860 12529 25861 12527 25861 12485 25861 12527 25862 12525 25862 12485 25862 12525 25863 12523 25863 12485 25863 12523 25864 12521 25864 12485 25864 12521 25865 12519 25865 12485 25865 12519 25866 12517 25866 12485 25866 12517 25867 12515 25867 12485 25867 12515 25868 12513 25868 12485 25868 12513 25869 12511 25869 12485 25869 12511 25870 12509 25870 12485 25870 12509 25871 12505 25871 12485 25871 12505 25872 12503 25872 12485 25872 12503 25873 12501 25873 12485 25873 12501 25874 12499 25874 12485 25874 12499 25875 12497 25875 12485 25875 12497 25876 12495 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25931 12585 25932 12587 25932 12586 25932 12587 25933 12589 25933 12588 25933 12589 25934 12591 25934 12590 25934 12591 25935 12593 25935 12592 25935 12594 25936 12592 25936 12595 25936 12596 25937 12594 25937 12597 25937 12598 25938 12596 25938 12599 25938 12600 25939 12598 25939 12601 25939 12602 25940 12600 25940 12603 25940 12604 25941 12602 25941 12605 25941 12601 25942 12605 25942 12603 25942 12579 25943 12583 25943 12581 25943 12571 25944 12575 25944 12573 25944 12563 25945 12567 25945 12565 25945 12549 25946 12553 25946 12551 25946 12545 25947 12607 25947 12549 25947 12607 25948 12605 25948 12549 25948 12605 25949 12601 25949 12549 25949 12601 25950 12599 25950 12549 25950 12599 25951 12597 25951 12549 25951 12597 25952 12595 25952 12549 25952 12595 25953 12593 25953 12549 25953 12593 25954 12591 25954 12549 25954 12591 25955 12589 25955 12549 25955 12589 25956 12587 25956 12549 25956 12587 25957 12585 25957 12549 25957 12585 25958 12583 25958 12549 25958 12583 25959 12579 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25987 12572 25987 12574 25987 12578 25988 12572 25988 12576 25988 12588 25989 12582 25989 12584 25989 12602 25990 12604 25990 12570 25990 12602 25991 12570 25991 12572 25991 12602 25992 12572 25992 12578 25992 12600 25993 12602 25993 12578 25993 12596 25994 12592 25994 12594 25994 12596 25995 12590 25995 12592 25995 12596 25996 12598 25996 12590 25996 12590 25997 12598 25997 12588 25997 12588 25998 12598 25998 12582 25998 12598 25999 12600 25999 12582 25999 12600 26000 12578 26000 12580 26000 12582 26001 12600 26001 12580 26001</p>
+ </polylist>
+ <polylist material="mat_battery-material" count="12">
+ <input semantic="VERTEX" source="#battery_001-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#battery_001-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+ <p>12609 25252 12608 25252 12613 25252 12613 25253 12614 25253 12610 25253 12614 25254 12615 25254 12611 25254 12608 25255 12611 25255 12615 25255 12608 25256 12609 25256 12610 25256 12615 25257 12614 25257 12613 25257 12608 26002 12612 26002 12613 26002 12609 26003 12613 26003 12610 26003 12610 26004 12614 26004 12611 26004 12612 26005 12608 26005 12615 26005 12611 26006 12608 26006 12610 26006 12612 26007 12615 26007 12613 26007</p>
+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="battery_001" name="battery_001" type="NODE">
+ <matrix sid="transform">-1.89742e-8 0.025 7.1795e-10 0 -0.025 -1.89742e-8 1.61886e-9 0 8.09432e-9 -3.58974e-9 0.005 0 0 0 0 1</matrix>
+ <instance_geometry url="#battery_001-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="mat_pc_embed-material" target="#mat_pc_embed-material"/>
+ <instance_material symbol="mat_kinton_struct-material" target="#mat_kinton_struct-material"/>
+ <instance_material symbol="mat_marker-material" target="#mat_marker-material"/>
+ <instance_material symbol="mat_helix_front-material" target="#mat_helix_front-material"/>
+ <instance_material symbol="mat_helix_back-material" target="#mat_helix_back-material"/>
+ <instance_material symbol="mat_battery-material" target="#mat_battery-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/kinton/kinton2.stl b/kinton_description/meshes/kinton/kinton2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..0d292c3d03c3a9875f504626b4bf1dceee6081ce
Binary files /dev/null and b/kinton_description/meshes/kinton/kinton2.stl differ
diff --git a/kinton_description/meshes/lidarlite_sensor/lidarlite.dae b/kinton_description/meshes/lidarlite_sensor/lidarlite.dae
new file mode 100644
index 0000000000000000000000000000000000000000..aa5a54f59ef05fadafa3ba74043c2f1855587d1a
--- /dev/null
+++ b/kinton_description/meshes/lidarlite_sensor/lidarlite.dae
@@ -0,0 +1,199 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.78.0</authoring_tool>
+ </contributor>
+ <created>2016-11-30T17:41:47</created>
+ <modified>2016-11-30T17:41:47</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera-camera" name="Camera">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ <extra>
+ <technique profile="blender">
+ <YF_dofdist>0</YF_dofdist>
+ <shiftx>0</shiftx>
+ <shifty>0</shifty>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <adapt_thresh>0.000999987</adapt_thresh>
+ <area_shape>1</area_shape>
+ <area_size>0.1</area_size>
+ <area_sizey>0.1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
+ <att2>1</att2>
+ <backscattered_light>1</backscattered_light>
+ <bias>1</bias>
+ <blue>1</blue>
+ <buffers>1</buffers>
+ <bufflag>0</bufflag>
+ <bufsize>2880</bufsize>
+ <buftype>2</buftype>
+ <clipend>30.002</clipend>
+ <clipsta>1.000799</clipsta>
+ <compressthresh>0.04999995</compressthresh>
+ <dist sid="blender_dist">29.99998</dist>
+ <energy sid="blender_energy">1</energy>
+ <falloff_type>2</falloff_type>
+ <filtertype>0</filtertype>
+ <flag>0</flag>
+ <gamma sid="blender_gamma">1</gamma>
+ <green>1</green>
+ <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+ <horizon_brightness>1</horizon_brightness>
+ <mode>8192</mode>
+ <ray_samp>1</ray_samp>
+ <ray_samp_method>1</ray_samp_method>
+ <ray_samp_type>0</ray_samp_type>
+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
+ <red>1</red>
+ <samp>3</samp>
+ <shadhalostep>0</shadhalostep>
+ <shadow_b sid="blender_shadow_b">0</shadow_b>
+ <shadow_g sid="blender_shadow_g">0</shadow_g>
+ <shadow_r sid="blender_shadow_r">0</shadow_r>
+ <sky_colorspace>0</sky_colorspace>
+ <sky_exposure>1</sky_exposure>
+ <skyblendfac>1</skyblendfac>
+ <skyblendtype>1</skyblendtype>
+ <soft>3</soft>
+ <spotblend>0.15</spotblend>
+ <spotsize>75</spotsize>
+ <spread>1</spread>
+ <sun_brightness>1</sun_brightness>
+ <sun_effect_type>0</sun_effect_type>
+ <sun_intensity>1</sun_intensity>
+ <sun_size>1</sun_size>
+ <type>0</type>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_images/>
+ <library_effects>
+ <effect id="Material_001-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.01507886 0.01507886 0.01507886 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="Material_001-material" name="Material_001">
+ <instance_effect url="#Material_001-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="lidarlite-mesh" name="lidarlite">
+ <mesh>
+ <source id="lidarlite-mesh-positions">
+ <float_array id="lidarlite-mesh-positions-array" count="3519">-8.382994 -11.33508 9.792975 -23.88299 0.6649218 9.792975 -20.38299 -11.33508 9.792975 -23.88299 -13.83508 9.792975 -20.38299 -13.83508 9.792975 -8.382994 -13.83508 9.792975 8.617007 -13.83508 9.792975 8.617007 -11.33508 9.792975 20.61701 -13.83508 9.792975 24.11701 -13.83508 9.792975 20.61701 -11.33508 9.792975 24.11701 0.6649218 9.792975 -2.882994 -0.8350782 9.792975 -2.882994 -6.335078 9.792975 7.117006 -6.335078 9.792975 7.117006 -0.8350782 9.792975 -3.466516 0.6649218 4.434051 -3.466516 23.16492 4.434051 -4.066137 23.16492 4.477913 -4.066137 0.6649218 4.477913 -4.779968 23.16492 4.642874 -4.779968 0.6649218 4.642874 -5.430109 23.16492 4.911468 -5.430109 0.6649218 4.911468 -6.103205 23.16492 5.323057 -6.103205 0.6649218 5.323057 -6.919403 23.16492 6.030352 -6.919403 0.6649218 6.030352 2.989181 23.16492 4.434051 2.989181 0.6649218 4.434051 6.44207 0.6649218 6.030352 6.44207 23.16492 6.030352 5.62587 23.16492 5.323057 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1182 993 1183 991 1183 992 1183 978 1184 979 1184 983 1184 983 1185 979 1185 980 1185 983 43 980 43 982 43 982 43 980 43 981 43 988 43 989 43 996 43 996 1186 989 1186 990 1186 996 1187 990 1187 995 1187 995 1188 990 1188 994 1188 997 95 998 95 13 95 13 95 998 95 12 95 998 96 999 96 12 96 12 96 999 96 15 96 999 94 1000 94 15 94 15 94 1000 94 14 94 1000 43 997 43 14 43 14 43 997 43 13 43 1001 0 1002 0 1003 0 997 1189 1004 1189 998 1189 998 0 1004 0 1005 0 1005 1190 1006 1190 998 1190 998 0 1006 0 1001 0 998 0 1001 0 999 0 999 1191 1001 1191 1003 1191 999 1192 1003 1192 1000 1192 1000 0 1003 0 1007 0 1000 0 1007 0 997 0 997 0 1007 0 1008 0 997 0 1008 0 1004 0 1004 96 1009 96 1005 96 1005 96 1009 96 1010 96 1011 95 1009 95 1008 95 1008 95 1009 95 1004 95 1012 43 1011 43 1007 43 1007 43 1011 43 1008 43 1003 94 1013 94 1007 94 1007 94 1013 94 1012 94 1002 96 1014 96 1003 96 1003 96 1014 96 1013 96 1015 94 1014 94 1001 94 1001 94 1014 94 1002 94 1006 96 1016 96 1001 96 1001 96 1016 96 1015 96 1005 95 1010 95 1006 95 1006 95 1010 95 1016 95 1014 0 1017 0 1018 0 1015 0 1016 0 1014 0 1014 0 1016 0 1010 0 1014 0 1010 0 1017 0 1017 0 1010 0 1009 0 1017 0 1009 0 1019 0 1019 1193 1009 1193 1011 1193 1019 0 1011 0 1020 0 1020 0 1011 0 1012 0 1020 0 1012 0 1018 0 1018 0 1012 0 1013 0 1018 0 1013 0 1014 0 1020 95 1018 95 1021 95 1021 95 1018 95 1022 95 1023 96 1019 96 1021 96 1021 96 1019 96 1020 96 1024 94 1017 94 1023 94 1023 94 1017 94 1019 94 1018 43 1017 43 1022 43 1022 43 1017 43 1024 43 1023 0 1021 0 1024 0 1024 0 1021 0 1022 0 1025 1194 1026 1194 1027 1194 1027 96 1028 96 1025 96 1025 1195 1028 1195 1029 1195 1025 1196 1029 1196 1030 1196 1031 96 1032 96 1033 96 1030 96 1034 96 1025 96 1025 1197 1034 1197 1035 1197 1025 1198 1035 1198 1036 1198 1031 1199 1033 1199 1025 1199 1025 1200 1033 1200 1037 1200 1025 1201 1037 1201 1038 1201 1039 1202 1040 1202 1025 1202 1025 96 1040 96 1041 96 1025 96 1041 96 1042 96 1042 1203 1043 1203 1025 1203 1025 96 1043 96 1044 96 1025 96 1044 96 1026 96 1036 96 1045 96 1025 96 1025 1204 1045 1204 1046 1204 1025 1205 1046 1205 1047 1205 1047 96 1048 96 1025 96 1025 1206 1048 1206 1049 1206 1025 1207 1049 1207 1050 1207 1032 1208 1051 1208 1033 1208 1033 1209 1051 1209 1052 1209 1033 1210 1052 1210 1053 1210 1038 96 1054 96 1025 96 1025 96 1054 96 1055 96 1025 1211 1055 1211 1039 1211 1056 96 1057 96 1050 96 1050 1212 1057 1212 1058 1212 1050 1213 1058 1213 1025 1213 1056 96 1059 96 1057 96 1057 96 1059 96 1060 96 1057 1214 1060 1214 1061 1214 1062 43 1063 43 1064 43 1065 43 1066 43 1067 43 1063 43 1068 43 1064 43 1064 1215 1068 1215 1069 1215 1064 43 1069 43 1070 43 1065 43 1067 43 1064 43 1064 1216 1067 1216 1071 1216 1064 1217 1071 1217 1072 1217 1072 43 1073 43 1064 43 1064 1218 1073 1218 1074 1218 1064 43 1074 43 1075 43 1075 1219 1076 1219 1064 1219 1064 1220 1076 1220 1077 1220 1064 1221 1077 1221 1062 1221 1070 1222 1078 1222 1064 1222 1064 1223 1078 1223 1079 1223 1064 1224 1079 1224 1080 1224 1080 1225 1081 1225 1064 1225 1064 1226 1081 1226 1082 1226 1064 1227 1082 1227 1083 1227 1084 43 1085 43 1086 43 1086 1228 1085 1228 1064 1228 1086 43 1064 43 1087 43 1088 1229 1089 1229 1066 1229 1066 1230 1089 1230 1090 1230 1066 1231 1090 1231 1067 1231 1088 1232 1091 1232 1089 1232 1089 1233 1091 1233 1092 1233 1089 1234 1092 1234 1093 1234 1083 43 1094 43 1064 43 1064 1235 1094 1235 1095 1235 1064 1236 1095 1236 1087 1236 1096 43 1097 43 1086 43 1086 43 1097 43 1098 43 1086 43 1098 43 1084 43 1068 1237 1026 1237 1069 1237 1069 1238 1026 1238 1044 1238 1069 1239 1044 1239 1070 1239 1070 1240 1044 1240 1043 1240 1070 1241 1043 1241 1078 1241 1078 1242 1043 1242 1042 1242 1078 1243 1042 1243 1079 1243 1079 1073 1042 1073 1041 1073 1079 1244 1041 1244 1080 1244 1080 1245 1041 1245 1040 1245 1080 1246 1040 1246 1081 1246 1081 1247 1040 1247 1039 1247 1081 1248 1039 1248 1082 1248 1082 1249 1039 1249 1055 1249 1082 1250 1055 1250 1083 1250 1083 1251 1055 1251 1054 1251 1083 1251 1054 1251 1094 1251 1094 1079 1054 1079 1038 1079 1094 1252 1038 1252 1095 1252 1095 1080 1038 1080 1037 1080 1095 1253 1037 1253 1087 1253 1087 1254 1037 1254 1033 1254 1087 1255 1033 1255 1086 1255 1086 1256 1033 1256 1053 1256 1086 1257 1053 1257 1096 1257 1096 1258 1053 1258 1052 1258 1096 1258 1052 1258 1097 1258 1097 1259 1052 1259 1051 1259 1097 1260 1051 1260 1098 1260 1098 1261 1051 1261 1032 1261 1098 1262 1032 1262 1084 1262 1084 1263 1032 1263 1031 1263 1084 1264 1031 1264 1085 1264 1085 1265 1031 1265 1025 1265 1085 1266 1025 1266 1064 1266 1064 1267 1025 1267 1058 1267 1064 1268 1058 1268 1065 1268 1065 0 1058 0 1057 0 1065 0 1057 0 1066 0 1066 1269 1057 1269 1061 1269 1066 1269 1061 1269 1088 1269 1088 1270 1061 1270 1060 1270 1088 1271 1060 1271 1091 1271 1091 1272 1060 1272 1059 1272 1091 1273 1059 1273 1092 1273 1092 1274 1059 1274 1056 1274 1092 1102 1056 1102 1093 1102 1093 1275 1056 1275 1050 1275 1093 1276 1050 1276 1089 1276 1089 1277 1050 1277 1049 1277 1089 1277 1049 1277 1090 1277 1090 1278 1049 1278 1048 1278 1090 1279 1048 1279 1067 1279 1067 1280 1048 1280 1047 1280 1067 1281 1047 1281 1071 1281 1071 1109 1047 1109 1046 1109 1071 1282 1046 1282 1072 1282 1072 1110 1046 1110 1045 1110 1072 1110 1045 1110 1073 1110 1073 1283 1045 1283 1036 1283 1073 1283 1036 1283 1074 1283 1074 1284 1036 1284 1035 1284 1074 1285 1035 1285 1075 1285 1075 1113 1035 1113 1034 1113 1075 1286 1034 1286 1076 1286 1076 1287 1034 1287 1030 1287 1076 1288 1030 1288 1077 1288 1077 1289 1030 1289 1029 1289 1077 1290 1029 1290 1062 1290 1062 1291 1029 1291 1028 1291 1062 1291 1028 1291 1063 1291 1063 1292 1028 1292 1027 1292 1063 1293 1027 1293 1068 1293 1068 1294 1027 1294 1026 1294 1099 96 1100 96 1101 96 1101 1295 1100 1295 1102 1295 1103 96 1104 96 1101 96 1101 1296 1104 1296 1105 1296 1105 96 1106 96 1101 96 1101 1297 1106 1297 1107 1297 1101 1298 1107 1298 1108 1298 1109 96 1110 96 1111 96 1108 1299 1112 1299 1101 1299 1101 1300 1112 1300 1113 1300 1101 1301 1113 1301 1099 1301 1102 1302 1114 1302 1101 1302 1101 1303 1114 1303 1115 1303 1101 1304 1115 1304 1116 1304 1116 1305 1117 1305 1101 1305 1101 1306 1117 1306 1118 1306 1101 96 1118 96 1119 96 1109 1307 1111 1307 1101 1307 1101 1308 1111 1308 1120 1308 1101 1309 1120 1309 1103 1309 1110 96 1121 96 1111 96 1111 1310 1121 1310 1122 1310 1111 1311 1122 1311 1123 1311 1123 96 1124 96 1111 96 1111 1312 1124 1312 1125 1312 1111 1313 1125 1313 1126 1313 1119 1314 1127 1314 1101 1314 1101 1315 1127 1315 1128 1315 1101 96 1128 96 1129 96 1130 96 1131 96 1132 96 1132 96 1131 96 1133 96 1129 96 1134 96 1101 96 1101 96 1134 96 1131 96 1101 96 1131 96 1135 96 1135 1316 1131 1316 1130 1316 1136 43 1137 43 1138 43 1139 43 1140 43 1138 43 1138 1317 1140 1317 1141 1317 1138 1318 1141 1318 1142 1318 1142 1319 1143 1319 1138 1319 1138 1320 1143 1320 1144 1320 1138 1321 1144 1321 1136 1321 1137 43 1145 43 1138 43 1138 1322 1145 1322 1146 1322 1138 1323 1146 1323 1147 1323 1147 43 1148 43 1138 43 1138 43 1148 43 1149 43 1138 43 1149 43 1150 43 1151 43 1152 43 1153 43 1153 1324 1152 1324 1154 1324 1151 43 1153 43 1138 43 1138 1325 1153 1325 1155 1325 1138 1326 1155 1326 1156 1326 1156 43 1157 43 1138 43 1138 1327 1157 1327 1158 1327 1138 1328 1158 1328 1139 1328 1150 43 1149 43 1159 43 1159 1329 1149 1329 1160 1329 1159 1330 1160 1330 1161 1330 1162 1331 1163 1331 1164 1331 1164 1332 1163 1332 1165 1332 1164 1333 1165 1333 1166 1333 1161 1334 1167 1334 1159 1334 1159 1335 1167 1335 1168 1335 1159 1336 1168 1336 1169 1336 1169 1337 1168 1337 1170 1337 1154 43 1171 43 1153 43 1153 1338 1171 1338 1163 1338 1153 1339 1163 1339 1172 1339 1172 1340 1163 1340 1162 1340 1155 1341 1116 1341 1156 1341 1156 1238 1116 1238 1115 1238 1156 1239 1115 1239 1157 1239 1157 1342 1115 1342 1114 1342 1157 1343 1114 1343 1158 1343 1158 1344 1114 1344 1102 1344 1158 1345 1102 1345 1139 1345 1139 1346 1102 1346 1100 1346 1139 1347 1100 1347 1140 1347 1140 1245 1100 1245 1099 1245 1140 1246 1099 1246 1141 1246 1141 1124 1099 1124 1113 1124 1141 1348 1113 1348 1142 1348 1142 1349 1113 1349 1112 1349 1142 1350 1112 1350 1143 1350 1143 1126 1112 1126 1108 1126 1143 1351 1108 1351 1144 1351 1144 1352 1108 1352 1107 1352 1144 1353 1107 1353 1136 1353 1136 1080 1107 1080 1106 1080 1136 1253 1106 1253 1137 1253 1137 1354 1106 1354 1105 1354 1137 1355 1105 1355 1145 1355 1145 1356 1105 1356 1104 1356 1145 1357 1104 1357 1146 1357 1146 1358 1104 1358 1103 1358 1146 1359 1103 1359 1147 1359 1147 1360 1103 1360 1120 1360 1147 1361 1120 1361 1148 1361 1148 1261 1120 1261 1111 1261 1148 1262 1111 1262 1149 1262 1149 1362 1111 1362 1126 1362 1149 1363 1126 1363 1160 1363 1160 1364 1126 1364 1125 1364 1160 1365 1125 1365 1161 1365 1161 1267 1125 1267 1124 1267 1161 1268 1124 1268 1167 1268 1167 0 1124 0 1123 0 1167 0 1123 0 1168 0 1168 1366 1123 1366 1122 1366 1168 1367 1122 1367 1170 1367 1170 1368 1122 1368 1121 1368 1170 1369 1121 1369 1169 1369 1169 1370 1121 1370 1110 1370 1169 1371 1110 1371 1159 1371 1159 1274 1110 1274 1109 1274 1159 1102 1109 1102 1150 1102 1150 1275 1109 1275 1101 1275 1150 1276 1101 1276 1138 1276 1138 1277 1101 1277 1135 1277 1138 1277 1135 1277 1151 1277 1151 1278 1135 1278 1130 1278 1151 1279 1130 1279 1152 1279 1152 1280 1130 1280 1132 1280 1152 1281 1132 1281 1154 1281 1154 1372 1132 1372 1133 1372 1154 1373 1133 1373 1171 1373 1171 1138 1133 1138 1131 1138 1171 1374 1131 1374 1163 1374 1163 1283 1131 1283 1134 1283 1163 1283 1134 1283 1165 1283 1165 1284 1134 1284 1129 1284 1165 1285 1129 1285 1166 1285 1166 1375 1129 1375 1128 1375 1166 1376 1128 1376 1164 1376 1164 1377 1128 1377 1127 1377 1164 1377 1127 1377 1162 1377 1162 1289 1127 1289 1119 1289 1162 1290 1119 1290 1172 1290 1172 1291 1119 1291 1118 1291 1172 1291 1118 1291 1153 1291 1153 1292 1118 1292 1117 1292 1153 1293 1117 1293 1155 1293 1155 1378 1117 1378 1116 1378</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_controllers/>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Camera" name="Camera" type="NODE">
+ <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ <node id="Lamp" name="Lamp" type="NODE">
+ <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="lidarlite" name="lidarlite" type="NODE">
+ <matrix sid="transform">-4.37114e-11 0.001 0 0.015 -0.001 -4.37114e-11 0 0 0 0 0.001 0 0 0 0 1</matrix>
+ <instance_geometry url="#lidarlite-mesh" name="lidarlite">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/kinton_description/meshes/sonar_sensor/max_sonar_ez4.blend b/kinton_description/meshes/sonar_sensor/max_sonar_ez4.blend
new file mode 100644
index 0000000000000000000000000000000000000000..e95fcbda5420d381d7ffb11952c6d3cc30331211
Binary files /dev/null and b/kinton_description/meshes/sonar_sensor/max_sonar_ez4.blend differ
diff --git a/kinton_description/meshes/sonar_sensor/max_sonar_ez4.dae b/kinton_description/meshes/sonar_sensor/max_sonar_ez4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3b4789fdf5e7adc1911545d1d61ccb79b1930730
--- /dev/null
+++ b/kinton_description/meshes/sonar_sensor/max_sonar_ez4.dae
@@ -0,0 +1,252 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Stefan Kohlbrecher</author>
+ <authoring_tool>Blender 2.61.4 r43995</authoring_tool>
+ </contributor>
+ <created>2012-02-09T09:19:02</created>
+ <modified>2012-02-09T09:19:02</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera-camera" name="Camera">
+ <optics>
+ <technique_common>
+ <perspective>
+ <xfov sid="xfov">49.13434</xfov>
+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ </camera>
+ </library_cameras>
+ <library_lights>
+ <light id="Lamp-light" name="Lamp">
+ <technique_common>
+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
+ <quadratic_attenuation>0.00111109</quadratic_attenuation>
+ </point>
+ </technique_common>
+ <extra>
+ <technique profile="blender">
+ <adapt_thresh>0.000999987</adapt_thresh>
+ <area_shape>0</area_shape>
+ <area_size>1</area_size>
+ <area_sizey>1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
+ <att2>1</att2>
+ <backscattered_light>1</backscattered_light>
+ <bias>1</bias>
+ <blue>1</blue>
+ <buffers>1</buffers>
+ <bufflag>0</bufflag>
+ <bufsize>2880</bufsize>
+ <buftype>2</buftype>
+ <clipend>30.002</clipend>
+ <clipsta>1.000799</clipsta>
+ <compressthresh>0.04999995</compressthresh>
+ <dist sid="blender_dist">29.99998</dist>
+ <energy sid="blender_energy">1</energy>
+ <falloff_type>2</falloff_type>
+ <filtertype>0</filtertype>
+ <flag>0</flag>
+ <gamma sid="blender_gamma">1</gamma>
+ <green>1</green>
+ <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+ <horizon_brightness>1</horizon_brightness>
+ <mode>8192</mode>
+ <ray_samp>1</ray_samp>
+ <ray_samp_method>1</ray_samp_method>
+ <ray_samp_type>0</ray_samp_type>
+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
+ <red>1</red>
+ <samp>3</samp>
+ <shadhalostep>0</shadhalostep>
+ <shadow_b sid="blender_shadow_b">0</shadow_b>
+ <shadow_g sid="blender_shadow_g">0</shadow_g>
+ <shadow_r sid="blender_shadow_r">0</shadow_r>
+ <shadspotsize>45</shadspotsize>
+ <sky_colorspace>0</sky_colorspace>
+ <sky_exposure>1</sky_exposure>
+ <skyblendfac>1</skyblendfac>
+ <skyblendtype>1</skyblendtype>
+ <soft>3</soft>
+ <spotblend>0.15</spotblend>
+ <spotsize>75</spotsize>
+ <spread>1</spread>
+ <sun_brightness>1</sun_brightness>
+ <sun_effect_type>0</sun_effect_type>
+ <sun_intensity>1</sun_intensity>
+ <sun_size>1</sun_size>
+ <type>0</type>
+ </technique>
+ </extra>
+ </light>
+ </library_lights>
+ <library_effects>
+ <effect id="PCB_Green-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0.05536731 0.2029368 0.01810702 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.05536731 0.2029368 0.01810702 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="Sonar_Black-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0.02484926 0.02484926 0.02484926 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.02484926 0.02484926 0.02484926 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="PCB_Green-material" name="PCB Green">
+ <instance_effect url="#PCB_Green-effect"/>
+ </material>
+ <material id="Sonar_Black-material" name="Sonar_Black">
+ <instance_effect url="#Sonar_Black-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="Plane-mesh" name="Plane">
+ <mesh>
+ <source id="Plane-mesh-positions">
+ <float_array id="Plane-mesh-positions-array" count="75">0.01099997 0.01099979 0 0.01099991 -0.01100003 0 -0.01100021 -0.01099991 0 -0.01099973 0.01100021 0 -0.01099973 0.01100021 0.002601444 -0.01100021 -0.01099991 0.002601444 0.01099991 -0.01100003 0.002601444 0.01099997 0.01099979 0.002601444 0 0.007999956 0.003145456 0.005656838 0.005656838 0.003145456 0.007999956 0 0.003145456 0.005656838 -0.005656838 0.003145456 0 -0.007999956 0.003145456 -0.005656838 -0.005656838 0.003145456 -0.007999956 0 0.003145456 -0.005656838 0.005656838 0.003145456 0 0.007999956 0.01499998 0.005656838 0.005656838 0.01499998 0.007999956 0 0.01499998 0.005656838 -0.005656838 0.01499998 0 -0.007999956 0.01499998 -0.005656838 -0.005656838 0.01499998 -0.007999956 0 0.01499998 -0.005656838 0.005656838 0.01499998 0 0 0.01499998</float_array>
+ <technique_common>
+ <accessor source="#Plane-mesh-positions-array" count="25" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="Plane-mesh-normals">
+ <float_array id="Plane-mesh-normals-array" count="108">0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0.7070834 0.7070834 0 -0.548967 0.548967 0.6302378 0 0.7763603 0.6302378 0 1 0 -1 0 0 -0.7763603 0 0.6302378 -0.7070834 -0.7070834 0 -0.548967 -0.548967 0.6302378 0 -1 0 0 -0.7763603 0.6302378 0.7070834 -0.7070834 0 0.548967 -0.548967 0.6302378 1 0 0 0.7763603 0 0.6302378 0.7070834 0.7070834 0 0.548967 0.548967 0.6302378 0 0 1 0 0 1 -5.41857e-6 -1 0 -5.41857e-6 -1 0 1 -2.70932e-6 0 1 -2.70932e-6 0 1.89654e-5 1 0 1.89654e-5 1 0 -1 2.16743e-5 0 -1 2.16743e-5 0 0 0 -1 0 0 -1</float_array>
+ <technique_common>
+ <accessor source="#Plane-mesh-normals-array" count="36" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="Plane-mesh-vertices">
+ <input semantic="POSITION" source="#Plane-mesh-positions"/>
+ </vertices>
+ <polylist material="PCB_Green1" count="12">
+ <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+ <p>5 24 7 24 4 24 5 25 6 25 7 25 1 26 5 26 2 26 1 27 6 27 5 27 0 28 6 28 1 28 0 29 7 29 6 29 7 30 0 30 3 30 3 31 4 31 7 31 2 32 4 32 3 32 2 33 5 33 4 33 0 34 2 34 3 34 0 35 1 35 2 35</p>
+ </polylist>
+ <polylist material="Sonar_Black2" count="24">
+ <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+ <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+ <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+ <p>24 0 17 0 16 0 24 1 18 1 17 1 24 2 19 2 18 2 24 3 20 3 19 3 24 4 21 4 20 4 24 5 22 5 21 5 24 6 23 6 22 6 24 7 16 7 23 7 15 8 23 9 16 10 15 8 16 10 8 11 14 12 22 13 23 9 14 12 23 9 15 8 13 14 21 15 22 13 13 14 22 13 14 12 12 16 20 17 21 15 12 16 21 15 13 14 11 18 19 19 20 17 11 18 20 17 12 16 10 20 18 21 19 19 10 20 19 19 11 18 9 22 17 23 18 21 9 22 18 21 10 20 8 11 16 10 17 23 8 11 17 23 9 22</p>
+ </polylist>
+ </mesh>
+ <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Plane" type="NODE">
+ <translate sid="location">0 0 0</translate>
+ <rotate sid="rotationZ">0 0 1 0</rotate>
+ <rotate sid="rotationY">0 1 0 89.99999</rotate>
+ <rotate sid="rotationX">1 0 0 -7.69819e-6</rotate>
+ <scale sid="scale">1 1 1</scale>
+ <instance_geometry url="#Plane-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="PCB_Green1" target="#PCB_Green-material"/>
+ <instance_material symbol="Sonar_Black2" target="#Sonar_Black-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Lamp" type="NODE">
+ <translate sid="location">5.903862 1.005455 -4.076244</translate>
+ <rotate sid="rotationZ">0 0 1 93.30684</rotate>
+ <rotate sid="rotationY">0 1 0 -16.90973</rotate>
+ <rotate sid="rotationX">1 0 0 126.2982</rotate>
+ <scale sid="scale">1 1 1</scale>
+ <instance_light url="#Lamp-light"/>
+ </node>
+ <node id="Camera" type="NODE">
+ <translate sid="location">5.343667 -6.507638 -7.481132</translate>
+ <rotate sid="rotationZ">0 0 1 90.85168</rotate>
+ <rotate sid="rotationY">0 1 0 43.30489</rotate>
+ <rotate sid="rotationX">1 0 0 154.1435</rotate>
+ <scale sid="scale">1 1 1</scale>
+ <instance_camera url="#Camera-camera"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/kinton_description/urdf/kinton_arm.urdf b/kinton_description/urdf/kinton_arm.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f63a1d6689fac26d72423dedba177291b347c911
--- /dev/null
+++ b/kinton_description/urdf/kinton_arm.urdf
@@ -0,0 +1,721 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from kinton_arm.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<robot name="kinton" xmlns:xacro="http://ros.org/wiki/xacro">
+ <!-- Be sure the parameter server has the correct chain joints
+ <param name="root_name" value="base_link" />
+ <param name="tip_name" value="arm_joint6" /> -->
+ <material name="black">
+ <color rgba="0.15 0.15 0.15 1.0"/>
+ </material>
+ <material name="blue">
+ <color rgba="0.17 0.3 0.56 1.0"/>
+ </material>
+ <material name="orange">
+ <color rgba="0.93 0.44 0.01 1.0"/>
+ </material>
+ <material name="green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+ <material name="grey">
+ <color rgba="0.3 0.3 0.3 1.0"/>
+ </material>
+ <material name="grey2">
+ <color rgba="0.7 0.7 0.7 1.0"/>
+ </material>
+ <material name="grey3">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <material name="red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+ <material name="white">
+ <color rgba="0.9 0.9 0.9 1.0"/>
+ </material>
+ <link name="base_link">
+ <inertial>
+ <mass value="1.477"/>
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
+ </inertial>
+ <visual>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/kinton/kinton2.dae" scale="1 1 1"/>
+ </geometry>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/kinton/kinton2.stl" scale="1 1 1"/>
+ </geometry>
+ </collision>
+ </link>
+ <!-- Base footprint -->
+ <!-- <link name="base_footprint">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 -0.195" rpy="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.00001 0.00001 0.00001" />
+ </geometry>
+ <material name="grey"/>
+ </visual>
+ </link>
+ <joint name="base_link_to_base_footprint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_footprint"/>
+ <origin xyz="0.00 0.00 -0.195" rpy="0.0 0.0 0.0"/>
+ </joint> -->
+ <!-- COMPASS -->
+ <link name="compass">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="0.02 0.02 0.01"/>
+ </geometry>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <geometry>
+ <box size="0.02 0.02 0.01"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="base_link_to_compass" type="fixed">
+ <parent link="base_link"/>
+ <child link="compass"/>
+ <origin rpy="0.0 0.0 -2.35619449019" xyz="-0.015 0.0 0.066"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libhector_gazebo_ros_magnetic.so" name="magnetic_sim">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>10.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <topicName>kinton/magnetic</topicName>
+ <offset>0 0 0</offset>
+ <drift>0.0 0.0 0.0</drift>
+ <driftFrequency>0.0 0.0 0.0</driftFrequency>
+ <gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
+ </plugin>
+ </gazebo>
+ <gazebo reference="compass">
+ <material>Gazebo/Black</material>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+ <!-- GYROS -->
+ <link name="imu">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="0.03 0.03 0.005"/>
+ </geometry>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0.0 0.0 2.35619449019" xyz="0.0 0.0 0.0"/>
+ <geometry>
+ <box size="0.03 0.03 0.005"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="base_link_to_imu" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu"/>
+ <origin rpy="0.0 0.0 0.785398163397" xyz="0.0 0.0 0.04"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libhector_gazebo_ros_imu.so" name="imu_sim">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <frameId>kinton/imu</frameId>
+ <topicName>kinton/imu_raw</topicName>
+ <rpyOffsets>0 0 0</rpyOffsets>
+ <!-- deprecated -->
+ <gaussianNoise>0</gaussianNoise>
+ <!-- deprecated -->
+ <accelDrift>0.5 0.5 0.5</accelDrift>
+ <accelOffset>0.0 0.0 0.0</accelOffset>
+ <accelDriftFrequency>0.0 0.0 0.0</accelDriftFrequency>
+ <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
+ <rateDrift>0.0 0.0 0.0</rateDrift>
+ <rateOffset>0.0 0.0 0.0</rateOffset>
+ <rateDriftFrequency>0.0 0.0 0.0</rateDriftFrequency>
+ <rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
+ <headingDrift>0.0</headingDrift>
+ <headingGaussianNoise>0.00</headingGaussianNoise>
+ <headingOffset>0.0</headingOffset>
+ <headingDriftFrequency>0.0</headingDriftFrequency>
+ </plugin>
+ </gazebo>
+ <gazebo reference="imu">
+ <material>Gazebo/Black</material>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+ <gazebo>
+ <plugin filename="libgazebo_ros_p3d.so" name="odom_sim">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <topicName>kinton/odom</topicName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <frameName>world</frameName>
+ </plugin>
+ </gazebo>
+ <!-- GPS -->
+ <link name="gps">
+ <inertial>
+ <mass value="0.01"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <box size="0.02 0.04 0.02"/>
+ </geometry>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+ <geometry>
+ <box size="0.02 0.04 0.02"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="base_link_to_gps" type="fixed">
+ <parent link="base_link"/>
+ <child link="gps"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02 0.0 0.066"/>
+ </joint>
+ <gazebo>
+ <plugin filename="libhector_gazebo_ros_gps.so" name="gps_sim">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>5.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <topicName>kinton/fix</topicName>
+ <velocityTopicName>kinton/fix_velocity</velocityTopicName>
+ <referenceLatitude>41.3851</referenceLatitude>
+ <referenceLongitude>2.1734</referenceLongitude>
+ <referenceAltitude>5.0</referenceAltitude>
+ <referenceHeading>0.0</referenceHeading>
+ <!--TEST 90 for testing with robot_pose_ekf -->
+ <offset>0 0 0</offset>
+ <drift>5.0 5.0 5.0</drift>
+ <driftFrequency>0.0 0.0 0.0</driftFrequency>
+ <gaussianNoise>0.1 0.1 0.1</gaussianNoise>
+ <velocityOffset>0 0 0</velocityOffset>
+ <velocityDrift>0 0 0</velocityDrift>
+ <velocityDriftFrequency>0 0 0</velocityDriftFrequency>
+ <velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
+ </plugin>
+ </gazebo>
+ <gazebo reference="gps">
+ <material>Gazebo/Black</material>
+ <turnGravityOff>true</turnGravityOff>
+ </gazebo>
+ <!-- WITHOUT ARM -->
+ <!-- <gazebo>
+ <plugin name="quadrotor_simple_controller" filename="libkinton_gazebo.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>0.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <stateTopic>${prefix}/odom</stateTopic>
+ <imuTopic>${prefix}/imu_raw</imuTopic>
+ <cmdvelTopic>${prefix}/cmd_vel</cmdvelTopic>
+ <mavctrlTopic>fcu/control</mavctrlTopic>
+ <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
+ <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
+ <rollpitchLimit>0.5</rollpitchLimit>
+ <yawProportionalGain>2.0</yawProportionalGain>
+ <yawDifferentialGain>1.0</yawDifferentialGain>
+ <yawLimit>1.0</yawLimit>
+ <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
+ <velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
+ <velocityXYLimit>1.0</velocityXYLimit>
+ <velocityZProportionalGain>50.0</velocityZProportionalGain>
+ <velocityZDifferentialGain>1.1</velocityZDifferentialGain>
+ <velocityZLimit>1.0</velocityZLimit>
+ <maxForce>30</maxForce>
+ <motionSmallNoise>0.05</motionSmallNoise>
+ <motionDriftNoise>0.03</motionDriftNoise>
+ <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
+ </plugin>
+ </gazebo> -->
+ <!-- WITH ARM >> NOT TUNNED -->
+ <gazebo>
+ <plugin filename="libkinton_gazebo.so" name="quadrotor_simple_controller">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>0.0</updateRate>
+ <bodyName>base_link</bodyName>
+ <stateTopic>kinton/odom</stateTopic>
+ <imuTopic>kinton/imu_raw</imuTopic>
+ <cmdvelTopic>kinton/cmd_vel</cmdvelTopic>
+ <mavctrlTopic>fcu/control</mavctrlTopic>
+ <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
+ <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
+ <rollpitchLimit>0.5</rollpitchLimit>
+ <yawProportionalGain>2.0</yawProportionalGain>
+ <yawDifferentialGain>1.0</yawDifferentialGain>
+ <yawLimit>1.0</yawLimit>
+ <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
+ <velocityXYDifferentialGain>1.0</velocityXYDifferentialGain>
+ <velocityXYLimit>1.0</velocityXYLimit>
+ <velocityZProportionalGain>50.0</velocityZProportionalGain>
+ <velocityZDifferentialGain>1.1</velocityZDifferentialGain>
+ <velocityZLimit>1.0</velocityZLimit>
+ <maxForce>30</maxForce>
+ <motionSmallNoise>0.05</motionSmallNoise>
+ <motionDriftNoise>0.03</motionDriftNoise>
+ <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
+ </plugin>
+ </gazebo>
+ <!-- Kinton-Arm joint -->
+ <joint name="fixed" type="fixed">
+ <parent link="base_link"/>
+ <child link="arm_base"/>
+ <origin rpy="0 0 0" xyz="0 0 -0.09"/>
+ </joint>
+ <!-- Arm Base -->
+ <link name="arm_base">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/base.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/base.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint1" type="revolute">
+ <parent link="arm_base"/>
+ <child link="link1"/>
+ <origin rpy="3.14159265359 0 3.14159265359" xyz="0.0 0.0 0.0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="1.0" lower="-0.35" upper="0.35" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran1">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint1">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor1">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link1 -->
+ <link name="link1">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link1.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link1.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint2" type="revolute">
+ <parent link="link1"/>
+ <child link="link2"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0.038"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="1.0" lower="-0.523" upper="0.523" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran2">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint2">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor2">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link2 -->
+ <link name="link2">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link2.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link2.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint3" type="revolute">
+ <parent link="link2"/>
+ <child link="link3"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ <axis xyz="0 0 1"/>
+ <!-- <limit effort="1.0" lower="-0.35" upper="1.92" velocity="1.0"/> -->
+ <limit effort="1.0" lower="0.0" upper="1.5" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran3">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint3">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor3">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link3 -->
+ <link name="link3">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link3.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link3.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint4" type="revolute">
+ <parent link="link3"/>
+ <child link="link4"/>
+ <origin rpy="0 0 -1.57079632679" xyz="0 -0.063 0"/>
+ <axis xyz="0 0 1"/>
+ <!-- <limit effort="1.0" lower="-2.35" upper="2.35" velocity="1.0"/> -->
+ <limit effort="1.0" lower="-2.1" upper="2.1" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran4">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint4">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor4">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link4 -->
+ <link name="link4">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link4.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link4.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint5" type="revolute">
+ <parent link="link4"/>
+ <child link="link5"/>
+ <origin rpy="0 0 0" xyz="0.063 0 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="1.0" lower="-2.35" upper="2.35" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran5">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint5">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor5">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link5 -->
+ <link name="link5">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link5.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link5.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="joint6" type="revolute">
+ <parent link="link5"/>
+ <child link="link6"/>
+ <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0561 -0.0034 0"/>
+ <axis xyz="0 0 1"/>
+ <limit effort="1.0" lower="-2.094" upper="2.094" velocity="1.0"/>
+ <dynamics damping="1.0"/>
+ </joint>
+ <transmission name="tran6">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="joint6">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="motor6">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- Link6 -->
+ <link name="link6">
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link6.stl"/>
+ </geometry>
+ <contact_coefficients kd="1.0" kp="1000.0" mu="0"/>
+ </collision>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <mesh filename="package://kinton_description/meshes/arm/link6.dae"/>
+ </geometry>
+ <material name="white"/>
+ </visual>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0.0002"/>
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+ </inertial>
+ </link>
+ <!-- ros_control plugin -->
+ <gazebo>
+ <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+ <robotNamespace>kinton</robotNamespace>
+ <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+ </plugin>
+ </gazebo>
+ <!-- Arm Base -->
+ <gazebo reference="arm_base">
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link1 -->
+ <gazebo reference="link1">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link2 -->
+ <gazebo reference="link2">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link3 -->
+ <gazebo reference="link3">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link4 -->
+ <gazebo reference="link4">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link5 -->
+ <gazebo reference="link5">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>true</selfCollide>
+ </gazebo>
+ <!-- Link6 -->
+ <gazebo reference="link6">
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/White</material>
+ <selfCollide>false</selfCollide>
+ </gazebo>
+ <joint name="arm_cam_joint" type="fixed">
+ <origin rpy="3.14159265359 -1.57079632679 0.0" xyz="0.0 0.0 0.01"/>
+ <parent link="link6"/>
+ <child link="arm_cam_link"/>
+ </joint>
+ <link name="arm_cam_link">
+ <inertial>
+ <mass value="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.01" radius="0.005"/>
+ </geometry>
+ <material name="Blue">
+ <color rgba="0.0 0.0 0.8 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="0.01" radius="0.005"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="arm_cam_optical_joint" type="fixed">
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0.001 0 0"/>
+ <parent link="arm_cam_link"/>
+ <child link="arm_cam_optical_frame"/>
+ </joint>
+ <link name="arm_cam_optical_frame">
+ <inertial>
+ <mass value="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.001 0.001 0.001"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <box size="0.001 0.001 0.001"/>
+ </geometry>
+ </collision>
+ </link>
+ <gazebo reference="arm_cam_link">
+ <sensor name="arm_cam_camera_sensor" type="camera">
+ <update_rate>25</update_rate>
+ <camera name="head">
+ <horizontal_fov>1.5708</horizontal_fov>
+ <image>
+ <width>1280</width>
+ <height>960</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.01</near>
+ <far>100</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.000</stddev>
+ </noise>
+ </camera>
+ <plugin filename="libgazebo_ros_camera.so" name="camera_plugin">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>0.0</updateRate>
+ <cameraName>kinton/arm_cam</cameraName>
+ <imageTopicName>image_raw</imageTopicName>
+ <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+ <frameName>kinton/arm_cam_optical_frame</frameName>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ </plugin>
+ </sensor>
+ <mu1>0.2</mu1>
+ <mu2>0.2</mu2>
+ <material>Gazebo/Black</material>
+ </gazebo>
+ <gazebo>
+ <turnGravityOff>false</turnGravityOff>
+ <static>false</static>
+ </gazebo>
+ <!-- <gazebo>
+ <turnGravityOff>true</turnGravityOff>
+ <static>true</static>
+ <plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
+ <frameName>world</frameName>
+ <bodyName>${name}_optical_frame</bodyName>
+ <topicName>${prefix}/${name}/odom</topicName>
+ <updateRate>30.0</updateRate>
+ </plugin>
+ </gazebo>
+ -->
+</robot>