From 6fd9d88b48ebe3cd98b06a521490dc98b8846a8a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Pep=20Mart=C3=AD=20Saumell?= <jmarti@iri.upc.edu>
Date: Sat, 28 Sep 2019 20:41:35 +0200
Subject: [PATCH] Added kinton description
---
kinton_description/meshes/arm/base.dae | 107 +++
kinton_description/meshes/arm/base.stl | Bin 0 -> 166234 bytes
.../BrazoHinton_Dynamixel_PiezasIrir.png | Bin 0 -> 214833 bytes
.../meshes/arm/dynamixel/MotorWheel.stl | Bin 0 -> 537284 bytes
.../arm/dynamixel/SoporteLadoQuadRotor_v1.stl | Bin 0 -> 286684 bytes
.../meshes/arm/dynamixel/XL-320.stl | Bin 0 -> 586784 bytes
.../meshes/arm/dynamixel/base.stl | Bin 0 -> 84 bytes
.../meshes/arm/dynamixel/link1.stl | Bin 0 -> 1827084 bytes
.../meshes/arm/dynamixel/union_M1_M2_v2.stl | Bin 0 -> 589984 bytes
.../meshes/arm/dynamixel/union_M2_M3.stl | Bin 0 -> 558184 bytes
.../meshes/arm/dynamixel/union_M3_M4.stl | Bin 0 -> 1275484 bytes
.../meshes/arm/dynamixel/union_M4_M5.stl | Bin 0 -> 1275484 bytes
.../meshes/arm/dynamixel/union_M5_M6.stl | Bin 0 -> 670184 bytes
kinton_description/meshes/arm/link1.dae | 107 +++
kinton_description/meshes/arm/link1.stl | Bin 0 -> 352434 bytes
kinton_description/meshes/arm/link2.dae | 199 +++++
kinton_description/meshes/arm/link2.stl | Bin 0 -> 229184 bytes
kinton_description/meshes/arm/link3.dae | 106 +++
kinton_description/meshes/arm/link3.stl | Bin 0 -> 369884 bytes
kinton_description/meshes/arm/link4.dae | 199 +++++
kinton_description/meshes/arm/link4.stl | Bin 0 -> 369884 bytes
kinton_description/meshes/arm/link5.dae | 107 +++
kinton_description/meshes/arm/link5.stl | Bin 0 -> 231384 bytes
kinton_description/meshes/arm/link6.dae | 199 +++++
kinton_description/meshes/arm/link6.stl | Bin 0 -> 45484 bytes
kinton_description/meshes/kinton/kinton.blend | Bin 0 -> 2544468 bytes
kinton_description/meshes/kinton/kinton.dae | 454 +++++++++++
kinton_description/meshes/kinton/kinton.stl | Bin 0 -> 1575684 bytes
kinton_description/meshes/kinton/kinton2.dae | 319 ++++++++
kinton_description/meshes/kinton/kinton2.stl | Bin 0 -> 1300484 bytes
.../meshes/lidarlite_sensor/lidarlite.dae | 199 +++++
.../meshes/sonar_sensor/max_sonar_ez4.blend | Bin 0 -> 451488 bytes
.../meshes/sonar_sensor/max_sonar_ez4.dae | 252 ++++++
kinton_description/urdf/kinton_arm.urdf | 721 ++++++++++++++++++
34 files changed, 2969 insertions(+)
create mode 100644 kinton_description/meshes/arm/base.dae
create mode 100644 kinton_description/meshes/arm/base.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/BrazoHinton_Dynamixel_PiezasIrir.png
create mode 100644 kinton_description/meshes/arm/dynamixel/MotorWheel.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/SoporteLadoQuadRotor_v1.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/XL-320.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/base.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/link1.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/union_M1_M2_v2.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/union_M2_M3.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/union_M3_M4.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/union_M4_M5.stl
create mode 100644 kinton_description/meshes/arm/dynamixel/union_M5_M6.stl
create mode 100644 kinton_description/meshes/arm/link1.dae
create mode 100755 kinton_description/meshes/arm/link1.stl
create mode 100644 kinton_description/meshes/arm/link2.dae
create mode 100644 kinton_description/meshes/arm/link2.stl
create mode 100644 kinton_description/meshes/arm/link3.dae
create mode 100644 kinton_description/meshes/arm/link3.stl
create mode 100644 kinton_description/meshes/arm/link4.dae
create mode 100644 kinton_description/meshes/arm/link4.stl
create mode 100644 kinton_description/meshes/arm/link5.dae
create mode 100644 kinton_description/meshes/arm/link5.stl
create mode 100644 kinton_description/meshes/arm/link6.dae
create mode 100644 kinton_description/meshes/arm/link6.stl
create mode 100644 kinton_description/meshes/kinton/kinton.blend
create mode 100755 kinton_description/meshes/kinton/kinton.dae
create mode 100644 kinton_description/meshes/kinton/kinton.stl
create mode 100644 kinton_description/meshes/kinton/kinton2.dae
create mode 100644 kinton_description/meshes/kinton/kinton2.stl
create mode 100644 kinton_description/meshes/lidarlite_sensor/lidarlite.dae
create mode 100644 kinton_description/meshes/sonar_sensor/max_sonar_ez4.blend
create mode 100644 kinton_description/meshes/sonar_sensor/max_sonar_ez4.dae
create mode 100644 kinton_description/urdf/kinton_arm.urdf
diff --git a/kinton_description/meshes/arm/base.dae b/kinton_description/meshes/arm/base.dae
new file mode 100644
index 00000000..448793b8
--- /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">
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+ </technique_common>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_materials>
+ <material name="Mesh" id="mat_Mesh">
+ <instance_effect url="#effect_Mesh"/>
+ </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_Mesh" target="#mat_Mesh"/>
+ </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/base.stl b/kinton_description/meshes/arm/base.stl
new file mode 100644
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diff --git a/kinton_description/meshes/arm/link1.dae b/kinton_description/meshes/arm/link1.dae
new file mode 100644
index 00000000..d031d530
--- /dev/null
+++ b/kinton_description/meshes/arm/link1.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>2019-07-22T14:46:34.440919</created>
+ <modified>2019-07-22T14:46:34.440927</modified>
+ <unit name="meter" meter="1.0"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_effects>
+ <effect name="effect_Mesh001" id="effect_Mesh001">
+ <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>0.0512073002756 0.0512073002756 0.0512073002756 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="Mesh001">
+ <mesh>
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diff --git a/kinton_description/meshes/arm/link2.dae b/kinton_description/meshes/arm/link2.dae
new file mode 100644
index 00000000..a05b0f1f
--- /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>
+ <source id="Link2-mesh-positions">
+ <float_array id="Link2-mesh-positions-array" count="6831">11.0303 31.46888 8.25 11.55 31.50078 8.800003 11.01502 31.48526 8.800002 18.98497 31.48529 8.250002 18.40747 31.3464 8.250353 18.96966 31.4689 8.800002 18.45 31.50078 8.800003 11.00139 31.44179 21.20001 11.02246 31.49281 21.75 11.55 31.50078 21.2 11.56887 31.29795 21.74969 26.63668 30.40078 8.25 26.91268 29.97578 8.25 23.55 30.46745 8.25 20.17753 30.04058 8.250111 20.18028 30.58959 8.25 20.34526 30.55049 8.800002 20.07887 30.06842 21.7499 26.91268 29.97578 21.75 23.55 30.45078 21.75 26.63668 30.40078 21.75 20.49951 30.53585 21.75 19.08884 31.31485 21.75 18.41541 31.36979 21.75 10.72031 30.45705 7.799742 9.962555 30.10176 5.999999 9.921108 30.06842 8.250108 11.5676 31.32686 8.25 11.55 31.37347 7.8 18.46128 31.30422 7.799998 19.44847 30.39931 6.000001 19.4127 30.41452 7.799955 20.39868 30.01958 6 3.363317 30.40078 21.75 3.087318 29.97578 21.75 6.449998 30.45078 21.75 9.822494 30.04059 21.74989 9.785202 30.57299 21.75 9.819779 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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
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diff --git a/kinton_description/meshes/arm/link3.dae b/kinton_description/meshes/arm/link3.dae
new file mode 100644
index 00000000..e7da9d83
--- /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">
+ <float_array id="Link3-mesh-positions-array" count="10998">18.98499 31.48527 11.74262 18.44672 31.43685 11.74262 18.98644 31.49595 12.29262 18.45 31.50078 12.29262 18.45 31.50078 24.69262 18.43377 31.41105 25.24262 18.97756 31.49279 24.69261 18.9908 31.49131 25.24262 11.55387 31.41926 11.74262 11.01356 31.49596 11.74262 11.55 31.50078 12.29262 10.98868 31.41356 12.29262 26.98095 29.92629 9.492624 26.91268 29.97578 11.74262 26.63668 30.40078 11.74262 26.63668 30.40078 15.49262 27 29.84132 15.49262 23.55 30.46745 11.74262 20.13377 30.04785 11.74262 18.8764 30.83289 11.74262 20.18025 30.5896 11.74262 20.15875 30.58331 12.29262 20.39227 30.02053 25.24262 26.91268 29.97578 25.24262 23.55 30.45078 25.24262 26.63668 30.40078 25.24262 19.34662 30.45593 25.24263 20.12445 30.60121 25.24262 26.98799 29.92118 27.49262 27 29.84132 21.49262 26.85821 30.37008 21.49262 22.25149 35.97222 9.489992 22.18439 35.97204 6.665726 7.562274 35.96385 9.492029 3.019055 29.92628 27.49262 3.087318 29.97578 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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 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37.13647 4.314697 25.37897 36.63037 5.321777 26.20114 36.08331 5.681885 25.50163 36.24475 6.395752 24.87631 40.6477 1.239136 5.171143 40.51343 1.289734 4.768677 38.4873 2.68335 4.581039 37.71387 3.499023 4.049665 36.92895 4.309326 3.175785 35.08328 6.453125 3.051445 35.1344 5.00415 3.544739 35.88269 5.578247 3.00951 34.11129 9.491402 2.998436 34.3728 5.72583 3.143671 34.74499 9.492202 3.293026 35.09057 7.589691 4.512299 36.04698 7.39917 4.458773 35.95352 8.434998 4.515648 36.63135 5.309326 4.619202 36.26922 6.345337 3.568426 35.38972 9.490637 4.790161 37.13721 4.366699 3.8237 35.793 6.768616 4.361465 35.94103 9.492624 24.58488 43.85748 0.5073724 26.02258 46.47888 1.444397 26.34796 46.30406 2.121338 25.86075 72.98036 1.220402 25.90864 47.65008 1.285263 25.64801 73.88135 0.9972229 25.22583 74.76673 0.7025604 24.53764 75.51442 0.499732 4.138833 72.96737 1.219731 5.134857 75.39543 0.5810013 4.547485 74.4442 0.836606 4.06695 47.12376 1.312386 3.758003 46.11345 1.894012 25.86235 72.91782 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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
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diff --git a/kinton_description/meshes/arm/link4.dae b/kinton_description/meshes/arm/link4.dae
new file mode 100644
index 00000000..b2024ed3
--- /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>
+ <source id="Link4-mesh-positions">
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23.70078 27.49262 25.5 23.70078 21.49262 25.5 24.00078 21.49262 25.5 24.00078 27.49262 25.5 29.97578 27.49262 25.5 30.40078 27.49262 25.5 32.15111 27.49262 25.5 12.00078 9.492624 25.5 5.500775 9.492624 25.5 22.00078 21.49262 25.5 12.10078 21.49262 25.5 12.00078 15.49262 25.5 32.15111 9.492624 25.5 30.40078 9.492624 25.5 29.97578 9.492624 25.5 24.00078 9.492624 25.5 24.00078 15.49262 25.5 22.00078 15.49262 25.5 9.400303 20.50947 25.5 10.54405 19.79331 25.5 12.30078 27.49262 25.5 5.500775 15.49262 25.5 5.500775 21.49262 25.5 5.500775 27.49262 25.5 10.92801 19.05106 25.5 7.684387 16.94099 25.5 9.640503 16.59084 25.5 10.97891 18.01577 25.5 8.786538 16.48579 25.5 10.36571 17.00592 25.5 7.127861 17.77277 25.5 7.902618 20.20566 25.5 7.223 19.42299 25.5 6.986648 18.62149 4.5 32.15111 9.492624 4.517052 32.14197 6.662336 4.5 12.30078 21.49262 4.5 22.00078 21.49262 4.5 22.00078 15.49262 4.5 32.15111 27.49262 4.5 24.00078 27.49262 4.5 7.019165 18.87542 4.5 5.500775 21.49262 4.5 12.00078 15.49262 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30.49264 20.83891 30.48312 30.49263 15.04621 30.4577 30.49262 13.53918 35.03961 30.49262 23.86794 8.246005 30.49262 23.37293 5.89917 30.49262 25.30634 3.910667 30.48269 7.837097 30.77853 30.49262 6.858734 31.62805 30.49262 4.686272 3.909325 30.48141 11.01714 34.55018 30.49262 12.82444 34.27807 30.49263 18.82445 34.27807 30.49263 17.51661 33.36964 30.49262 16.87617 0.3007753 30.49262 18.4812 0.7960205 30.49262 22.86002 13.237 30.49262 11.51772 33.16078 30.49262 12.47777 33.05487 30.49262 7.527557 4.11322 30.49262 6.326151 6.88179 30.49262 22.93958 31.35535 30.49263 23.80811 10.44188 30.49251 12.51485 17.57688 30.49262 20.99982 15.61353 30.49262 16.28256 30.84537 30.49261 6.920236 12.80119 30.49266 13.6315 30.88141 30.49262 10.28061 30.80318 30.49261 20.79709 2.209656 30.4926 22.37374 4.017 30.49262 15.51378 17.91491 30.49262 18.50441 33.25126 30.49262 8.838906 30.48312 30.49262 6.115704 9.89243 30.49262 21.89987 30.65965 30.49263 18.65753 32.00967 30.49262 17.18972 31.70675 30.4926 12.7717 31.8179 30.49261 11.27605 31.91258 30.49262 13.12423 0.3006592 30.49259 10.85985 1.089729 30.49264 9.119997 2.319792 30.49262 7.708405 0.2325592 30.48618 19.20004 8.051804 6.492623 23.02268 8.779019 6.492622 18.99373 9.031117 6.492622 19.17918 9.871384 6.492619 22.71301 10.09892 6.492619 19.97552 10.75886 6.492621 20.9451 11.00652 6.492622 22.43442 7.557556 6.492622 20.19567 7.131699 6.492621 21.79248 10.85692 6.492621 21.38278 7.01916 6.492621 14.78662 5.00771 6.492622 14.36779 1.084105 6.49262 15.38279 1.019163 6.492621 16.91694 3.632172 6.492621 16.98145 2.617165 6.492622 16.4344 1.557533 6.492623 13.97392 4.725079 6.492621 13.02771 3.369705 6.492622 13.6517 1.51474 6.492622 13.35246 4.166527 6.492617 15.61647 4.910217 6.492621 16.36556 4.486877 6.492623 13.06553 2.36969 6.492621 7.386291 7.761276 6.492623 10.3656 10.48686 6.492621 10.84065 9.79953 6.492622 6.985817 8.872767 6.492621 10.16989 7.335914 6.492622 8.367791 7.08411 6.492621 10.81568 8.146744 6.49263 9.224747 7.006901 6.492622 7.118437 9.697743 6.492622 7.693151 10.56045 6.492621 8.786601 11.00771 6.492622 9.616486 10.91022 6.492622 11.01778 8.957509 6.492621 15.87166 13.16213 6.492622 16.78264 15.94708 6.49262 14.13018 16.82197 6.492619 14.52312 13.02264 6.492621 17.01778 14.9575 6.492622 16.74044 13.9789 6.492623 15.30739 17.01223 6.492621 16.21735 16.5958 6.492621 12.98581 14.87278 6.492621 13.24819 16.03594 6.492621 13.38626 13.76132 6.49262 22.99607 8.702424 4.292622 22.67922 7.902405 4.292623 22.09481 7.305279 4.292622 21.28492 7.014605 4.292623 20.28737 7.094841 4.292622 19.35246 7.835052 4.292627 18.99315 8.786614 4.292623 19.20002 9.949723 4.292622 19.92223 10.69325 4.292623 20.86431 11.03105 4.292622 22.16991 10.66562 4.292623 22.88812 9.713776 4.29262 17.03106 2.87752 4.292622 16.59711 1.766861 4.292622 15.64291 1.070209 4.292622 14.45052 1.058765 4.292622 13.57317 1.573349 4.292625 13.11842 2.303864 4.292623 12.98581 3.128775 4.292622 13.38628 4.240257 4.292623 14.36776 4.917439 4.292621 15.3828 4.982386 4.292623 16.16861 4.631866 4.292617 16.74045 4.022583 4.292623 10.87397 8.207898 4.292623 10.21742 7.405805 4.292619 9.4674 7.037396 4.292623 8.287377 7.094841 4.292621 7.35247 7.835007 4.292622 6.965798 8.951369 4.292623 7.304016 10.09483 4.292624 8.195694 10.86987 4.292622 9.382843 10.98237 4.292621 10.43444 10.44395 4.292621 10.98145 9.3844 4.292621 16.99647 15.20117 4.292622 16.91694 14.3694 4.292622 16.46944 13.63445 4.292617 15.64291 13.07021 4.292623 14.28739 13.09484 4.292621 13.24818 13.96559 4.292621 12.9867 15.29587 4.292623 13.51333 16.36573 4.292624 14.52312 16.97891 4.292623 15.87166 16.83942 4.292621 16.74043 16.02264 4.292621 24.8 9.050177 22.45843 24.8 7.978943 26.23309 24.8 9.124054 26.52369 24.8 7.162149 25.36433 24.8 10.16649 22.84506 24.8 10.90672 23.78002 24.8 10.93134 25.13552 24.8 10.23474 26.08972 24.8 7.02264 24.01576 24.8 7.761291 22.87888 24.8 8.051819 10.69265 24.8 7.852219 14.13788 24.8 9.214985 10.48578 24.8 10.16648 10.84506 24.8 8.779019 14.5153 24.8 10.96416 12.96001 24.8 10.25079 14.12503 24.8 10.90672 11.78001 24.8 7.162144 13.36432 24.8 7.004829 12.19342 24.8 7.308289 11.41492 18.82912 10.2569 4.292621 19.54368 11.0608 4.292623 20.73328 11.50945 4.292622 22.20118 11.2424 4.292622 23.22833 10.18365 4.292623 23.52836 8.72361 4.292621 22.79302 7.196762 4.29262 21.26006 6.47096 4.292623 19.81619 6.772957 4.292623 18.88004 7.633179 4.292623 18.45726 9.062541 4.292623 16.36853 5.120148 4.292622 17.34247 3.991852 4.292623 17.47533 2.527542 4.292621 17.05658 1.565094 4.29262 16.27638 0.8246765 4.292623 15.28092 0.5084311 4.292621 13.99462 0.6644077 4.292623 12.88005 1.633207 4.292624 12.52462 2.576337 4.292621 12.62307 3.906082 4.292621 13.5437 5.06081 4.292624 14.95378 5.543856 4.292621 6.504263 9.491377 4.292623 7.366443 10.95036 4.292623 8.4709 11.45592 4.292622 9.803643 11.41398 4.292622 11.14127 10.3735 4.292622 11.52223 8.946688 4.292622 11.26958 7.933228 4.292621 10.62578 7.07168 4.292624 9.261711 6.470774 4.292622 8.026061 6.692163 4.292624 7.141632 7.294601 4.292622 6.62278 8.201096 4.292625 17.14127 16.37349 4.292622 17.50246 15.2138 4.292622 17.29158 13.89711 4.292623 16.27639 12.82468 4.292627 15.28094 12.50844 4.292621 14.2097 12.60494 4.292623 12.98284 13.45143 4.292623 12.45726 15.06253 4.292622 13.0149 16.60365 4.292623 14.31317 17.4283 4.292623 15.80366 17.41399 4.292621 12.85237 7.189086 3.983241 17.59194 7.909645 3.991733 16.68781 9.012175 3.648001 17.59247 10.09036 3.992238 17.81988 9.001044 3.992952 17.03305 10.95252 3.983537 15.83398 11.71156 3.98728 15.00711 10.3095 3.555026 13.15234 11.11009 3.983938 14.22821 11.71178 3.990588 13.31879 8.987289 3.644188 12.17153 9.171231 3.994139 12.55685 10.40082 3.993494 12.35689 8.067059 3.990644 14.81084 6.195604 3.993011 14.41102 7.279389 3.699854 13.72345 6.488767 3.990835 16.11395 6.393009 3.994101 15.58478 7.818085 3.576845 17.06612 7.094201 3.984292 14.40747 9.008075 3.49367 18.9209 4.010506 6.492621 19.22942 5.590767 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 5.199999 10.59737 23.25804 5.199999 6.989326 24.80001 5.199999 10.95563 24.0403 5.199998 7.514709 25.85823 5.199999 7.902637 14.20566 5.199999 7.684448 10.94095 5.199999 10.66563 13.66254 5.199999 11.03105 12.35693 5.199998 10.59736 11.25802 5.199998 9.952736 10.72631 5.199999 8.95138 10.45843 5.199999 7.070206 13.13552 5.199998 7.058767 11.94313 5.199998 8.860886 14.49424 5.199998 9.713822 14.38074 26.2 9.384507 26.47407 26.2 8.369431 26.40958 26.2 7.278334 25.61533 26.2 7.00182 24.11237 26.2 7.684463 22.94098 26.2 9.122356 22.44019 26.2 10.49516 23.1116 26.2 11.05653 24.52699 26.2 10.44392 25.92708 26.2 8.207901 14.3666 26.2 7.305273 13.58742 26.2 7.014606 12.77755 26.2 7.058771 11.94312 26.2 7.573379 11.06581 26.2 8.303803 10.61108 26.2 9.295857 10.47933 26.2 10.36568 11.00589 26.2 10.85105 11.7164 26.2 11.01857 12.53503 26.2 10.66563 13.66252 26.2 9.561173 14.44873 21.01235 6.449021 3.492622 19.5437 6.940735 3.492618 18.8291 7.74469 3.492622 18.49145 8.732964 3.492622 18.62279 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 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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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14.42318 27 27.71341 14.39855 27 28.54273 13.77655 27 28.94636 13.03613 3 29.45499 25.07694 3 29.38319 23.60185 3 28.29475 22.30287 3 26.63192 21.97601 3 25.29459 22.63428 3 24.5281 23.89655 3 24.59177 25.19077 3 25.07171 26.11844 3 26.30028 26.93776 3 27.79007 26.8888 3 28.8584 26.19965 3 29.50945 12.22591 3 28.95037 10.85907 3 27.68869 10.06541 3 26.21193 10.07455 3 24.86794 11.10684 3 24.47077 12.75431 3 25.07166 14.11839 3 25.93328 14.76224 3 27.15489 15.03145 3 28.71567 14.37108 3 29.38756 13.26324 27 29.49571 12.11864 27 29.40978 13.1908 27 28.92987 14.11838 27 27.70127 14.93777 27 26.00967 14.83508 27 24.88134 13.86105 27 24.48312 12.65367 27 24.72427 11.4054 27 25.70679 10.30288 27 27.36964 9.97601 27 28.86877 10.76635 27 29.47778 24.97113 27 29.03967 25.95349 27 28.10437 26.78424 27 26.8259 26.99464 27 25.81795 26.72098 27 24.88138 25.86111 27 24.51807 24.84882 27 24.57327 23.80579 27 25.35532 22.55307 27 26.73299 21.98407 27 28.18693 22.24264 27 29.33715 23.48723 5.299999 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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_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="Link4" name="Link4" type="NODE">
+ <matrix sid="transform">-7.58967e-10 -0.001 0 0.072 0.001 -7.58967e-10 0 -0.015 0 0 0.001 -0.019 0 0 0 1</matrix>
+ <instance_geometry url="#Link4-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material_002_001-material" target="#Material_002_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/link4.stl b/kinton_description/meshes/arm/link4.stl
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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 00000000..73137644
--- /dev/null
+++ b/kinton_description/meshes/arm/link5.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>2019-07-22T14:47:22.347830</created>
+ <modified>2019-07-22T14:47:22.347837</modified>
+ <unit name="meter" meter="1.0"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_effects>
+ <effect name="effect_Mesh001" id="effect_Mesh001">
+ <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>0.0446155406535 0.0446155406535 0.0446155406535 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="Mesh001">
+ <mesh>
+ <source id="cubenormals-array0">
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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
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diff --git a/kinton_description/meshes/arm/link6.dae b/kinton_description/meshes/arm/link6.dae
new file mode 100644
index 00000000..3fa3992b
--- /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>
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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_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
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diff --git a/kinton_description/meshes/kinton/kinton.dae b/kinton_description/meshes/kinton/kinton.dae
new file mode 100755
index 00000000..9038a2cd
--- /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>
+ <authoring_tool>Blender 2.67.0 r57123</authoring_tool>
+ </contributor>
+ <created>2014-12-15T09:46:10</created>
+ <modified>2014-12-15T09:46:10</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera_001-camera" name="Camera.001">
+ <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.001">
+ <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>
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+ <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>
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+ <ray_sampy>1</ray_sampy>
+ <ray_sampz>1</ray_sampz>
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+ <shadow_r sid="blender_shadow_r">0</shadow_r>
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+ <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="mat_kinton_struct-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>
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+ <color sid="diffuse">0 0 0 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>
+ <effect id="mat_helix_front-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>
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+ </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>
+ <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>
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+ </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_pc_embed-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
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+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <specular>
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+ </specular>
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+ </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_battery-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
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+ </shininess>
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+ </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>
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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 140.4564 35.53328 145.848 135.6746 30.53328 144.3689 144.5762 35.53328 141.0935 140.9897 35.53328 144.68 143.4959 35.53328 141.7877 141.6839 35.53328 143.5997 137.0349 30.53328 141.5444 142.5251 35.53328 142.6288 138.9895 30.53328 139.0933 141.4406 30.53328 137.1387 144.2651 30.53328 135.7784 147.3215 30.53328 135.0808 150.4565 30.53328 135.0808 153.5129 30.53328 135.7784 148.2417 35.53328 146.5782 154.2823 35.53328 141.7877 156.3375 30.53328 137.1387 150.6568 35.53328 147.225 155.253 35.53328 142.6288 149.5364 35.53328 146.5782 151.3036 35.53328 148.3454 156.0941 35.53328 143.5996 158.7885 30.53328 139.0933 160.7432 30.53328 141.5444 151.3036 35.53328 149.6401 162.1034 30.53328 144.3689 162.801 30.53328 147.4253 162.801 30.53328 150.5603 162.1034 30.53328 153.6167 150.6568 63.53328 150.7606 149.5366 63.53328 151.4074 151.3036 63.53328 149.6404 151.3038 63.53328 148.3462 150.6566 63.53328 147.2252 149.5356 63.53328 146.578 148.2415 63.53328 146.5782 147.1212 63.53328 147.225 146.4744 63.53328 148.3453 146.4742 63.53328 149.6394 147.1214 63.53328 150.7604 148.2424 63.53328 151.4076 158.3359 3.533321 -156.0988 141.4893 3.53332 -139.2522 140.4037 3.53332 -140.2138 138.9895 8.53332 -138.7996 157.3743 3.533321 -157.1844 139.4421 3.53332 -141.2994 137.0349 8.53332 -141.2507 159.1584 3.533321 -154.9069 142.6812 3.533319 -138.4297 141.4405 8.53332 -136.845 159.8315 3.533321 -153.6244 143.9638 3.533319 -137.7566 160.3453 3.533321 -152.2699 145.3182 3.533319 -137.2428 144.2651 8.533318 -135.4848 160.6924 3.53332 -150.8625 146.7256 3.533319 -136.8957 160.8671 3.53332 -149.4232 148.1649 3.533319 -136.721 147.3215 8.533318 -134.7872 160.867 3.53332 -147.9743 149.6139 3.533319 -136.7211 160.6923 3.533319 -146.5363 151.0518 3.533318 -136.8958 150.4565 8.533318 -134.7872 160.3458 3.533319 -145.1298 152.4583 3.533319 -137.2423 159.832 3.533319 -143.7746 153.8135 3.533319 -137.7561 153.5129 8.533317 -135.4848 159.1581 3.533319 -142.4907 155.0974 3.533319 -138.43 158.3348 3.533319 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142.6805 3.533322 -158.9682 139.4432 3.533322 -156.1001 141.488 3.533322 -158.1449 141.4405 8.533323 -160.5533 140.4038 3.533322 -157.1843 138.9895 8.533323 -158.5986 137.0348 8.533322 -156.1476 135.6746 8.533322 -153.323 134.977 8.533321 -150.2666 134.977 8.533321 -147.1316 135.6746 8.533321 -144.0752 154.2821 35.53332 -155.9042 156.0941 35.53332 -154.0923 155.253 35.53332 -155.0631 158.7885 30.53332 -158.5986 156.3374 30.53332 -160.5532 153.2018 35.53332 -156.5984 156.7883 35.53332 -153.0119 160.7431 30.53332 -156.1476 152.0337 35.53332 -157.1317 157.3216 35.53332 -151.8439 150.8018 35.53332 -157.4934 157.6833 35.53332 -150.6119 162.1034 30.53332 -153.323 149.5309 35.53332 -157.6761 157.8659 35.53332 -149.341 162.801 30.53332 -150.2666 148.2471 35.53332 -157.6761 157.8659 35.53332 -148.0572 146.9762 35.53332 -157.4934 157.6833 35.53332 -146.7863 162.8009 30.53332 -147.1316 145.7442 35.53332 -157.1317 157.3216 35.53332 -145.5544 162.1034 30.53332 -144.0752 144.5762 35.53332 -156.5984 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+ </polylist>
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+ </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
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