From 309d2e0fab667230f2cfe3d6a3d275d7ba30fa8f Mon Sep 17 00:00:00 2001
From: xiaoliangstd <2303335747@qq.com>
Date: Sat, 15 Apr 2023 13:53:04 +0800
Subject: [PATCH] Upload aliengoZ1_description

---
 robots/aliengoZ1_description/CMakeLists.txt   |   207 +
 .../config/robot_control.yaml                 |   105 +
 .../launch/aliengoZ1_gazebo.launch            |    74 +
 .../launch/aliengoZ1_rviz.launch              |    21 +
 robots/aliengoZ1_description/meshes/calf.dae  | 30576 ++++++++++++++++
 robots/aliengoZ1_description/meshes/hip.dae   |   243 +
 robots/aliengoZ1_description/meshes/thigh.dae |   162 +
 .../meshes/thigh_mirror.dae                   |   162 +
 robots/aliengoZ1_description/meshes/trunk.dae |   188 +
 .../meshes/trunk_uv_base_final.png            |   Bin 0 -> 132768 bytes
 .../meshes/z1_GripperMover.dae                |  2340 ++
 .../meshes/z1_GripperStator.dae               |  2340 ++
 .../meshes/z1_Link00.dae                      |  2340 ++
 .../meshes/z1_Link01.dae                      |  2340 ++
 .../meshes/z1_Link02.dae                      |  2340 ++
 .../meshes/z1_Link03.dae                      |  2340 ++
 .../meshes/z1_Link04.dae                      |  2340 ++
 .../meshes/z1_Link05.dae                      |  2340 ++
 .../meshes/z1_Link06.dae                      |  2340 ++
 robots/aliengoZ1_description/package.xml      |    15 +
 .../aliengoZ1_description/worlds/earth.world  |    24 +
 .../aliengoZ1_description/xacro/const.xacro   |    15 +
 .../aliengoZ1_description/xacro/gazebo.xacro  |   281 +
 .../aliengoZ1_description/xacro/robot.xacro   |   416 +
 .../aliengoZ1_description/xacro/stairs.xacro  |    46 +
 25 files changed, 53595 insertions(+)
 create mode 100644 robots/aliengoZ1_description/CMakeLists.txt
 create mode 100644 robots/aliengoZ1_description/config/robot_control.yaml
 create mode 100644 robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch
 create mode 100644 robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch
 create mode 100644 robots/aliengoZ1_description/meshes/calf.dae
 create mode 100644 robots/aliengoZ1_description/meshes/hip.dae
 create mode 100644 robots/aliengoZ1_description/meshes/thigh.dae
 create mode 100644 robots/aliengoZ1_description/meshes/thigh_mirror.dae
 create mode 100644 robots/aliengoZ1_description/meshes/trunk.dae
 create mode 100644 robots/aliengoZ1_description/meshes/trunk_uv_base_final.png
 create mode 100644 robots/aliengoZ1_description/meshes/z1_GripperMover.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_GripperStator.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link00.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link01.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link02.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link03.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link04.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link05.dae
 create mode 100644 robots/aliengoZ1_description/meshes/z1_Link06.dae
 create mode 100644 robots/aliengoZ1_description/package.xml
 create mode 100644 robots/aliengoZ1_description/worlds/earth.world
 create mode 100644 robots/aliengoZ1_description/xacro/const.xacro
 create mode 100644 robots/aliengoZ1_description/xacro/gazebo.xacro
 create mode 100644 robots/aliengoZ1_description/xacro/robot.xacro
 create mode 100644 robots/aliengoZ1_description/xacro/stairs.xacro

diff --git a/robots/aliengoZ1_description/CMakeLists.txt b/robots/aliengoZ1_description/CMakeLists.txt
new file mode 100644
index 0000000..bd381a8
--- /dev/null
+++ b/robots/aliengoZ1_description/CMakeLists.txt
@@ -0,0 +1,207 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(aliengoZ1_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  urdf
+  xacro
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES aliengoAndarm
+#  CATKIN_DEPENDS roscpp rospy urdf xacro
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/aliengoAndarm.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/aliengoAndarm_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_aliengoAndarm.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/robots/aliengoZ1_description/config/robot_control.yaml b/robots/aliengoZ1_description/config/robot_control.yaml
new file mode 100644
index 0000000..27fe4f9
--- /dev/null
+++ b/robots/aliengoZ1_description/config/robot_control.yaml
@@ -0,0 +1,105 @@
+aliengoZ1_gazebo:
+    # Publish all joint states -----------------------------------
+    joint_state_controller:
+        type: joint_state_controller/JointStateController
+        publish_rate: 1000  
+
+    # FL Controllers ---------------------------------------
+    FL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # FR Controllers ---------------------------------------
+    FR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    FR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    FR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: FR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RL Controllers ---------------------------------------
+    RL_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RL_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RL_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RL_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    # RR Controllers ---------------------------------------
+    RR_hip_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_hip_joint
+        pid: {p: 100.0, i: 0.0, d: 5.0}
+
+    RR_thigh_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_thigh_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    RR_calf_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: RR_calf_joint
+        pid: {p: 300.0, i: 0.0, d: 8.0}
+
+    Joint01_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint1
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint02_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint2
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint03_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint3
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint04_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint4
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint05_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint5
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    Joint06_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: joint6
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
+    gripper_controller:
+        type: unitree_legged_control/UnitreeJointController
+        joint: jointGripper
+        pid: {p: 300.0, i: 0.0, d: 5.0}
+
diff --git a/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch b/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch
new file mode 100644
index 0000000..d148a0f
--- /dev/null
+++ b/robots/aliengoZ1_description/launch/aliengoZ1_gazebo.launch
@@ -0,0 +1,74 @@
+<launch>
+    <arg name="wname" default="earth"/>
+    <arg name="rname" default="aliengoZ1"/>
+    <arg name="robot_path" value="(find $(arg rname)_description)"/>
+    <arg name="dollar" value="$"/>
+
+    <arg name="UnitreeGripperYN" default="true"/>
+
+    <arg name="paused" default="true"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <arg name="user_debug" default="false"/>
+    
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="headless" value="$(arg headless)"/>
+    </include>
+
+    <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description"
+           command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro' 
+           DEBUG:=$(arg user_debug)"/>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <!-- Set trunk and joint positions at startup -->
+    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
+          args="-urdf -z 0.6 -model $(arg rname)_gazebo -param robot_description -unpause"/>
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <group unless="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller
+            Joint04_controller Joint05_controller Joint06_controller
+            FL_hip_controller FL_thigh_controller FL_calf_controller
+            FR_hip_controller FR_thigh_controller FR_calf_controller
+            RL_hip_controller RL_thigh_controller RL_calf_controller
+            RR_hip_controller RR_thigh_controller RR_calf_controller"/>
+    </group>
+
+    <group if="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller 
+            Joint04_controller Joint05_controller Joint06_controller 
+            gripper_controller
+            FL_hip_controller FL_thigh_controller FL_calf_controller
+            FR_hip_controller FR_thigh_controller FR_calf_controller
+            RL_hip_controller RL_thigh_controller RL_calf_controller
+            RR_hip_controller RR_thigh_controller RR_calf_controller"/>
+    </group>
+
+    <!-- convert joint states to TF transforms for rviz, etc -->
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
+    </node>
+
+    <!-- load the parameter unitree_controller -->
+    <include file="$(find unitree_controller)/launch/set_ctrl.launch">
+        <arg name="rname" value="$(arg rname)"/>
+    </include>
+
+</launch>
diff --git a/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch b/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch
new file mode 100644
index 0000000..ba51bb7
--- /dev/null
+++ b/robots/aliengoZ1_description/launch/aliengoZ1_rviz.launch
@@ -0,0 +1,21 @@
+<launch>
+  
+    <arg name="user_debug" default="true"/>
+    <arg name="UnitreeGripperYN" default="true"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find aliengoZ1_description)/xacro/robot.xacro'
+            DEBUG:=$(arg user_debug) UnitreeGripper:=$(arg UnitreeGripperYN)"/>
+
+    <!-- send fake joint values -->
+    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+        <param name="use_gui" value="TRUE"/>
+    </node>
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+        <param name="publish_frequency" type="double" value="1000.0"/>
+    </node>
+
+    <node pkg="rviz" type="rviz" name="rviz" respawn="false" output="screen"
+        args="-d $(find aliengo_description)/launch/check_joint.rviz"/>
+
+</launch>
diff --git a/robots/aliengoZ1_description/meshes/calf.dae b/robots/aliengoZ1_description/meshes/calf.dae
new file mode 100644
index 0000000..7494e52
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/calf.dae
@@ -0,0 +1,30576 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2019-10-11T09:07:11Z</created><keywords></keywords><modified>2019-10-11T09:07:11Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="MaterialFBXASC032FBXASC03528" name="MaterialFBXASC032FBXASC03528">
+      <instance_effect url="#MaterialFBXASC032FBXASC03528-fx"/>
+    </material>
+    <material id="MaterialFBXASC032FBXASC03529" name="MaterialFBXASC032FBXASC03529">
+      <instance_effect url="#MaterialFBXASC032FBXASC03529-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="MaterialFBXASC032FBXASC03528-fx" name="MaterialFBXASC032FBXASC03528">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.250980  0.250980 0.250980 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.250980  0.250980 0.250980 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="MaterialFBXASC032FBXASC03529-fx" name="MaterialFBXASC032FBXASC03529">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="calf" name="calf">
+      <node name="calf" id="calf" sid="calf"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="stitch_result_stitchFBXASC032all" id="stitch_result_stitchFBXASC032all" sid="stitch_result_stitchFBXASC032all"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#stitch_result_stitchFBXASC032all-lib"><bind_material><technique_common><instance_material symbol="MaterialFBXASC032FBXASC03528" target="#MaterialFBXASC032FBXASC03528"/><instance_material symbol="MaterialFBXASC032FBXASC03529" target="#MaterialFBXASC032FBXASC03529"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#calf"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/robots/aliengoZ1_description/meshes/hip.dae b/robots/aliengoZ1_description/meshes/hip.dae
new file mode 100644
index 0000000..4d0751c
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/hip.dae
@@ -0,0 +1,243 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e</authoring_tool>
+    </contributor>
+    <created>2019-10-12T21:32:12</created>
+    <modified>2019-10-12T21:32:12</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">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_001-light" name="Light.001">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="材质_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4 0.4 0.4 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="材质_003-material" name="材质.003">
+      <instance_effect url="#材质_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Hip_001-mesh" name="Hip.001">
+      <mesh>
+        <source id="Hip_001-mesh-positions">
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3096 9747 1652 3096 9748 1653 3096 9749 1676 3097 9750 1653 3097 9751 1677 3097 9752 1677 3098 9753 1653 3098 9754 1654 3098 9755 1677 3099 9756 1654 3099 9757 1678 3099 9758 1678 3100 9759 1654 3100 9760 1665 3100 9761 1678 3101 9762 1665 3101 9763 1679 3101 9764 1679 3102 9765 1665 3102 9766 1664 3102 9767 1679 3103 9768 1664 3103 9769 1680 3103 9770 1680 3104 9771 1664 3104 9772 1681 3104 9773 1680 3105 9774 1681 3105 9775 52 3105 9776 1620 3106 9777 1617 3106 9778 1682 3106 9779 1682 3107 9780 1617 3107 9781 1619 3107 9782 1682 3108 9783 1619 3108 9784 1683 3108 9785 1684 3109 9786 1683 3109 9787 1685 3109 9788 1685 3110 9789 1683 3110 9790 1619 3110 9791 1685 3111 9792 1619 3111 9793 1686 3111 9794 1686 3112 9795 1619 3112 9796 1616 3112 9797 1686 3113 9798 1616 3113 9799 1687 3113 9800 1687 3114 9801 1616 3114 9802 52 3114 9803 1688 3115 9804 1684 3115 9805 1689 3115 9806 1689 3116 9807 1684 3116 9808 1685 3116 9809 1689 3117 9810 1685 3117 9811 1690 3117 9812 1690 3118 9813 1685 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908648 -0.7711007 0.5663933 4.076245 0.9551711 -0.1998834 0.2183913 1.005454 -0.05518903 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Hip" name="Hip" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Hip_001-mesh" name="Hip">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质_003-material" target="#材质_003-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/thigh.dae b/robots/aliengoZ1_description/meshes/thigh.dae
new file mode 100644
index 0000000..262418b
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/thigh.dae
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e</authoring_tool>
+    </contributor>
+    <created>2019-10-12T12:08:00</created>
+    <modified>2019-10-12T12:08:00</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">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="材质_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4 0.4 0.4 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="材质_001-material" name="材质.001">
+      <instance_effect url="#材质_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Thigh-mesh" name="Thigh">
+      <mesh>
+        <source id="Thigh-mesh-positions">
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4621 9092 4632 9092 4622 9092 4622 9093 4632 9093 4630 9093 4622 9094 4630 9094 4623 9094 4623 9095 4630 9095 4628 9095 4623 9096 4628 9096 4624 9096 4624 9097 4628 9097 4626 9097 2790 9098 2789 9098 4329 9098 4329 9099 2789 9099 2786 9099 4329 9100 2786 9100 4338 9100 4338 9101 2786 9101 2785 9101 4338 9102 2785 9102 2821 9102 2299 9103 2297 9103 4380 9103 4380 9104 2297 9104 4377 9104 4380 9105 4377 9105 4658 9105 4658 9106 4377 9106 4376 9106 4658 9107 4376 9107 4705 9107 4705 9108 4376 9108 4389 9108 4705 9109 4389 9109 4707 9109 4707 9110 4389 9110 4390 9110 4707 9111 4390 9111 4709 9111 4709 9112 4390 9112 4373 9112 4709 9113 4373 9113 4711 9113 4711 9114 4373 9114 4374 9114 4711 9115 4374 9115 4713 9115 4713 9116 4374 9116 4375 9116 4713 9117 4375 9117 4714 9117 4714 9118 4375 9118 4372 9118 4714 9119 4372 9119 4653 9119 4653 9120 4372 9120 4371 9120 4653 9121 4371 9121 4651 9121 4651 9122 4371 9122 4369 9122 4651 9123 4369 9123 4649 9123 4649 9124 4369 9124 4368 9124 4649 9125 4368 9125 4647 9125 4647 9126 4368 9126 4367 9126 4647 9127 4367 9127 4645 9127 4645 9128 4367 9128 4366 9128 4645 9129 4366 9129 4643 9129 4643 9130 4366 9130 4365 9130 4643 9131 4365 9131 4641 9131 4641 9132 4365 9132 4364 9132 4641 9133 4364 9133 4639 9133 4639 9134 4364 9134 4363 9134 4639 9135 4363 9135 4637 9135 4637 9136 4363 9136 4362 9136 4637 9137 4362 9137 4635 9137 4635 9138 4362 9138 4361 9138 4635 9139 4361 9139 4633 9139 4633 9140 4361 9140 4360 9140 4633 9141 4360 9141 4631 9141 4631 9142 4360 9142 4359 9142 4631 9143 4359 9143 4629 9143 4629 9144 4359 9144 4358 9144 4629 9145 4358 9145 4627 9145 4627 9146 4358 9146 4357 9146 4627 9147 4357 9147 4625 9147 4625 9148 4357 9148 4356 9148 4625 9149 4356 9149 4715 9149 4715 9150 4356 9150 4355 9150 4715 9151 4355 9151 4716 9151 4716 9152 4355 9152 4339 9152 4716 9153 4339 9153 4717 9153 4717 9154 4339 9154 4338 9154 4717 9155 4338 9155 4718 9155 4718 9156 4338 9156 2821 9156 4718 9157 2821 9157 2822 9157 2485 9158 2486 9158 4388 9158 2429 9159 2428 9159 4393 9159 4393 9160 2428 9160 2436 9160 4393 9161 2436 9161 4719 9161 4719 9162 2436 9162 2437 9162 4719 9163 2437 9163 2438 9163 4720 9164 4421 9164 4721 9164 4721 9165 4421 9165 4422 9165 4721 9166 4422 9166 4722 9166 4722 9167 4422 9167 4423 9167 4722 9168 4423 9168 4723 9168 4723 9169 4423 9169 4424 9169 4723 9170 4424 9170 4724 9170 4724 9171 4424 9171 4425 9171 4724 9172 4425 9172 4725 9172 4725 9173 4425 9173 4426 9173 4725 9174 4426 9174 4726 9174 4726 9175 4426 9175 4427 9175 4726 9176 4427 9176 4727 9176 4727 9177 4427 9177 4428 9177 4727 9178 4428 9178 4728 9178 4728 9179 4428 9179 4429 9179 4728 9180 4429 9180 4729 9180 4729 9181 4429 9181 4430 9181 4729 9182 4430 9182 4730 9182 4730 9183 4430 9183 4431 9183 4730 9184 4431 9184 4731 9184 4731 9185 4431 9185 4432 9185 4731 9186 4432 9186 4732 9186 4732 9187 4432 9187 4433 9187 4732 9188 4433 9188 4733 9188 4733 9189 4433 9189 4434 9189 4733 9190 4434 9190 4734 9190 4734 9191 4434 9191 4435 9191 4734 9192 4435 9192 4735 9192 4735 9193 4435 9193 4405 9193 4735 9194 4405 9194 4736 9194 4736 9195 4405 9195 4404 9195 4736 9196 4404 9196 4737 9196 4737 9197 4404 9197 4406 9197 4737 9198 4406 9198 4738 9198 4738 9199 4406 9199 4403 9199 4738 9200 4403 9200 4739 9200 4739 9201 4403 9201 4402 9201 4739 9202 4402 9202 4740 9202 4740 9203 4402 9203 4400 9203 4740 9204 4400 9204 4741 9204 4741 9205 4400 9205 4399 9205 4741 9206 4399 9206 4742 9206 4742 9207 4399 9207 4401 9207 4742 9208 4401 9208 4743 9208 4743 9209 4401 9209 4398 9209 4743 9210 4398 9210 4744 9210 4744 9211 4398 9211 4397 9211 4744 9212 4397 9212 4745 9212 4745 9213 4397 9213 4396 9213 4745 9214 4396 9214 4746 9214 4746 9215 4396 9215 4395 9215 4746 9216 4395 9216 4747 9216 4747 9217 4395 9217 4394 9217 4747 9218 4394 9218 4748 9218 4748 9219 4394 9219 4392 9219 4748 9220 4392 9220 4749 9220 4749 9221 4392 9221 4391 9221 4749 9222 4391 9222 4750 9222 4750 9223 4391 9223 4393 9223 4750 9224 4393 9224 4751 9224 4751 9225 4393 9225 4719 9225 4751 9226 4719 9226 4388 9226 4388 9227 4719 9227 2438 9227 4388 9228 2438 9228 2485 9228 2486 9229 2487 9229 4388 9229 4388 9230 2487 9230 2488 9230 4388 9231 2488 9231 2484 9231 4317 9232 4550 9232 4552 9232 4552 9233 4550 9233 4593 9233 4552 9234 4593 9234 4752 9234 4752 9235 4593 9235 4594 9235 4752 9236 4594 9236 4753 9236 4753 9237 4594 9237 4624 9237 4753 9238 4624 9238 4754 9238 4754 9239 4624 9239 4626 9239 4754 9240 4626 9240 4755 9240 4755 9241 4626 9241 4625 9241 4755 9242 4625 9242 4756 9242 4756 9243 4625 9243 4715 9243 4756 9244 4715 9244 4757 9244 4757 9245 4715 9245 4716 9245 4757 9246 4716 9246 4720 9246 4720 9247 4716 9247 4717 9247 4720 9248 4717 9248 4421 9248 4421 9249 4717 9249 4718 9249 4421 9250 4718 9250 4419 9250 4419 9251 4718 9251 2822 9251 4419 9252 2822 9252 2823 9252 2871 9253 4552 9253 4467 9253 4467 9254 4552 9254 4752 9254 4467 9255 4752 9255 4468 9255 4468 9256 4752 9256 4753 9256 4468 9257 4753 9257 4484 9257 4484 9258 4753 9258 4754 9258 4484 9259 4754 9259 4485 9259 4485 9260 4754 9260 4755 9260 4485 9261 4755 9261 4517 9261 4517 9262 4755 9262 4756 9262 4517 9263 4756 9263 4518 9263 4518 9264 4756 9264 4757 9264 4518 9265 4757 9265 4520 9265 4520 9266 4757 9266 4720 9266 4520 9267 4720 9267 4522 9267 4522 9268 4720 9268 4721 9268 4522 9269 4721 9269 4524 9269 4524 9270 4721 9270 4722 9270 4524 9271 4722 9271 4526 9271 4526 9272 4722 9272 4723 9272 4526 9273 4723 9273 4528 9273 4528 9274 4723 9274 4724 9274 4528 9275 4724 9275 4530 9275 4530 9276 4724 9276 4725 9276 4530 9277 4725 9277 4532 9277 4532 9278 4725 9278 4726 9278 4532 9279 4726 9279 4534 9279 4534 9280 4726 9280 4727 9280 4534 9281 4727 9281 4536 9281 4536 9282 4727 9282 4728 9282 4536 9283 4728 9283 4538 9283 4538 9284 4728 9284 4729 9284 4538 9285 4729 9285 4540 9285 4540 9286 4729 9286 4730 9286 4540 9287 4730 9287 4542 9287 4542 9288 4730 9288 4731 9288 4542 9289 4731 9289 4544 9289 4544 9290 4731 9290 4732 9290 4544 9291 4732 9291 4546 9291 4546 9292 4732 9292 4733 9292 4546 9293 4733 9293 4548 9293 4548 9294 4733 9294 4734 9294 4548 9295 4734 9295 4549 9295 4549 9296 4734 9296 4735 9296 4549 9297 4735 9297 4662 9297 4662 9298 4735 9298 4736 9298 4662 9299 4736 9299 4664 9299 4664 9300 4736 9300 4737 9300 4664 9301 4737 9301 4666 9301 4666 9302 4737 9302 4738 9302 4666 9303 4738 9303 4668 9303 4668 9304 4738 9304 4739 9304 4668 9305 4739 9305 4670 9305 4670 9306 4739 9306 4740 9306 4670 9307 4740 9307 4672 9307 4672 9308 4740 9308 4741 9308 4672 9309 4741 9309 4674 9309 4674 9310 4741 9310 4742 9310 4674 9311 4742 9311 4676 9311 4676 9312 4742 9312 4743 9312 4676 9313 4743 9313 4678 9313 4678 9314 4743 9314 4744 9314 4678 9315 4744 9315 4680 9315 4680 9316 4744 9316 4745 9316 4680 9317 4745 9317 4682 9317 4682 9318 4745 9318 4746 9318 4682 9319 4746 9319 4684 9319 4684 9320 4746 9320 4747 9320 4684 9321 4747 9321 4686 9321 4686 9322 4747 9322 4748 9322 4686 9323 4748 9323 4688 9323 4688 9324 4748 9324 4749 9324 4688 9325 4749 9325 4690 9325 4690 9326 4749 9326 4750 9326 4690 9327 4750 9327 4692 9327 4692 9328 4750 9328 4751 9328 4692 9329 4751 9329 4694 9329 4694 9330 4751 9330 4388 9330 4694 9331 4388 9331 4696 9331 4696 9332 4388 9332 4383 9332 4696 9333 4383 9333 4698 9333 4698 9334 4383 9334 4382 9334 4698 9335 4382 9335 4660 9335 4660 9336 4382 9336 4384 9336 4660 9337 4384 9337 4381 9337 4381 9338 4384 9338 2499 9338 4381 9339 2499 9339 2498 9339 1188 9340 2030 9340 2049 9340 1188 9341 2049 9341 7 9341 7 9342 2049 9342 2048 9342 7 9343 2048 9343 2062 9343 114 9344 25 9344 122 9344 122 9345 25 9345 2 9345 7 9346 1842 9346 2 9346 2 9347 1842 9347 1846 9347 1846 3929 1845 3929 2 3929 2 9348 1845 9348 1849 9348 2 9349 1849 9349 1848 9349 1848 3929 1847 3929 2 3929 2 9350 1847 9350 135 9350 2 9351 135 9351 132 9351 2062 9352 1835 9352 7 9352 7 9353 1835 9353 1843 9353 7 9354 1843 9354 1842 9354 132 3929 128 3929 2 3929 2 9355 128 9355 119 9355 2 9356 119 9356 122 9356 114 9357 38 9357 25 9357 25 9358 38 9358 42 9358 25 9359 42 9359 41 9359 41 9360 42 9360 47 9360 47 3929 50 3929 41 3929 41 9361 50 9361 57 9361 41 9362 57 9362 63 9362 63 3929 68 3929 41 3929 41 9363 68 9363 37 9363 41 9364 37 9364 75 9364 93 3929 95 3929 34 3929 34 3929 95 3929 85 3929 75 9365 80 9365 41 9365 41 9366 80 9366 85 9366 41 3929 85 3929 104 3929 104 3929 85 3929 95 3929 19 9367 151 9367 1093 9367 2030 9367 1188 9367 2031 9367 2031 9368 1188 9368 17 9368 1093 9369 1092 9369 19 9369 19 9370 1092 9370 1094 9370 19 9367 1094 9367 17 9367 17 9371 1094 9371 2032 9371 17 9367 2032 9367 2031 9367 901 9372 1090 9372 150 9372 901 9373 150 9373 899 9373 1093 3752 151 3752 1147 3752 1147 9374 151 9374 150 9374 1147 9375 150 9375 1158 9375 1158 9376 150 9376 1090 9376 885 3752 890 3752 2114 3752 2114 9377 890 9377 892 9377 2115 3752 2132 3752 2114 3752 2114 9378 2132 9378 2136 9378 2114 3752 2136 3752 2133 3752 892 3752 894 3752 2114 3752 2114 9379 894 9379 896 9379 2114 9380 896 9380 150 9380 150 9381 896 9381 898 9381 150 9382 898 9382 899 9382 2133 9383 2135 9383 2114 9383 2114 9384 2135 9384 2134 9384 2114 9385 2134 9385 885 9385 2122 3752 2121 3752 2131 3752 2121 3752 2120 3752 2131 3752 2131 9386 2120 9386 2119 9386 2131 9387 2119 9387 2115 9387 2115 9388 2119 9388 2118 9388 2115 9389 2118 9389 2132 9389 2126 9390 2116 9390 2131 9390 2131 9391 2116 9391 2125 9391 2131 9392 2125 9392 2124 9392 2124 3752 2123 3752 2131 3752 2131 9393 2123 9393 2117 9393 2131 9394 2117 9394 2122 9394 2131 3752 2130 3752 2126 3752 2126 9395 2130 9395 2129 9395 2126 3752 2129 3752 2127 3752 2127 9396 2129 9396 2128 9396</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Thigh" name="Thigh" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Thigh-mesh" name="Thigh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质_001-material" target="#材质_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/thigh_mirror.dae b/robots/aliengoZ1_description/meshes/thigh_mirror.dae
new file mode 100644
index 0000000..3f4e7da
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/thigh_mirror.dae
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e</authoring_tool>
+    </contributor>
+    <created>2019-10-12T12:09:42</created>
+    <modified>2019-10-12T12:09:42</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">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="材质_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.4 0.4 0.4 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="材质_002-material" name="材质.002">
+      <instance_effect url="#材质_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Thigh_Mirror_001-mesh" name="Thigh Mirror.001">
+      <mesh>
+        <source id="Thigh_Mirror_001-mesh-positions">
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4393 9057 4344 9057 4344 9058 4393 9058 4685 9058 4344 9059 4685 9059 4391 9059 4391 9060 4685 9060 4729 9060 4391 9061 4729 9061 4390 9061 4390 9062 4729 9062 4731 9062 4390 9063 4731 9063 4389 9063 4389 9064 4731 9064 4733 9064 4389 9065 4733 9065 4392 9065 4392 9066 4733 9066 4735 9066 4392 9067 4735 9067 4388 9067 4388 9068 4735 9068 4314 9068 4388 9069 4314 9069 4386 9069 4386 9070 4314 9070 4313 9070 4386 9071 4313 9071 4385 9071 4385 9072 4313 9072 4661 9072 4385 9073 4661 9073 4384 9073 4384 9074 4661 9074 4663 9074 4384 9075 4663 9075 4383 9075 4383 9076 4663 9076 4665 9076 4383 9077 4665 9077 4382 9077 4382 9078 4665 9078 4667 9078 4382 9079 4667 9079 4381 9079 4381 9080 4667 9080 4669 9080 4381 9081 4669 9081 4380 9081 4380 9082 4669 9082 4671 9082 4380 9083 4671 9083 4379 9083 4379 9084 4671 9084 4673 9084 4379 9085 4673 9085 4378 9085 4378 9086 4673 9086 4675 9086 4378 9087 4675 9087 4377 9087 4377 9088 4675 9088 4677 9088 4377 9089 4677 9089 4376 9089 4376 9090 4677 9090 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4658 9256 4512 9256 4467 9257 4512 9257 4468 9257 4468 9258 4512 9258 4333 9258 4468 9259 4333 9259 4451 9259 4451 9260 4333 9260 4335 9260 4451 9261 4335 9261 4449 9261 4449 9262 4335 9262 4452 9262 4449 9263 4452 9263 2802 9263 2802 9264 4452 9264 2815 9264 2472 9265 2471 9265 4396 9265 4396 9266 2471 9266 4399 9266 4396 9267 4399 9267 4689 9267 4689 9268 4399 9268 4400 9268 4689 9269 4400 9269 4722 9269 4722 9270 4400 9270 4401 9270 4722 9271 4401 9271 4720 9271 4720 9272 4401 9272 4402 9272 4720 9273 4402 9273 4718 9273 4718 9274 4402 9274 4403 9274 4718 9275 4403 9275 4716 9275 4716 9276 4403 9276 4404 9276 4716 9277 4404 9277 4714 9277 4714 9278 4404 9278 4343 9278 4714 9279 4343 9279 4712 9279 4712 9280 4343 9280 4342 9280 4712 9281 4342 9281 4710 9281 4710 9282 4342 9282 4406 9282 4710 9283 4406 9283 4708 9283 4708 9284 4406 9284 4408 9284 4708 9285 4408 9285 4706 9285 4706 9286 4408 9286 4410 9286 4706 9287 4410 9287 4704 9287 4704 9288 4410 9288 4412 9288 4704 9289 4412 9289 4702 9289 4702 9290 4412 9290 4413 9290 4702 9291 4413 9291 4700 9291 4700 9292 4413 9292 4415 9292 4700 9293 4415 9293 4698 9293 4698 9294 4415 9294 4340 9294 4698 9295 4340 9295 4696 9295 4696 9296 4340 9296 4339 9296 4696 9297 4339 9297 4489 9297 4489 9298 4339 9298 4338 9298 4489 9299 4338 9299 4487 9299 4487 9300 4338 9300 4337 9300 4487 9301 4337 9301 4486 9301 4486 9302 4337 9302 2367 9302 4486 9303 2367 9303 2366 9303 1 9304 1957 9304 1843 9304 2020 3906 1235 3906 2021 3906 2021 9305 1235 9305 1 9305 2021 9306 1 9306 2027 9306 1957 9307 1 9307 1838 9307 1838 9308 1 9308 0 9308 1838 3906 0 3906 1839 3906 1843 9309 1844 9309 1 9309 1 9310 1844 9310 2026 9310 1 9311 2026 9311 2027 9311 112 3906 1834 3906 0 3906 27 3906 99 3906 0 3906 0 9312 99 9312 121 9312 0 9313 121 9313 106 9313 1834 3906 1836 3906 0 3906 0 9314 1836 9314 1835 9314 0 9315 1835 9315 1839 9315 106 3906 115 3906 0 3906 0 9316 115 9316 107 9316 0 9317 107 9317 112 9317 49 9318 73 9318 78 9318 78 3906 36 3906 49 3906 49 9319 36 9319 83 9319 49 9320 83 9320 88 9320 88 3906 93 3906 49 3906 49 9321 93 9321 45 9321 49 9322 45 9322 27 9322 27 9323 45 9323 47 9323 27 9324 47 9324 99 9324 42 3906 58 3906 71 3906 73 3906 49 3906 71 3906 71 9325 49 9325 52 9325 71 9326 52 9326 42 9326 58 3906 60 3906 71 3906 71 9327 60 9327 65 9327 71 9328 65 9328 39 9328 1235 9329 2020 9329 10 9329 10 9330 2020 9330 2025 9330 1084 9329 210 9329 1082 9329 1082 9331 210 9331 11 9331 1082 9332 11 9332 1152 9332 1152 9329 11 9329 10 9329 1152 9333 10 9333 2077 9333 2077 9334 10 9334 2025 9334 874 3735 880 3735 2107 3735 2107 9335 880 9335 935 9335 2107 9336 935 9336 2129 9336 1080 9337 211 9337 1119 9337 1119 9338 211 9338 210 9338 1119 3735 210 3735 1084 3735 1080 9339 1079 9339 211 9339 211 9340 1079 9340 878 9340 211 9341 878 9341 877 9341 2125 9342 2108 9342 2126 9342 2126 9343 2108 9343 2107 9343 877 9344 965 9344 211 9344 211 9345 965 9345 952 9345 211 9346 952 9346 2107 9346 2107 9347 952 9347 875 9347 2107 9348 875 9348 874 9348 2129 3735 2128 3735 2107 3735 2107 9349 2128 9349 2127 9349 2107 3735 2127 3735 2126 3735 2125 9350 2111 9350 2108 9350 2108 9351 2111 9351 2110 9351 2108 9352 2110 9352 2109 9352 2109 9353 2110 9353 2124 9353 2109 9354 2124 9354 2123 9354 2123 3735 2122 3735 2109 3735 2109 9355 2122 9355 2121 9355 2109 9356 2121 9356 2120 9356 2120 9357 2119 9357 2109 9357 2109 9358 2119 9358 2118 9358 2109 3735 2118 3735 2112 3735 2116 3735 2115 3735 2114 3735 2116 3735 2114 3735 2117 3735 2117 3735 2114 3735 2118 3735 2118 9359 2114 9359 2113 9359 2118 9360 2113 9360 2112 9360</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Thigh_Mirror" name="Thigh Mirror" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Thigh_Mirror_001-mesh" name="Thigh Mirror">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质_002-material" target="#材质_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/trunk.dae b/robots/aliengoZ1_description/meshes/trunk.dae
new file mode 100644
index 0000000..b58c27a
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/trunk.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e</authoring_tool>
+    </contributor>
+    <created>2019-10-12T11:31:57</created>
+    <modified>2019-10-12T11:31:57</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">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="材质_001-effect">
+      <profile_COMMON>
+        <newparam sid="trunk_uv_base_final_png-surface">
+          <surface type="2D">
+            <init_from>trunk_uv_base_final_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="trunk_uv_base_final_png-sampler">
+          <sampler2D>
+            <source>trunk_uv_base_final_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="trunk_uv_base_final_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
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21018 66586 11051 21018 66587 10993 136 66588 11051 136 66589 10995 136 66590 11074 21019 66591 11072 21019 66592 2283 21019 66593 2283 21020 66594 11072 21020 66595 11070 21020 66596 2283 21021 66597 11070 21021 66598 11068 21021 66599 11096 136 66600 11097 136 66601 11061 136 66602 11061 21022 66603 11097 21022 66604 11098 21022 66605 11061 21023 66606 11098 21023 66607 11099 21023 66608 11099 136 66609 11100 136 66610 11061 136 66611 11061 21024 66612 11100 21024 66613 11101 21024 66614 11061 21025 66615 11101 21025 66616 11095 21025 66617 11051 136 66618 11049 136 66619 10995 136 66620 10995 21026 66621 11049 21026 66622 11047 21026 66623 10995 21027 66624 11047 21027 66625 10997 21027 66626 10997 21028 66627 11047 21028 66628 11045 21028 66629 10997 21029 66630 11045 21029 66631 11043 21029 66632 2282 136 66633 11102 136 66634 2284 136 66635 2284 21030 66636 11102 21030 66637 11103 21030 66638 11103 136 66639 11104 136 66640 2284 136 66641 2284 21031 66642 11104 21031 66643 11105 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136 66702 11034 136 66703 11028 136 66704 11028 21045 66705 11034 21045 66706 11032 21045 66707 11028 136 66708 11032 136 66709 11030 136 66710 11026 136 66711 10592 136 66712 11028 136 66713 11028 21046 66714 10592 21046 66715 11038 21046 66716 11028 136 66717 11038 136 66718 11036 136 66719 11016 136 66720 11014 136 66721 11043 136 66722 11043 21047 66723 11014 21047 66724 11012 21047 66725 11043 21048 66726 11012 21048 66727 11010 21048 66728 11010 21049 66729 11008 21049 66730 11043 21049 66731 11043 21050 66732 11008 21050 66733 11006 21050 66734 11043 136 66735 11006 136 66736 11004 136 66737 2319 21051 66738 2283 21051 66739 11094 21051 66740 2319 20587 66741 11094 20587 66742 11079 20587 66743 11079 20491 66744 11094 20491 66745 11095 20491 66746 11079 20490 66747 11095 20490 66748 11080 20490 66749 11080 21052 66750 11095 21052 66751 11101 21052 66752 11080 20488 66753 11101 20488 66754 11083 20488 66755 11083 20487 66756 11101 20487 66757 11100 20487 66758 11083 21053 66759 11100 21053 66760 11084 21053 66761 11084 20484 66762 11100 20484 66763 11099 20484 66764 11084 20485 66765 11099 20485 66766 11085 20485 66767 11085 240 66768 11099 240 66769 11098 240 66770 11085 240 66771 11098 240 66772 11086 240 66773 11086 238 66774 11098 238 66775 11097 238 66776 11086 239 66777 11097 239 66778 11087 239 66779 11087 236 66780 11097 236 66781 11096 236 66782 11087 237 66783 11096 237 66784 11078 237 66785 11078 234 66786 11096 234 66787 2274 234 66788 11078 235 66789 2274 235 66790 2320 235 66791 2308 266 66792 2284 266 66793 11109 266 66794 2308 267 66795 11109 267 66796 11088 267 66797 11088 264 66798 11109 264 66799 11108 264 66800 11088 265 66801 11108 265 66802 11089 265 66803 11089 262 66804 11108 262 66805 11107 262 66806 11089 263 66807 11107 263 66808 11092 263 66809 11092 261 66810 11107 261 66811 11106 261 66812 11092 261 66813 11106 261 66814 11093 261 66815 11093 20468 66816 11106 20468 66817 11105 20468 66818 11093 20469 66819 11105 20469 66820 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Trunk" name="Trunk" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Trunk_002-mesh" name="Trunk">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="材质_001-material" target="#材质_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/trunk_uv_base_final.png b/robots/aliengoZ1_description/meshes/trunk_uv_base_final.png
new file mode 100644
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diff --git a/robots/aliengoZ1_description/meshes/z1_GripperMover.dae b/robots/aliengoZ1_description/meshes/z1_GripperMover.dae
new file mode 100644
index 0000000..b0a5082
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_GripperMover.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:17:30</created>
+    <modified>2022-04-21T20:17:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
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+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
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+          <perspective>
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+            <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">
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+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
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+    </camera>
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+      <optics>
+        <technique_common>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
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+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
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+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
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+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
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+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
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+          <samp sid="samp" type="int">3</samp>
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+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+    <light id="Light_031-light" name="Light.031">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
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+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
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+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
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+          <samp sid="samp" type="int">3</samp>
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+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
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+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
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+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
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+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+          <blue sid="blue" type="float">1</blue>
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+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
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+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
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+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="UArm-V3_6-3-Gripper-Movable_finger-simplified" name="UArm-V3.6-3-Gripper-Movable finger-simplified" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#UArm-V3_6-3-Gripper-Movable_finger-simplified_004-mesh" name="UArm-V3.6-3-Gripper-Movable finger-simplified"/>
+      </node>
+      <node id="Light_032" name="Light.032" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_032-light"/>
+      </node>
+      <node id="Camera_032" name="Camera.032" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_032-camera"/>
+      </node>
+      <node id="Camera_031" name="Camera.031" type="NODE">
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+        <instance_camera url="#Camera_031-camera"/>
+      </node>
+      <node id="Light_031" name="Light.031" type="NODE">
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+        <instance_light url="#Light_031-light"/>
+      </node>
+      <node id="Camera_030" name="Camera.030" type="NODE">
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+        <instance_camera url="#Camera_030-camera"/>
+      </node>
+      <node id="Light_030" name="Light.030" type="NODE">
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+        <instance_light url="#Light_030-light"/>
+      </node>
+      <node id="Camera_029" name="Camera.029" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_029-camera"/>
+      </node>
+      <node id="Light_029" name="Light.029" type="NODE">
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+        <instance_light url="#Light_029-light"/>
+      </node>
+      <node id="Camera_028" name="Camera.028" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_028-camera"/>
+      </node>
+      <node id="Light_028" name="Light.028" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_028-light"/>
+      </node>
+      <node id="Camera_027" name="Camera.027" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_027-camera"/>
+      </node>
+      <node id="Light_027" name="Light.027" type="NODE">
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+        <instance_light url="#Light_027-light"/>
+      </node>
+      <node id="Camera_026" name="Camera.026" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_026-camera"/>
+      </node>
+      <node id="Light_026" name="Light.026" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_026-light"/>
+      </node>
+      <node id="Camera_025" name="Camera.025" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_025-camera"/>
+      </node>
+      <node id="Light_025" name="Light.025" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_025-light"/>
+      </node>
+      <node id="Camera_024" name="Camera.024" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_024-camera"/>
+      </node>
+      <node id="Light_024" name="Light.024" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_024-light"/>
+      </node>
+      <node id="Camera_023" name="Camera.023" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_023-camera"/>
+      </node>
+      <node id="Light_023" name="Light.023" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_023-light"/>
+      </node>
+      <node id="Camera_022" name="Camera.022" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_022-camera"/>
+      </node>
+      <node id="Light_022" name="Light.022" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_022-light"/>
+      </node>
+      <node id="Light_021" name="Light.021" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_021-light"/>
+      </node>
+      <node id="Camera_021" name="Camera.021" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_021-camera"/>
+      </node>
+      <node id="Camera_020" name="Camera.020" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_020-camera"/>
+      </node>
+      <node id="Light_020" name="Light.020" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_020-light"/>
+      </node>
+      <node id="Camera_019" name="Camera.019" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_019-camera"/>
+      </node>
+      <node id="Light_019" name="Light.019" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_019-light"/>
+      </node>
+      <node id="Camera_018" name="Camera.018" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_018-camera"/>
+      </node>
+      <node id="Light_018" name="Light.018" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_GripperStator.dae b/robots/aliengoZ1_description/meshes/z1_GripperStator.dae
new file mode 100644
index 0000000..9e81d24
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_GripperStator.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:16:52</created>
+    <modified>2022-04-21T20:16:52</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
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+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="UArm-V3_6-3-Graipper-Fixed_jaw_assembly" name="UArm-V3.6-3-Graipper-Fixed jaw assembly" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#UArm-V3_6-3-Graipper-Fixed_jaw_assembly_005-mesh" name="UArm-V3.6-3-Graipper-Fixed jaw assembly"/>
+      </node>
+      <node id="Light_032" name="Light.032" type="NODE">
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+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link00.dae b/robots/aliengoZ1_description/meshes/z1_Link00.dae
new file mode 100644
index 0000000..41d0ea6
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link00.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:12:36</created>
+    <modified>2022-04-21T20:12:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="UArm-V3_6-Base-3-3-simplified" name="UArm-V3.6-Base-3-3-simplified" type="NODE">
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+        <instance_geometry url="#UArm-V3_6-Base-3-3-simplified_006-mesh" name="UArm-V3.6-Base-3-3-simplified"/>
+      </node>
+      <node id="Light_032" name="Light.032" type="NODE">
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+        <instance_light url="#Light_032-light"/>
+      </node>
+      <node id="Camera_032" name="Camera.032" type="NODE">
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+        <instance_camera url="#Camera_032-camera"/>
+      </node>
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+        <instance_camera url="#Camera_031-camera"/>
+      </node>
+      <node id="Light_031" name="Light.031" type="NODE">
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+        <instance_light url="#Light_031-light"/>
+      </node>
+      <node id="Camera_030" name="Camera.030" type="NODE">
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+        <instance_camera url="#Camera_030-camera"/>
+      </node>
+      <node id="Light_030" name="Light.030" type="NODE">
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+        <instance_light url="#Light_030-light"/>
+      </node>
+      <node id="Camera_029" name="Camera.029" type="NODE">
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+        <instance_camera url="#Camera_029-camera"/>
+      </node>
+      <node id="Light_029" name="Light.029" type="NODE">
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+        <instance_light url="#Light_029-light"/>
+      </node>
+      <node id="Camera_028" name="Camera.028" type="NODE">
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+        <instance_camera url="#Camera_028-camera"/>
+      </node>
+      <node id="Light_028" name="Light.028" type="NODE">
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+        <instance_light url="#Light_028-light"/>
+      </node>
+      <node id="Camera_027" name="Camera.027" type="NODE">
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+        <instance_camera url="#Camera_027-camera"/>
+      </node>
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+        <instance_light url="#Light_027-light"/>
+      </node>
+      <node id="Camera_026" name="Camera.026" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_026-camera"/>
+      </node>
+      <node id="Light_026" name="Light.026" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_026-light"/>
+      </node>
+      <node id="Camera_025" name="Camera.025" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_025-camera"/>
+      </node>
+      <node id="Light_025" name="Light.025" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_025-light"/>
+      </node>
+      <node id="Camera_024" name="Camera.024" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_024-camera"/>
+      </node>
+      <node id="Light_024" name="Light.024" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_024-light"/>
+      </node>
+      <node id="Camera_023" name="Camera.023" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_023-camera"/>
+      </node>
+      <node id="Light_023" name="Light.023" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_023-light"/>
+      </node>
+      <node id="Camera_022" name="Camera.022" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_022-camera"/>
+      </node>
+      <node id="Light_022" name="Light.022" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_022-light"/>
+      </node>
+      <node id="Light_021" name="Light.021" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_021-light"/>
+      </node>
+      <node id="Camera_021" name="Camera.021" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_021-camera"/>
+      </node>
+      <node id="Camera_020" name="Camera.020" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_020-camera"/>
+      </node>
+      <node id="Light_020" name="Light.020" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_020-light"/>
+      </node>
+      <node id="Camera_019" name="Camera.019" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_019-camera"/>
+      </node>
+      <node id="Light_019" name="Light.019" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_019-light"/>
+      </node>
+      <node id="Camera_018" name="Camera.018" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_018-camera"/>
+      </node>
+      <node id="Light_018" name="Light.018" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link01.dae b/robots/aliengoZ1_description/meshes/z1_Link01.dae
new file mode 100644
index 0000000..2c5fb33
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link01.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:13:26</created>
+    <modified>2022-04-21T20:13:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
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+        </triangles>
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+  </library_geometries>
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+      </node>
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+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link02.dae b/robots/aliengoZ1_description/meshes/z1_Link02.dae
new file mode 100644
index 0000000..e579fec
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link02.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:13:53</created>
+    <modified>2022-04-21T20:13:53</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
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+          <shifty sid="shifty" type="float">0</shifty>
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+            <zfar sid="zfar">100</zfar>
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+      </node>
+      <node id="Camera_021" name="Camera.021" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_021-camera"/>
+      </node>
+      <node id="Camera_020" name="Camera.020" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_020-camera"/>
+      </node>
+      <node id="Light_020" name="Light.020" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_020-light"/>
+      </node>
+      <node id="Camera_019" name="Camera.019" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_019-camera"/>
+      </node>
+      <node id="Light_019" name="Light.019" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_019-light"/>
+      </node>
+      <node id="Camera_018" name="Camera.018" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_018-camera"/>
+      </node>
+      <node id="Light_018" name="Light.018" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link03.dae b/robots/aliengoZ1_description/meshes/z1_Link03.dae
new file mode 100644
index 0000000..dc70c99
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link03.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:14:21</created>
+    <modified>2022-04-21T20:14:21</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+    <light id="Light_031-light" name="Light.031">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+    <light id="Light_030-light" name="Light.030">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
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+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link04.dae b/robots/aliengoZ1_description/meshes/z1_Link04.dae
new file mode 100644
index 0000000..3b14f69
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link04.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:15:06</created>
+    <modified>2022-04-21T20:15:06</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+    <light id="Light_031-light" name="Light.031">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+      </extra>
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+    <light id="Light_030-light" name="Light.030">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
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+      </extra>
+    </light>
+    <light id="Light_029-light" name="Light.029">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
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+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="UArm-V3_6-Wrist-back-simplified" name="UArm-V3.6-Wrist-back-simplified" type="NODE">
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+        <instance_geometry url="#UArm-V3_6-Wrist-back-simplified_004-mesh" name="UArm-V3.6-Wrist-back-simplified"/>
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+        <instance_light url="#Light_032-light"/>
+      </node>
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+        <instance_camera url="#Camera_032-camera"/>
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+        <instance_light url="#Light_031-light"/>
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+        <instance_light url="#Light_030-light"/>
+      </node>
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+        <instance_camera url="#Camera_029-camera"/>
+      </node>
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+        <instance_light url="#Light_029-light"/>
+      </node>
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+        <instance_camera url="#Camera_028-camera"/>
+      </node>
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+        <instance_light url="#Light_028-light"/>
+      </node>
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+        <instance_camera url="#Camera_027-camera"/>
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+        <instance_light url="#Light_027-light"/>
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+        <instance_camera url="#Camera_026-camera"/>
+      </node>
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+        <instance_light url="#Light_026-light"/>
+      </node>
+      <node id="Camera_025" name="Camera.025" type="NODE">
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+        <instance_camera url="#Camera_025-camera"/>
+      </node>
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+        <instance_light url="#Light_025-light"/>
+      </node>
+      <node id="Camera_024" name="Camera.024" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_024-camera"/>
+      </node>
+      <node id="Light_024" name="Light.024" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_024-light"/>
+      </node>
+      <node id="Camera_023" name="Camera.023" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_023-camera"/>
+      </node>
+      <node id="Light_023" name="Light.023" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_023-light"/>
+      </node>
+      <node id="Camera_022" name="Camera.022" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_022-camera"/>
+      </node>
+      <node id="Light_022" name="Light.022" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_022-light"/>
+      </node>
+      <node id="Light_021" name="Light.021" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_021-light"/>
+      </node>
+      <node id="Camera_021" name="Camera.021" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_021-camera"/>
+      </node>
+      <node id="Camera_020" name="Camera.020" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_020-camera"/>
+      </node>
+      <node id="Light_020" name="Light.020" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_020-light"/>
+      </node>
+      <node id="Camera_019" name="Camera.019" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_019-camera"/>
+      </node>
+      <node id="Light_019" name="Light.019" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_019-light"/>
+      </node>
+      <node id="Camera_018" name="Camera.018" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_018-camera"/>
+      </node>
+      <node id="Light_018" name="Light.018" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link05.dae b/robots/aliengoZ1_description/meshes/z1_Link05.dae
new file mode 100644
index 0000000..1f110f8
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link05.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:15:30</created>
+    <modified>2022-04-21T20:15:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
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+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
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+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
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+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+    <light id="Light_031-light" name="Light.031">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
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+  </library_geometries>
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+      </node>
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+        <instance_light url="#Light_028-light"/>
+      </node>
+      <node id="Camera_027" name="Camera.027" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_027-camera"/>
+      </node>
+      <node id="Light_027" name="Light.027" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_027-light"/>
+      </node>
+      <node id="Camera_026" name="Camera.026" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_026-camera"/>
+      </node>
+      <node id="Light_026" name="Light.026" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_026-light"/>
+      </node>
+      <node id="Camera_025" name="Camera.025" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_025-camera"/>
+      </node>
+      <node id="Light_025" name="Light.025" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_025-light"/>
+      </node>
+      <node id="Camera_024" name="Camera.024" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_024-camera"/>
+      </node>
+      <node id="Light_024" name="Light.024" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_024-light"/>
+      </node>
+      <node id="Camera_023" name="Camera.023" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_023-camera"/>
+      </node>
+      <node id="Light_023" name="Light.023" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_023-light"/>
+      </node>
+      <node id="Camera_022" name="Camera.022" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_022-camera"/>
+      </node>
+      <node id="Light_022" name="Light.022" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_022-light"/>
+      </node>
+      <node id="Light_021" name="Light.021" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_021-light"/>
+      </node>
+      <node id="Camera_021" name="Camera.021" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_021-camera"/>
+      </node>
+      <node id="Camera_020" name="Camera.020" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_020-camera"/>
+      </node>
+      <node id="Light_020" name="Light.020" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_020-light"/>
+      </node>
+      <node id="Camera_019" name="Camera.019" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_019-camera"/>
+      </node>
+      <node id="Light_019" name="Light.019" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_019-light"/>
+      </node>
+      <node id="Camera_018" name="Camera.018" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_018-camera"/>
+      </node>
+      <node id="Light_018" name="Light.018" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_018-light"/>
+      </node>
+      <node id="Camera_017" name="Camera.017" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_017-camera"/>
+      </node>
+      <node id="Light_017" name="Light.017" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_017-light"/>
+      </node>
+      <node id="Camera_016" name="Camera.016" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_016-camera"/>
+      </node>
+      <node id="Light_016" name="Light.016" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_016-light"/>
+      </node>
+      <node id="Camera_015" name="Camera.015" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_015-camera"/>
+      </node>
+      <node id="Light_015" name="Light.015" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_015-light"/>
+      </node>
+      <node id="Camera_014" name="Camera.014" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_014-camera"/>
+      </node>
+      <node id="Light_014" name="Light.014" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_014-light"/>
+      </node>
+      <node id="Camera_013" name="Camera.013" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_013-camera"/>
+      </node>
+      <node id="Light_013" name="Light.013" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_013-light"/>
+      </node>
+      <node id="Camera_012" name="Camera.012" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_012-camera"/>
+      </node>
+      <node id="Light_012" name="Light.012" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_012-light"/>
+      </node>
+      <node id="Camera_011" name="Camera.011" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_011-camera"/>
+      </node>
+      <node id="Light_011" name="Light.011" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_011-light"/>
+      </node>
+      <node id="Light_010" name="Light.010" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_010-light"/>
+      </node>
+      <node id="Camera_010" name="Camera.010" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_010-camera"/>
+      </node>
+      <node id="Light_009" name="Light.009" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_009-light"/>
+      </node>
+      <node id="Camera_009" name="Camera.009" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_009-camera"/>
+      </node>
+      <node id="Light_008" name="Light.008" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_008-light"/>
+      </node>
+      <node id="Camera_008" name="Camera.008" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_008-camera"/>
+      </node>
+      <node id="Light_007" name="Light.007" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_007-light"/>
+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/meshes/z1_Link06.dae b/robots/aliengoZ1_description/meshes/z1_Link06.dae
new file mode 100644
index 0000000..34b80d1
--- /dev/null
+++ b/robots/aliengoZ1_description/meshes/z1_Link06.dae
@@ -0,0 +1,2340 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7</authoring_tool>
+    </contributor>
+    <created>2022-04-21T20:16:06</created>
+    <modified>2022-04-21T20:16:06</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera_032-camera" name="Camera.032">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_031-camera" name="Camera.031">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_030-camera" name="Camera.030">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_029-camera" name="Camera.029">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_028-camera" name="Camera.028">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_027-camera" name="Camera.027">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_026-camera" name="Camera.026">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_025-camera" name="Camera.025">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_024-camera" name="Camera.024">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_023-camera" name="Camera.023">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_022-camera" name="Camera.022">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_021-camera" name="Camera.021">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_020-camera" name="Camera.020">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_019-camera" name="Camera.019">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_018-camera" name="Camera.018">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_017-camera" name="Camera.017">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_016-camera" name="Camera.016">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_015-camera" name="Camera.015">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_014-camera" name="Camera.014">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_013-camera" name="Camera.013">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_012-camera" name="Camera.012">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_011-camera" name="Camera.011">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_010-camera" name="Camera.010">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_009-camera" name="Camera.009">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_008-camera" name="Camera.008">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_007-camera" name="Camera.007">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_006-camera" name="Camera.006">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_005-camera" name="Camera.005">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_004-camera" name="Camera.004">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_003-camera" name="Camera.003">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_002-camera" name="Camera.002">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera_001-camera" name="Camera.001">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</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">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light_032-light" name="Light.032">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="UArm-V3_6-End_joint-simplified" name="UArm-V3.6-End joint-simplified" type="NODE">
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+        <instance_geometry url="#UArm-V3_6-End_joint-simplified_004-mesh" name="UArm-V3.6-End joint-simplified"/>
+      </node>
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+        <instance_light url="#Light_032-light"/>
+      </node>
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+        <instance_camera url="#Camera_032-camera"/>
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+        <instance_camera url="#Camera_031-camera"/>
+      </node>
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+        <instance_light url="#Light_031-light"/>
+      </node>
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+        <instance_camera url="#Camera_030-camera"/>
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+        <instance_light url="#Light_030-light"/>
+      </node>
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+        <instance_camera url="#Camera_029-camera"/>
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+        <instance_light url="#Light_029-light"/>
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+        <instance_camera url="#Camera_028-camera"/>
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+        <instance_light url="#Light_028-light"/>
+      </node>
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+      </node>
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+      </node>
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+      </node>
+      <node id="Camera_007" name="Camera.007" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_007-camera"/>
+      </node>
+      <node id="Light_006" name="Light.006" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_006-light"/>
+      </node>
+      <node id="Camera_006" name="Camera.006" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_006-camera"/>
+      </node>
+      <node id="Light_005" name="Light.005" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_005-light"/>
+      </node>
+      <node id="Camera_005" name="Camera.005" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_005-camera"/>
+      </node>
+      <node id="Light_004" name="Light.004" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_004-light"/>
+      </node>
+      <node id="Camera_004" name="Camera.004" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_004-camera"/>
+      </node>
+      <node id="Light_003" name="Light.003" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_003-light"/>
+      </node>
+      <node id="Camera_003" name="Camera.003" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_003-camera"/>
+      </node>
+      <node id="Light_002" name="Light.002" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_002-light"/>
+      </node>
+      <node id="Camera_002" name="Camera.002" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_002-camera"/>
+      </node>
+      <node id="Light_001" name="Light.001" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light_001-light"/>
+      </node>
+      <node id="Camera_001" name="Camera.001" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera_001-camera"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" 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="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/robots/aliengoZ1_description/package.xml b/robots/aliengoZ1_description/package.xml
new file mode 100644
index 0000000..387d93c
--- /dev/null
+++ b/robots/aliengoZ1_description/package.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aliengoZ1_description</name>
+  <version>0.0.0</version>
+  <description>The aliengoZ1_description package</description>
+  <maintainer email="laikago@unitree.cc">unitree</maintainer>
+  <license>TODO</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>xacro</build_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <build_export_depend>xacro</build_export_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/robots/aliengoZ1_description/worlds/earth.world b/robots/aliengoZ1_description/worlds/earth.world
new file mode 100644
index 0000000..ff84f9b
--- /dev/null
+++ b/robots/aliengoZ1_description/worlds/earth.world
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <!-- We use a custom world for the rrbot so that the camera angle is launched correctly -->
+
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <!-- Global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- Focus camera on tall pendulum -->
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+
+  </world>
+</sdf>
diff --git a/robots/aliengoZ1_description/xacro/const.xacro b/robots/aliengoZ1_description/xacro/const.xacro
new file mode 100644
index 0000000..fe8fd4b
--- /dev/null
+++ b/robots/aliengoZ1_description/xacro/const.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
+
+      <!-- the base of arm offset -->
+    <xacro:property name="arm_offset_x" value="${trunk_length/2.0 - 0.07}"/>
+    <xacro:property name="arm_offset_y" value="0"/>
+    <xacro:property name="arm_offset_z" value="${trunk_height/2.0}"/>
+    <xacro:property name="arm_offset_r" value="0"/>
+    <xacro:property name="arm_offset_p" value="0"/>
+    <xacro:property name="arm_offset_yaw" value="0"/>
+
+</robot>
diff --git a/robots/aliengoZ1_description/xacro/gazebo.xacro b/robots/aliengoZ1_description/xacro/gazebo.xacro
new file mode 100644
index 0000000..661b5ee
--- /dev/null
+++ b/robots/aliengoZ1_description/xacro/gazebo.xacro
@@ -0,0 +1,281 @@
+<?xml version="1.0"?>
+<robot>
+      <!-- ros_control plugin -->
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/aliengoZ1_gazebo</robotNamespace>
+            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+        </plugin>
+    </gazebo>
+
+    <!-- Show the trajectory of trunk center. -->
+    <gazebo>
+        <plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
+            <frequency>10</frequency>
+            <plot>
+                <link>base</link>
+                <pose>0 0 0 0 0 0</pose>
+                <material>Gazebo/Yellow</material>
+            </plot>
+        </plugin>
+    </gazebo>
+
+    <!-- Show the trajectory of foot. You can add another trajectory about another foot. -->
+    <!-- <gazebo>
+        <plugin name="3dplot" filename="libLinkPlot3DPlugin.so">
+            <frequency>100</frequency>
+            <plot>
+                <link>FL_foot</link>
+                <pose>0 0 0 0 0 0</pose>
+                <material>Gazebo/Green</material>
+            </plot>
+        </plugin>
+    </gazebo> -->
+
+    <gazebo>
+        <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+            <bodyName>trunk</bodyName>
+            <topicName>/apply_force/trunk</topicName>
+        </plugin>
+    </gazebo>
+
+    <gazebo reference="imu_link">
+        <gravity>true</gravity>
+        <sensor name="imu_sensor" type="imu">
+            <always_on>true</always_on>
+            <update_rate>1000</update_rate>
+            <visualize>true</visualize>
+            <topic>__default_topic__</topic>
+            <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+                <topicName>trunk_imu</topicName>
+                <bodyName>imu_link</bodyName>
+                <updateRateHZ>1000.0</updateRateHZ>
+                <gaussianNoise>0.0</gaussianNoise>
+                <xyzOffset>0 0 0</xyzOffset>
+                <rpyOffset>0 0 0</rpyOffset>
+                <frameName>imu_link</frameName>
+            </plugin>
+            <pose>0 0 0 0 0 0</pose>
+        </sensor>
+    </gazebo>
+
+    <!-- Foot contacts. -->
+    <gazebo reference="FR_calf">
+        <sensor name="FR_foot_contact" type="contact">
+        <update_rate>100</update_rate>
+        <plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <contact>
+            <collision>FR_calf_fixed_joint_lump__FR_foot_collision_1</collision>
+        </contact>
+        </sensor>
+    </gazebo>
+    <gazebo reference="FL_calf">
+        <sensor name="FL_foot_contact" type="contact">
+        <update_rate>100</update_rate>
+        <plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <contact>
+            <collision>FL_calf_fixed_joint_lump__FL_foot_collision_1</collision>
+        </contact>
+        </sensor>
+    </gazebo>
+    <gazebo reference="RR_calf">
+        <sensor name="RR_foot_contact" type="contact">
+        <update_rate>100</update_rate>
+        <plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <contact>
+            <collision>RR_calf_fixed_joint_lump__RR_foot_collision_1</collision>
+        </contact>
+        </sensor>
+    </gazebo>
+    <gazebo reference="RL_calf">
+        <sensor name="RL_foot_contact" type="contact">
+        <update_rate>100</update_rate>
+        <plugin name="contactPlugin" filename="libunitreeFootContactPlugin.so"/>
+        <contact>
+            <collision>RL_calf_fixed_joint_lump__RL_foot_collision_1</collision>
+        </contact>
+        </sensor>
+    </gazebo>
+
+    <!-- Visualization of Foot contacts. -->
+    <gazebo reference="FR_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>FR_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="FL_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>FL_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="RR_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>RR_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+    <gazebo reference="RL_foot">
+        <visual>
+            <plugin name="drawForcePlugin" filename="libunitreeDrawForcePlugin.so">
+                <topicName>RL_foot_contact</topicName>
+            </plugin>
+        </visual>
+    </gazebo>
+
+    <gazebo reference="base">
+        <material>Gazebo/Green</material>
+        <turnGravityOff>false</turnGravityOff>
+    </gazebo>
+
+    <gazebo reference="trunk">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+
+    <gazebo reference="stick_link">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/White</material>
+    </gazebo>
+
+    <gazebo reference="imu_link">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/Red</material>
+    </gazebo>
+
+    <!-- FL leg -->
+    <gazebo reference="FL_hip">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+    <gazebo reference="FL_thigh">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+    <gazebo reference="FL_calf">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+    </gazebo>
+    <gazebo reference="FL_foot">
+        <mu1>0.6</mu1>
+        <mu2>0.6</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+
+    <!-- FR leg -->
+    <gazebo reference="FR_hip">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+    <gazebo reference="FR_thigh">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+    <gazebo reference="FR_calf">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+    </gazebo>
+    <gazebo reference="FR_foot">
+        <mu1>0.6</mu1>
+        <mu2>0.6</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+
+    <!-- RL leg -->
+    <gazebo reference="RL_hip">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+    <gazebo reference="RL_thigh">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+    <gazebo reference="RL_calf">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+    </gazebo>
+    <gazebo reference="RL_foot">
+        <mu1>0.6</mu1>
+        <mu2>0.6</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+
+    <!-- RR leg -->
+    <gazebo reference="RR_hip">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+    <gazebo reference="RR_thigh">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+    <gazebo reference="RR_calf">
+        <mu1>0.2</mu1>
+        <mu2>0.2</mu2>
+        <self_collide>1</self_collide>
+    </gazebo>
+    <gazebo reference="RR_foot">
+        <mu1>0.6</mu1>
+        <mu2>0.6</mu2>
+        <self_collide>1</self_collide>
+        <material>Gazebo/DarkGrey</material>
+        <kp  value="1000000.0"/>
+        <kd  value="1.0"/>
+    </gazebo>
+
+
+ <!-- ros_control plugin -->
+    <gazebo reference="link04">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+    <gazebo reference="link05">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+    <gazebo reference="link06">
+        <self_collide>true</self_collide>
+    </gazebo>
+
+
+</robot>
diff --git a/robots/aliengoZ1_description/xacro/robot.xacro b/robots/aliengoZ1_description/xacro/robot.xacro
new file mode 100644
index 0000000..c242767
--- /dev/null
+++ b/robots/aliengoZ1_description/xacro/robot.xacro
@@ -0,0 +1,416 @@
+<?xml version="1.0"?>
+
+<robot name="aliengoZ1_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find aliengoZ1_description)/xacro/gazebo.xacro"/>
+    <xacro:include filename="$(find aliengoZ1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find aliengo_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find z1_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
+
+    <xacro:arg name="UnitreeGripper" default="true"/>
+
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <xacro:if value="$(arg DEBUG)">
+        <link name="world"/>
+        <joint name="base_static_joint" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="base"/>
+        </joint>
+    </xacro:if> 
+
+    <link name="base">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+        </visual>
+    </link>
+
+    <joint name="floating_base" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <parent link="base"/>
+        <child link="trunk"/>
+    </joint>
+
+    <link name="trunk">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aliengo_description/meshes/trunk.dae" scale="1 1 1"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
+            <mass value="${trunk_mass}"/>
+            <inertia
+                ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
+                iyy="${trunk_iyy}" iyz="${trunk_iyz}"
+                izz="${trunk_izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="trunk"/>
+        <child link="imu_link"/>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+    </joint>
+
+    <link name="imu_link">
+        <inertial>
+            <mass value="0.001"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="red"/>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size=".001 .001 .001"/>
+            </geometry>
+        </collision>
+    </link> -->
+
+    <joint name="trunk_arm_joint" type="fixed">
+        <origin rpy="${arm_offset_r} ${arm_offset_p} ${arm_offset_yaw}" xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}"/>
+        <parent link="trunk"/>
+        <child link="link00"/>
+    </joint> 
+
+     <link name="link00">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 ${motor_height/2.0}"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L00_ComX} ${L00_ComY} ${L00_ComZ}"/>
+            <mass value="${L00_Mass}"/>
+            <inertia
+                ixx="${L00_Ixx}" ixy="${L00_Ixy}" ixz="${L00_Ixz}"
+                iyy="${L00_Iyy}" iyz="${L00_Iyz}"
+                izz="${L00_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint1" type="revolute">
+        <origin rpy="0 0 0" xyz="0 0 0.0585"/>
+        <parent link="link00"/>
+        <child link="link01"/>
+        <axis xyz="0 0 1"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint1_PositionMin}" upper="${joint1_PositionMax}"/>
+    </joint>
+
+    <link name="link01">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <!-- <collision>
+            <geometry>
+                <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        </collision> -->
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L01_ComX} ${L01_ComY} ${L01_ComZ}"/>
+            <mass value="${L01_Mass}"/>
+            <inertia
+                ixx="${L01_Ixx}" ixy="${L01_Ixy}" ixz="${L01_Ixz}"
+                iyy="${L01_Iyy}" iyz="${L01_Iyz}"
+                izz="${L01_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint2" type="revolute">
+        <origin rpy="0 0 0" xyz="0 0 0.045"/>
+        <parent link="link01"/>
+        <child link="link02"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${2*jointDamping}" friction="${2*jointFriction}"/>
+        <limit effort="${2*torqueMax}" velocity="${velocityMax}" lower="${joint2_PositionMin}" upper="${joint2_PositionMax}"/>
+    </joint>
+
+    <link name="link02">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${2.0*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="${PI/2.0} 0 0" xyz="0 0 0"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="${arm1_height}" radius="${arm1_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${-0.045-arm1_height/2.0} 0 0"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="${PI/2.0} 0 0" xyz="-0.35 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L02_ComX} ${L02_ComY} ${L02_ComZ}"/>
+            <mass value="${L02_Mass}"/>
+            <inertia
+                ixx="${L02_Ixx}" ixy="${L02_Ixy}" ixz="${L02_Ixz}"
+                iyy="${L02_Iyy}" iyz="${L02_Iyz}"
+                izz="${L02_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint3" type="revolute">
+        <origin rpy="0 0 0" xyz="-0.35 0 0"/>
+        <parent link="link02"/>
+        <child link="link03"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint3_PositionMin}" upper="${joint3_PositionMax}"/>
+    </joint>
+
+    <link name="link03">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${arm2_height-0.01}" radius="${arm2_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${0.065+arm2_height/2.0} 0 0.055"/>
+        </collision>
+        <collision>
+            <geometry>
+                <cylinder length="0.059" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${0.065+0.185-0.059/2.0} 0 0.055"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L03_ComX} ${L03_ComY} ${L03_ComZ}"/>
+            <mass value="${L03_Mass}"/>
+            <inertia
+                ixx="${L03_Ixx}" ixy="${L03_Ixy}" ixz="${L03_Ixz}"
+                iyy="${L03_Iyy}" iyz="${L03_Iyz}"
+                izz="${L03_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint4" type="revolute">
+        <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
+        <parent link="link03"/>
+        <child link="link04"/>
+        <axis xyz="0 1 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint4_PositionMin}" upper="${joint4_PositionMax}"/>
+    </joint>
+
+    <link name="link04">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="0.073" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="${PI/2.0} 0 0" xyz="0.0472 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L04_ComX} ${L04_ComY} ${L04_ComZ}"/>
+            <mass value="${L04_Mass}"/>
+            <inertia
+                ixx="${L04_Ixx}" ixy="${L04_Ixy}" ixz="${L04_Ixz}"
+                iyy="${L04_Iyy}" iyz="${L04_Iyz}"
+                izz="${L04_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint5" type="revolute">
+        <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
+        <parent link="link04"/>
+        <child link="link05"/>
+        <axis xyz="0 0 1"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint5_PositionMin}" upper="${joint5_PositionMax}"/>
+    </joint>
+
+    <link name="link05">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L05_ComX} ${L05_ComY} ${L05_ComZ}"/>
+            <mass value="${L05_Mass}"/>
+            <inertia
+                ixx="${L05_Ixx}" ixy="${L05_Ixy}" ixz="${L05_Ixz}"
+                iyy="${L05_Iyy}" iyz="${L05_Iyz}"
+                izz="${L05_Izz}"/>  
+        </inertial>
+    </link>
+
+    <joint name="joint6" type="revolute">
+        <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
+        <parent link="link05"/>
+        <child link="link06"/>
+        <axis xyz="1 0 0"/>
+        <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+        <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${joint6_PositionMin}" upper="${joint6_PositionMax}"/>
+    </joint>
+
+    <link name="link06">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder length="${motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 ${PI/2.0} 0" xyz="${motor_height/2.0} 0 0"/>
+        </collision>
+        <inertial>
+            <origin rpy="0 0 0" xyz="${L06_ComX} ${L06_ComY} ${L06_ComZ}"/>
+            <mass value="${L06_Mass}"/>
+            <inertia
+                ixx="${L06_Ixx}" ixy="${L06_Ixy}" ixz="${L06_Ixz}"
+                iyy="${L06_Iyy}" iyz="${L06_Iyz}"
+                izz="${L06_Izz}"/> 
+        </inertial>
+    </link>
+
+    <xacro:if value="$(arg UnitreeGripper)">
+        <joint name="gripperStator" type="fixed">
+            <origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
+            <parent link="link06"/>
+            <child link="gripperStator"/>
+        </joint>
+
+        <link name="gripperStator">
+            <visual>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${GripperStator_ComX} ${GripperStator_ComY} ${GripperStator_ComZ}"/>
+                <mass value="${GripperStator_Mass}"/>
+                <inertia
+                    ixx="${GripperStator_Ixx}" ixy="${GripperStator_Ixy}" ixz="${GripperStator_Ixz}"
+                    iyy="${GripperStator_Iyy}" iyz="${GripperStator_Iyz}"
+                    izz="${GripperStator_Izz}"/> 
+            </inertial>
+        </link>
+
+        <joint name="jointGripper" type="revolute">
+            <origin rpy="0 0 0" xyz="0.049 0.0 0"/>
+            <parent link="gripperStator"/>
+            <child link="gripperMover"/>
+            <axis xyz="0 1 0"/>
+            <dynamics damping="${jointDamping}" friction="${jointFriction}"/>
+            <limit effort="${torqueMax}" velocity="${velocityMax}" lower="${Gripper_PositionMin}" upper="${Gripper_PositionMax}"/>
+        </joint>
+
+        <link name="gripperMover">
+            <visual>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
+                </geometry>
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <origin rpy="0 0 0" xyz="${GripperMover_ComX} ${GripperMover_ComY} ${GripperMover_ComZ}"/>
+                <mass value="${GripperMover_Mass}"/>
+                <inertia
+                    ixx="${GripperMover_Ixx}" ixy="${GripperMover_Ixy}" ixz="${GripperMover_Ixz}"
+                    iyy="${GripperMover_Iyy}" iyz="${GripperMover_Iyz}"
+                    izz="${GripperMover_Izz}"/> 
+            </inertial>
+        </link>
+
+        <xacro:motorTransmission name="Gripper"/>
+
+        <gazebo reference="gripperStator">
+            <self_collide>true</self_collide>
+        </gazebo>
+
+        <gazebo reference="gripperMover">
+            <self_collide>true</self_collide>
+        </gazebo>
+    </xacro:if>
+
+    <xacro:motorTransmission name="1"/>
+    <xacro:motorTransmission name="2"/>
+    <xacro:motorTransmission name="3"/>
+    <xacro:motorTransmission name="4"/>
+    <xacro:motorTransmission name="5"/>
+    <xacro:motorTransmission name="6"/>
+
+    <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True">
+        <origin rpy="0 0 0" xyz="${leg_offset_x} ${-leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
+        <origin rpy="0 0 0" xyz="${leg_offset_x} ${leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
+        <origin rpy="0 0 0" xyz="${-leg_offset_x} ${-leg_offset_y} 0"/>
+    </xacro:leg>
+
+    <xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
+        <origin rpy="0 0 0" xyz="${-leg_offset_x} ${leg_offset_y} 0"/>
+    </xacro:leg>
+
+</robot>
diff --git a/robots/aliengoZ1_description/xacro/stairs.xacro b/robots/aliengoZ1_description/xacro/stairs.xacro
new file mode 100644
index 0000000..c95ecb0
--- /dev/null
+++ b/robots/aliengoZ1_description/xacro/stairs.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="stair_length" value="0.640" />
+    <xacro:property name="stair_width" value="0.310" />
+    <xacro:property name="stair_height" value="0.170" />
+
+    <xacro:macro name="stairs" params="stairs xpos ypos zpos">
+
+        <joint name="stair_joint_origin" type="fixed">
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <parent link="world"/>
+            <child link="stair_link_${stairs}"/>
+        </joint>
+
+        <link name="stair_link_${stairs}">
+            <visual>
+                <geometry>
+                    <box size="${stair_length} ${stair_width} ${stair_height}"/>
+                </geometry>
+                <material name="grey"/>
+                <origin rpy="0 0 0" xyz="${xpos} ${ypos} ${zpos}"/>
+            </visual>
+            <collision>
+                <geometry>
+                    <box size="${stair_length} ${stair_width} ${stair_height}"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.80"/>
+                <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
+            </inertial>
+        </link>
+
+        <xacro:if value="${stairs}">
+            <xacro:stairs stairs="${stairs-1}" xpos="0" ypos="${ypos-stair_width/2}" zpos="${zpos+stair_height}"/>
+            <joint name="stair_joint_${stairs}" type="fixed">
+                <parent link="stair_link_${stairs}"/>
+                <child link="stair_link_${stairs-1}"/>
+            </joint>
+        </xacro:if>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file