Migrated from GitHub

.gitattributes

@@ -57,3 +57,27 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/ECM/ecm_base_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/ECM/ecm_pitch_bottom_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/ECM/ecm_pitch_front_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/ECM/ecm_remote_center_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/ECM/ecm_yaw_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/MTM/Link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/MTM/mtm_omponents.blend filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/PSM/snake_tool/gripper_2.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/PSM/snake_tool/gripper_3.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/PSM/tool_wrist_caudier_link_1.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/base_link.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_ecm_L2.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm1_L2.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm1_L3.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm2_L2.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm2_L3.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm3_L2.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/Classic/SUJ/suj_psm3_L3.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/dVRK-cube.stl filter=lfs diff=lfs merge=lfs -text
+data/meshes/instruments/420006/tool_wrist_sca_ee_link_1.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/instruments/420006/tool_wrist_sca_ee_link_2.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/instruments/420006/tool_wrist_sca_link.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/instruments/420006/tool_wrist_scal_link.STL filter=lfs diff=lfs merge=lfs -text
+data/meshes/instruments/420006/tool_wrist_shaft_link.STL filter=lfs diff=lfs merge=lfs -text

data/CHANGELOG.md

@@ -0,0 +1,225 @@
+Change log
+==========
+
+2.3.0 (2024-08-31)
+==================
+
+* API changes:
+  * New repository based on old dvrk-ros but only includes dvrk_model part.  For previous releases, see archived repository `dvrk-ros` (https://github.com/jhu-dvrk/dvrk-ros).
+  * Supports ROS1 and ROS1
+* Deprecated features:
+  * None
+* New features:
+  * URDF and launch files for surgeon console as well as Classic and Si patient carts
+* Bug fixes:
+  * Plenty but the URDF files should still not be trusted as most of the physical DH parameters have been guestimated
+
+2.2.1 (2023-12-29)
+==================
+
+* API changes:
+  * Add `deinterlace` for gscam launch for DeckLink cards
+* Deprecated features:
+  * None
+* New features:
+  * Added `-s` to publish raw voltages for SUJs
+* Bug fixes:
+  * None
+
+2.2.0 (2023-11-21)
+==================
+
+* API changes:
+  * :warning: All topics `measured_cp` and `setpoint_cp` use `PoseStamped` instead of `TransformStamped`
+  * `video.md` and video launch files moved to newly created `dvrk_video` package (still part of this repository)
+* New features:
+  * Support for Si PSMs, ECM and SUJ
+  * All video related files (launch and md) moved to ROS package `dvrk_video` to avoid build dependencies on the full dVRK stack
+  * Added `vcs` files (replacing `wstool`) for dVRK 2.1, 2.2 and devel
+  * Added command line options to expose more IO and PID topics
+  * `dvrk_console_json` can locate `ros-io-<arm>.json` files using internal path, no need to specify the full path
+  * All Python examples updated to use newly introduced `crtk.ral` (ROS Abstraction Layer) and `crtk.check_connections`
+  * Added `dvrk_reset_teleoperation.py` to reposition MTMs and PSMs to better position between teleoperation tasks, very useful for user studies!
+  * `dvrk_bag_replay.py`: can now replay using `setpoint_jp` or `setpoint_cp`, fixed timing, doesn't use full `dvrk.psm` but creates a light class using `crtk.utils`, record and send joint velocities for better trajectory following
+* Bug fixes:
+  * Many
+
+2.1.0 (2021-08-10)
+==================
+
+* API changes:
+  * Potentiometer ROS topics use joint state messages
+  * Instrument name is now following the convention `name:model[version]`.  It used to be `name_model`
+* New features:
+  * Added Python example `dvrk_bag_replay` to replay trajectory from a ROS bag
+  * Added Matlab and Python examples for new CRTK feature `while move_handle.is_busy()`
+* Bug fixes:
+  * Python 3
+
+2.0.1 (2021-05-26)
+==================
+
+* API changes:
+  * None
+* New features:
+  * dvrk_console_json:
+    * Added calibration mode (command line option -C) to disable potentiometer checks and saving encoder offsets when calibrating potentiometers
+    * Added command line option to use cisstMultiTask state table collectors (-c)
+* Bug fixes:
+  * None
+
+2.0.0 (2021-04-08)
+==================
+
+* API changes:
+  * All ROS topics have change to follow the CRTK naming convention, see CHANGELOG for sawIntuitiveResearchKit
+  * ROS namespaces don't use the prefix `dvrk`.  Use the standard ROS option `__ns:=` if you need a specific namespace
+* Deprecated features:
+  * None
+* New features:
+  * Added `.rosinstall` file
+  * Using Matlab and Python client based on CRTK clients - APIs are now consistent across languages
+  * Matlab python now used `+dvrk` to create dVRK package (see https://github.com/collaborative-robotics/crtk_matlab_client)
+  * ROS bridge uses *cisst-ros* CRTK bridge for most ROS topics
+  * Added `dvrk_hsrv_widget`, a simple widget that can be displayed in surgeon's console to show dVRK status
+  * Added experimental script to calibrate PSM joint 3 (inserttion joint): `dvrk_calibrate_potentiometer_psm.py`
+  * Added `dvrk_arm_from_ros` which allows to create a dVRK console with a remote arm over ROS.  This can be used for tele-operation across network
+  * More topics exposed, endoscope focus, volume, beep, text to speech, forward kinematic...  See full API: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/API-2.x
+* Bug fixes:
+  * Better ROS shutdown for C++ applications
+  * Support ctrl-c for Python code
+  * Plenty
+
+1.7.0 (2019-04-09)
+==================
+
+* API changes:
+  * ROS namespaces are now relative, `dvrk_console_json` uses the namespace `dvrk/`, not `/dvrk/`.
+* Deprecated features:
+  * Old deprecated examples have been removed
+* New features:
+  * Support Python3
+  * Log file (`cisstLog.txt`) is now timestamped
+  * ROS topics to:
+    * Set velocity/acceleration ratio for trajectory generation
+    * Set and check active teleop PSM components
+* Bug fixes:
+  * Fixed issue with `coag` being hidden if used for operator present
+  * Launch files use `xacro`, not the deprecated `xacro.py`
+
+1.6.0 (2018-05-16)
+==================
+
+* API changes:
+  * None
+* Deprecated features:
+  * None
+* New features:
+  * dvrk_robot:
+    * Add tf2 support
+    * Multiple threads used, one for publishers, one for tf2 and one for subscribers.  This reduces latency on all subscribers
+    * Publishes interval statistics for IO component as well as ROS bridges
+    * SUJ joint state subscriber when in simulation mode
+    * Added psm `set_effort_jaw` subscriber
+  * Python:
+    * Added PSM effort test program
+    * Added cartesian impedance MTM test program
+  * dVRK logo available in STL format for RViz and Gazebo
+  * video.md: added some documentation and launch files for DeckLink frame grabbers
+* Bug fixes:
+  * Fixed missing latch on event publishers
+  * `dvrk_console_json` should now quit on ctrl+c
+
+
+1.5.0 (2017-11-07)
+==================
+
+* API changes:
+  * dvrk_robot:
+    * Update to match new arm state machine
+    * Joint commands are now using joints for kinematics only.  On PSM, jaw is not the last joint anymore, it has its separate topics
+    * PSM jaw and MTM gripper now use joint state to report position/velocity/effort
+    * Better support for console/footpedals events
+  * Python:
+    * Added blocking/non blocking flag for move commands using trajectory generation
+  * Matlab:
+    * Added flag to send direct move commands (vs. trajectory goals)
+    * Removed all callbacks since these tended to block the interpreter, now use getters to get latest value received.  Getters return timestamp as well.
+    * Added ecm.m, console.m and teleop_psm.m
+    * Code factorization for all conversion methods
+  * Models/URDF:
+    * PSM now subscribes to joint state for jaw to control last joint
+    * Added crude models for 5mm tools
+    * Fixed some xacro warnings
+* Deprecated features:
+  * None
+* New features:
+  * dvrk_robot:
+    * Teleop now has an event to track if PSM is folowing master
+    * SUJ publishes joint state
+    * Publishes io interval statistics
+    * Added topics for cartesian impedance controller + examples
+    * Support for some topics when using generic MTMs (Falcon/ForceDimension)
+  * Python:
+    * Added test/example programs in dvrk_python/scripts
+    * Added subscribers for jacobians, set effort joint
+  * Matlab:
+    * Added test/example programs in dvrk_matlab/test
+    * Added subscribers for jacobians, set effort joint
+* Bug fixes:
+  * dvrk_calibrate_potentiometers now uses arm.py
+
+
+1.4.0 (2016-08-31)
+==================
+
+* API changes:
+  * Python:
+    * API uses numpy arrays for joints and PyKDL for 3D commands, no more Python arrays/lists
+    * Import as a package using `import dvrk`
+    * Added base class arm.py with common features as well as mtm.py, ecm.py, psm.py for arm specific topics
+    * Added wrappers console.py, suj.py and psm-teleop.py for corresponding ROS topics
+  * Matlab:
+    * API more closely matches Python interface
+    * Use with CAUTION, it works fine in interactive mode but in a script, Matlab tends to never call the ROS spin function and the callbacks are failing.  See more comments in the dvrk_matlab readme.md
+* Deprecated features:
+  * Message types have changed to take adavantage of Stamped data type (mostly for timestamps).  See compatibility mode in new features.
+  * dvrk_kinematics, dvrk_teleop and rqt_dvrk are now deprecated, still available in directory `deprecated`
+* New features:
+  * dvrk_robot:
+    * Added many topics to match more closely the C++ available commands (see dVRK API wiki page)
+    * Added compatibility mode to maintain old topic names and message types.  For example, `dvrk_console_json` has the option `--compatibility <value> : compatibility mode, e.g. "v1_3_0", "v1_4_0" (optional)`
+* Bug fixes:
+  * Better timestamps (cisst-ros new feature)
+
+1.3.0 (2016-01-08)
+==================
+
+* API changes:
+  * Python: now import as a package using `import dvrk_python.robot`
+* Deprecated features:
+  * None
+* New features:
+  * Potentiometer calibration script: `dvrk_robot/scripts/dvrk_calibrate_potentiometers.py`
+  * dvrk_robot: added low level IO data collection for pots/joints/actuators (see potentiometer calibration wiki)
+  * dvrk_robot: added set_wrench topics
+  * dvrk_robot: console supports kinematic simulation with RViz (optional)
+* Bug fixes:
+  * None
+
+1.1.1 (2015-10-18)
+==================
+
+* Change log file created
+* API changes:
+  * Removed joint_publisher python code, now use topics directly from dVRK C++ stack (so much cleaner!)
+  * Config file name, urdf and rviz, use dVRK C++ arm naming convention, i.e. PSM1, not psm_one, ...
+  * Updated al urdf code to handle arm name as parameter (e.g. PSM1, PSM2)
+* Deprecated features:
+  * None
+* New features:
+  * dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types
+  * dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types
+* Bug fixes:
+  * fixed urdf for PSM jaw angle
+  * ...

data/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.16)
+project(dvrk_model VERSION 2.3.0)
+
+find_package (
+  catkin QUIET
+  )
+
+if (catkin_FOUND)
+  catkin_package ()
+
+else (catkin_FOUND)
+
+  find_package (ament_cmake QUIET)
+  if (ament_cmake_FOUND)
+
+    set (_to_be_installed meshes urdf ros2/rviz ros2/launch ros2/ros2_control ros2/config)
+
+    foreach (_dir ${_to_be_installed})
+      if (EXISTS "${dvrk_model_SOURCE_DIR}/${_dir}")
+        install (DIRECTORY
+          ${_dir}
+          DESTINATION share/${PROJECT_NAME})
+      endif ()
+    endforeach ()
+
+    ament_package ()
+  endif (ament_cmake_FOUND)
+
+endif (catkin_FOUND)

data/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 da Vinci Research Kit
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

data/launch/arm.launch

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+  <arg name="arm"/>
+  <arg name="generation"/>
+  <arg name="simulated"
+       default="True"/>
+
+  <!-- dVRK system -->
+  <node name="dvrk_$(arg arm)_node"
+        if="$(arg simulated)"
+        pkg="dvrk_robot"
+        type="dvrk_system"
+        args="-j $(find dvrk_config)/system/system-$(arg arm)_$(arg generation)_KIN_SIMULATED.json"
+        output="screen"/>
+
+  <!-- state publishers -->
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="arm"
+         value="$(arg arm)"/>
+    <arg name="generation"
+         value="$(arg generation)"/>
+  </include>
+
+  <!-- rviz -->
+  <node name="rviz_$(arg arm)"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find dvrk_model)/rviz/$(arg generation)/$(arg arm).rviz"/>
+
+</launch>

data/launch/arm_state_publishers.launch

@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+  <arg name="arm"/>
+  <arg name="generation"/>
+  <arg name="urdf_file"
+       default="$(arg arm)"/>
+
+  <arg name="suj"
+       default="False"/>
+
+  <arg name="_urdf"
+       default="$(find dvrk_model)/urdf/$(arg generation)/$(arg urdf_file).urdf.xacro"/>
+
+  <group ns="$(arg arm)">
+    <arg name="rate"
+         default="20"/>
+    <group if="$(eval suj)">
+      <param name="robot_description"
+             command="rosrun xacro xacro $(arg _urdf) arm:=$(arg arm) parent_link_:=$(arg arm)_mounting_point"/>
+    </group>
+    <group unless="$(eval suj)">
+      <param name="robot_description"
+             command="rosrun xacro xacro $(arg _urdf) arm:=$(arg arm)"/>
+    </group>
+    <param name="rate"
+           value="$(arg rate)"/>
+
+    <rosparam param="source_list" subst_value="True">
+      [/$(arg arm)/measured_js,
+      /$(arg arm)/jaw/measured_js,
+      /$(arg arm)/gripper/measured_js]
+    </rosparam>
+
+    <node name="joint_state_publisher"
+          pkg="joint_state_publisher"
+          type="joint_state_publisher"/>
+
+    <node name="robot_state_publisher"
+          pkg="robot_state_publisher"
+          type="robot_state_publisher"/>
+  </group>
+
+</launch>

data/launch/dvrk_arm_rviz.launch

@@ -0,0 +1,2 @@
+<launch deprecated="use the dvrk_model arm.launch file instead">
+</launch>

data/launch/dvrk_arm_rviz_only.launch

@@ -0,0 +1,2 @@
+<launch deprecated="use the dvrk_model arm.launch file instead">
+</launch>

data/launch/dvrk_arm_snake_rviz.launch

@@ -0,0 +1,34 @@
+<launch>
+
+  <arg name="arm" />
+  <arg name="config" />
+  <arg name="generation" default="Classic"/>
+
+  <arg name="model" default="$(find dvrk_model)/urdf/$(arg generation)/$(arg arm)_Snake.urdf.xacro" />
+
+  <node name="dvrk_$(arg arm)_node"
+        pkg="dvrk_robot"
+        type="dvrk_console_json"
+        args="-j $(arg config)"
+        output="screen"/>
+
+  <group ns="/dvrk/$(arg arm)">
+    <arg name="gui" default="false" />
+    <arg name="rate" default="20" />
+
+    <param name="robot_description" command="rosrun xacro xacro $(arg model) prefix:=$(arg arm)_"/>
+    <param name="use_gui" value="$(arg gui)"/>
+    <param name="rate" value="$(arg rate)"/>
+
+    <rosparam param="source_list" subst_value="True">
+      [/dvrk/$(arg arm)/state_joint_current]
+    </rosparam>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  </group>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+	args="-d $(find dvrk_model)/rviz/$(arg arm).rviz" />
+
+</launch>

data/launch/dvrk_mtm_psm_rviz.launch

@@ -0,0 +1,56 @@
+<launch>
+
+  <arg name="mtm" />
+  <arg name="psm" />
+  <arg name="generation"/>
+  <arg name="config" />
+
+  <arg name="mtm_model" default="$(find dvrk_model)/urdf/Classic/$(arg mtm).urdf.xacro" />
+  <arg name="psm_model" default="$(find dvrk_model)/urdf/$(arg generation)/$(arg psm).urdf.xacro" />
+
+  <node name="dvrk_$(arg mtm)_$(arg psm)_node"
+        pkg="dvrk_robot"
+        type="dvrk_console_json"
+        args="-j $(arg config)"
+        output="screen"/>
+
+  <group ns="$(arg mtm)">
+    <arg name="gui" default="false" />
+    <arg name="rate" default="20" />
+
+    <param name="robot_description" command="rosrun xacro xacro $(arg mtm_model) prefix:=$(arg mtm)_"/>
+    <param name="use_gui" value="$(arg gui)"/>
+    <param name="rate" value="$(arg rate)"/>
+
+    <rosparam param="source_list" subst_value="True">
+      [/$(arg mtm)/measured_js,
+      /$(arg mtm)/jaw/measured_js,
+      /$(arg mtm)/gripper/measured_js]
+    </rosparam>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  </group>
+
+  <group ns="$(arg psm)">
+    <arg name="gui" default="false" />
+    <arg name="rate" default="20" />
+
+    <param name="robot_description" command="rosrun xacro xacro $(arg psm_model) prefix:=$(arg psm)_"/>
+    <param name="use_gui" value="$(arg gui)"/>
+    <param name="rate" value="$(arg rate)"/>
+
+    <rosparam param="source_list" subst_value="True">
+      [/$(arg psm)/measured_js,
+      /$(arg psm)/jaw/measured_js,
+      /$(arg psm)/gripper/measured_js]
+    </rosparam>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  </group>
+
+  <node name="rviz" pkg="rviz" type="rviz"
+	args="-d $(find dvrk_model)/rviz/$(arg mtm)-$(arg psm).rviz" />
+
+</launch>

data/launch/patient_cart.launch

@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="generation"/>
+  <arg name="simulated"
+       default="True"/>
+
+  <!-- state publishers -->
+  <!-- SUJs -->
+  <arg name="_urdf" default="$(find dvrk_model)/urdf/$(arg generation)/SUJ.urdf.xacro"/>
+  <group ns="SUJ">
+    <arg name="rate"
+         default="20"/>
+    <param name="robot_description"
+           command="rosrun xacro xacro $(arg _urdf)"/>
+    <param name="rate"
+           value="$(arg rate)"/>
+    <rosparam param="source_list" subst_value="True">
+      [/SUJ/PSM1/measured_js, /SUJ/PSM2/measured_js, /SUJ/PSM3/measured_js, /SUJ/ECM/measured_js]
+    </rosparam>
+    <node name="joint_state_publisher"
+          pkg="joint_state_publisher"
+          type="joint_state_publisher"/>
+
+    <node name="robot_state_publisher"
+          pkg="robot_state_publisher"
+          type="robot_state_publisher"/>
+  </group>
+
+  <!-- active arms -->
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="generation"
+         value="$(arg generation)"/>
+    <arg name="arm"
+         value="PSM1"/>
+    <arg name="urdf_file"
+         value="psm"/>
+    <arg name="suj"
+         value="True"/>
+  </include>
+
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="generation"
+         value="$(arg generation)"/>
+    <arg name="arm"
+         value="PSM2"/>
+    <arg name="urdf_file"
+         value="psm"/>
+    <arg name="suj"
+         value="True"/>
+  </include>
+
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="generation"
+         value="$(arg generation)"/>
+    <arg name="arm"
+         value="PSM3"/>
+    <arg name="urdf_file"
+         value="psm"/>
+    <arg name="suj"
+         value="True"/>
+  </include>
+
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="generation"
+         value="$(arg generation)"/>
+    <arg name="arm"
+         value="ECM"/>
+    <arg name="urdf_file"
+         value="ecm"/>
+    <arg name="suj"
+         value="True"/>
+  </include>
+
+  <!-- rviz -->
+  <node name="rviz_patient_cart"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find dvrk_model)/rviz/$(arg generation)/patient_cart.rviz"/>
+
+
+  <node name="dvrk_patient_cart_node"
+        if="$(arg simulated)"
+        pkg="dvrk_robot"
+        type="dvrk_system"
+        args="-j $(find dvrk_config)/system/system-patient-cart-$(arg generation)-simulated.json"
+        output="screen"/>
+
+  <!-- added fixed tf to make sure dVRK system TF are defined wrt world -->
+  <node name="tf_world_to_cart"
+        pkg="tf2_ros"
+        type="static_transform_publisher"
+        args="0 0 0.1678 0 0 0 world Cart" />
+</launch>

data/launch/surgeon_console.launch

@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+
+  <arg name="simulated"
+       default="True"/>
+  <arg name="generation"
+       default="Classic"/>
+
+  <!-- dVRK system -->
+  <node name="dvrk_surgeon_console_node"
+        if="$(arg simulated)"
+        pkg="dvrk_robot"
+        type="dvrk_system"
+        args="-j $(find dvrk_config)/system/system-surgeon-console-simulated.json"
+        output="screen"/>
+
+  <!-- state publishers -->
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="arm"
+         value="MTML"/>
+    <arg name="generation"
+         value="$(arg generation)"/>
+  </include>
+
+  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
+    <arg name="arm"
+         value="MTMR"/>
+    <arg name="generation"
+         value="$(arg generation)"/>
+  </include>
+
+  <!-- rviz -->
+  <node name="rviz_surgeon_console"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find dvrk_model)/rviz/$(arg generation)/surgeon_console.rviz"/>
+
+</launch>

data/meshes/Classic/ECM/ecm_base_link.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:dfbf7b4f648334ad0a8cebfdd98bfdcdd5bebe4343a6fb98131b5af161ab30a8
+size 247284

data/meshes/Classic/ECM/ecm_pitch_bottom_link.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a27fd0c7229aec3c2f1ebf6af7ef654f5232498450a341ab492eedb5d3503850
+size 289284

data/meshes/Classic/ECM/ecm_pitch_front_link.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cc4aed796a4f6745269fd91b43f10bd1ca606393624b7c2a5b34158d1a6c2c77
+size 113784

data/meshes/Classic/ECM/ecm_remote_center_link.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618ff88b7772aa014503c27549dd1d61d9fde004d5e77153d1c0f8f3b3d60409
+size 117684

data/meshes/Classic/ECM/ecm_yaw_link.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb13d5496998f415a489a6403b81b349d3e2f3ab93fa902c04dc23884704e90e
+size 302384

data/meshes/Classic/MTM/ArmParallel.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-30T02:35:14</created>
+    <modified>2013-06-30T02:35:14</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="DaVinciLightGray-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4385429 0.4385429 0.4385429 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="DaVinciLightGray-material" name="DaVinciLightGray">
+      <instance_effect url="#DaVinciLightGray-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ArmParallel-mesh" name="ArmParallel">
+      <mesh>
+        <source id="ArmParallel-mesh-positions">
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494 1036 458 1036 493 1036 493 1037 458 1037 459 1037 493 1038 459 1038 501 1038 501 1039 459 1039 492 1039 501 1040 492 1040 502 1040 502 1041 492 1041 491 1041 502 1042 491 1042 503 1042 503 1043 491 1043 490 1043 503 1044 490 1044 504 1044 504 1045 490 1045 489 1045 504 1046 489 1046 505 1046 505 1047 489 1047 488 1047 505 1048 488 1048 506 1048 506 1049 488 1049 487 1049 506 1050 487 1050 507 1050 507 1051 487 1051 486 1051 507 1052 486 1052 508 1052 508 1053 486 1053 485 1053 508 1054 485 1054 509 1054 509 1055 485 1055 484 1055 509 1056 484 1056 510 1056 510 1057 484 1057 483 1057</p>
+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="ArmParallel" name="ArmParallel" 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="#ArmParallel-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciLightGray-material" target="#DaVinciLightGray-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/ArmParallel1.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-30T02:35:20</created>
+    <modified>2013-06-30T02:35:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="DaVinciDarkGray-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4292248 0.4292248 0.4292248 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="DaVinciDarkGray-material" name="DaVinciDarkGray">
+      <instance_effect url="#DaVinciDarkGray-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="ArmParallel1-mesh" name="ArmParallel1">
+      <mesh>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="ArmParallel1" name="ArmParallel1" 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="#ArmParallel1-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciDarkGray-material" target="#DaVinciDarkGray-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/BottomArm.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-30T02:35:51</created>
+    <modified>2013-06-30T02:35:51</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="DaVinciLightGray-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4385429 0.4385429 0.4385429 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="DaVinciLightGray-material" name="DaVinciLightGray">
+      <instance_effect url="#DaVinciLightGray-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="BottomArm-mesh" name="BottomArm">
+      <mesh>
+        <source id="BottomArm-mesh-positions">
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+          <technique_common>
+            <accessor source="#BottomArm-mesh-normals-array" count="704" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="BottomArm-mesh-vertices">
+          <input semantic="POSITION" source="#BottomArm-mesh-positions"/>
+        </vertices>
+        <polylist material="DaVinciLightGray-material" count="704">
+          <input semantic="VERTEX" source="#BottomArm-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#BottomArm-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="BottomArm" name="BottomArm" 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="#BottomArm-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciLightGray-material" target="#DaVinciLightGray-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/Link.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bc96548d03558a1b1bd63eb9fa7fdec530a814938f9a897406f858100e843e
+size 223884

data/meshes/Classic/MTM/OutPitch_Shoulder.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
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+          <technique_common>
+            <accessor source="#OutPitch_Shoulder-mesh-normals-array" count="508" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="OutPitch_Shoulder-mesh-vertices">
+          <input semantic="POSITION" source="#OutPitch_Shoulder-mesh-positions"/>
+        </vertices>
+        <polylist material="DaVinciLightGray-material" count="508">
+          <input semantic="VERTEX" source="#OutPitch_Shoulder-mesh-vertices" offset="0"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="OutPitch_Shoulder" name="OutPitch_Shoulder" 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="#OutPitch_Shoulder-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciLightGray-material" target="#DaVinciLightGray-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/Top_Panel.dae

@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-29T23:38:04</created>
+    <modified>2013-06-29T23:38:04</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Top_Panel-mesh" name="Top Panel">
+      <mesh>
+        <source id="Top_Panel-mesh-positions">
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+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Top_Panel" name="Top_Panel" 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="#Top_Panel-mesh">
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+        </instance_geometry>
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+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/WristPitch.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-30T02:36:30</created>
+    <modified>2013-06-30T02:36:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="WristPitch-mesh-vertices">
+          <input semantic="POSITION" source="#WristPitch-mesh-positions"/>
+        </vertices>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="WristPitch" name="WristPitch" 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="#WristPitch-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciGreen-material" target="#DaVinciGreen-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/WristPlatform.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-06-30T02:36:36</created>
+    <modified>2013-06-30T02:36:36</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="DaVinciLightGray-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4385429 0.4385429 0.4385429 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="DaVinciLightGray-material" name="DaVinciLightGray">
+      <instance_effect url="#DaVinciLightGray-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="WristPlatform-mesh" name="WristPlatform">
+      <mesh>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="WristPlatform" name="WristPlatform" 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="#WristPlatform-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciLightGray-material" target="#DaVinciLightGray-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/WristYaw.dae

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.67.1 r57755</authoring_tool>
+    </contributor>
+    <created>2013-07-01T12:49:27</created>
+    <modified>2013-07-01T12:49:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="DaVinciBlue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.4 0.4 0.5 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="DaVinciBlue-material" name="DaVinciBlue">
+      <instance_effect url="#DaVinciBlue-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="WristYaw-mesh" name="WristYaw">
+      <mesh>
+        <source id="WristYaw-mesh-positions">
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+          <technique_common>
+            <accessor source="#WristYaw-mesh-positions-array" count="224" stride="3">
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+              <param name="Z" type="float"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="WristYaw" name="WristYaw" 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="#WristYaw-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DaVinciBlue-material" target="#DaVinciBlue-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

data/meshes/Classic/MTM/mtm_omponents.blend

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+version https://git-lfs.github.com/spec/v1
+oid sha256:788925ceabe94040ded580a4e6ab21b6585df9131ed3fc247990ee053ce1987a
+size 1245412

data/meshes/Classic/PSM/outer_pitch_back.dae

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+<?xml	version="1.0"	encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>NxuStream2 converter - http://www.ageia.com</author>
+			<authoring_tool>PhysX	Rocket,	PhysX	Viewer,	or CreateDynamics</authoring_tool>
+			<comments>questions	to:	jratcliff@ageia.com</comments>
+		</contributor>
+		 <created>2013-06-03T05:21:11.654Z</created>
+		 <modified>2013-06-03T05:21:11.654Z</modified>
+		<unit	meter="1"	name="meter"/>
+		<up_axis>Y_UP</up_axis>
+	</asset>
+	 <library_materials>
+			<material	id="Material"	name="Material">
+				 <instance_effect	url="#Material-fx"></instance_effect>
+			</material>
+			<material	id="SWMaterial-0"	name="SWMaterial-0">
+				 <instance_effect	url="#SWMaterial-fx-0"></instance_effect>
+			</material>
+	 </library_materials>
+	 <library_effects>
+			<effect	id="Material-fx" name="Material">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-0" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.803922 0.588235	0.92549	1</color>
+									</ambient>
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+									</diffuse>
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+										 <color>0.631373 0.631373	0.631373 1</color>
+									</specular>
+									<shininess>
+										 <float>1</float>
+									</shininess>
+									<reflective>
+										 <color>0	0	0	1</color>
+									</reflective>
+									<transparent>
+										 <color>1	1	1	1</color>
+									</transparent>
+									<transparency>
+										 <float>0</float>
+									</transparency>
+							 </phong>
+						</technique>
+				 </profile_COMMON>
+			</effect>
+			<effect	id="SWMaterial-fx-0" name="SWMaterial-0">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-1" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.200000 0.100392 0.000000 1</color>
+									</ambient>
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+										 <color>1.000000 0.501961 0.000000 1</color>
+									</diffuse>
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+									</specular>
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+									</shininess>
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+									<transparent opaque="A_ONE">
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+		</geometry>
+	</library_geometries>
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+			    <instance_geometry url="#ActorShape0_0-Mesh" >
+				 <bind_material>
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+				</instance_geometry>
+			</node>
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+				<instance_light url="#Light-0" />
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+				<instance_light url="#Light-1" />
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+				<instance_light url="#Light-2" />
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+			<node id="Camera-0-Node" name="Camera-0" type="NODE">
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+				<instance_camera url="#Camera-0" />
+			</node>
+			</visual_scene>
+	</library_visual_scenes>
+	<library_physics_materials>
+		<physics_material	id="pmat0_0-PhysicsMaterial"	name="pmat0_0-PhysicsMaterial">
+			<technique_common>
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+				<static_friction>0.029999999</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat1_0-PhysicsMaterial"	name="pmat1_0-PhysicsMaterial">
+			<technique_common>
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+				<restitution>0.001</restitution>
+				<static_friction>0.100000001</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat2_0-PhysicsMaterial"	name="pmat2_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.200000003</dynamic_friction>
+				<restitution>0.002</restitution>
+				<static_friction>0.200000003</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat3_0-PhysicsMaterial"	name="pmat3_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.300000012</dynamic_friction>
+				<restitution>0.003</restitution>
+				<static_friction>0.300000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat4_0-PhysicsMaterial"	name="pmat4_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.400000006</dynamic_friction>
+				<restitution>0.004</restitution>
+				<static_friction>0.400000006</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat5_0-PhysicsMaterial"	name="pmat5_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.5</dynamic_friction>
+				<restitution>0.005</restitution>
+				<static_friction>0.5</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat6_0-PhysicsMaterial"	name="pmat6_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.600000024</dynamic_friction>
+				<restitution>0.006</restitution>
+				<static_friction>0.600000024</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat7_0-PhysicsMaterial"	name="pmat7_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.699999988</dynamic_friction>
+				<restitution>0.007</restitution>
+				<static_friction>0.699999988</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat8_0-PhysicsMaterial"	name="pmat8_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.800000012</dynamic_friction>
+				<restitution>0.008</restitution>
+				<static_friction>0.800000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat9_0-PhysicsMaterial"	name="pmat9_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.900000036</dynamic_friction>
+				<restitution>0.009</restitution>
+				<static_friction>0.900000036</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat10_0-PhysicsMaterial"	name="pmat10_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>1</dynamic_friction>
+				<restitution>0.01</restitution>
+				<static_friction>1</static_friction>
+			</technique_common>
+		</physics_material>
+	</library_physics_materials>
+	<library_physics_models>
+		<physics_model id="Scene0-PhysicsModel">
+			<rigid_body	sid="Actor0-RigidBody" name="LP11.SLDPRT">
+				<technique_common>
+					<dynamic>false</dynamic>
+					<mass>1</mass>
+					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+					<shape>
+					 <density>1</density>
+						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+						<instance_geometry url="#TriangleMesh_0-Mesh">
+						 <bind_material>
+						  <technique_common>
+						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
+						  </technique_common>
+						 </bind_material>
+						</instance_geometry>
+            <translate>0	0 0</translate>
+            <rotate>1 0	0	 0</rotate>
+					 <extra>
+						 <technique	profile="PhysX">
+							 <group>0</group>
+							 <skinWidth>0.000026</skinWidth>
+							 <disable_collision>false</disable_collision>
+						 </technique>
+					 </extra>
+					 </shape>
+					</technique_common>
+			<extra>
+				<technique profile="PhysX">
+					<group>0</group>
+					<disable_collision>true</disable_collision>
+					<disable_response>false</disable_response>
+					<lock_com>true</lock_com>
+				</technique>
+			</extra>
+			 </rigid_body>
+		</physics_model>
+		<physics_model id="Scene0-PhysicsInstance">
+			<instance_physics_model	url="#Scene0-PhysicsModel">
+				<instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+					<technique_common>
+					</technique_common>
+				</instance_rigid_body>
+			<extra>
+				<technique profile="PhysX">
+				</technique>
+			</extra>
+			</instance_physics_model>
+		</physics_model>
+	</library_physics_models>
+	<library_physics_scenes>
+		<physics_scene id="SceneInstances-Physics">
+			<instance_physics_model	url="#Scene0-PhysicsInstance"/>
+			<technique_common>
+				<gravity>0	0 0</gravity>
+				<time_step>0.000781</time_step>
+			</technique_common>
+		</physics_scene>
+	</library_physics_scenes>
+	<scene>
+		<instance_physics_scene	url="#SceneInstances-Physics"/>
+		<instance_visual_scene	url="#Scene0-Visual"/>
+	</scene>
+</COLLADA>

data/meshes/Classic/PSM/outer_pitch_bottom.dae

@@ -0,0 +1,1064 @@
+<?xml	version="1.0"	encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>NxuStream2 converter - http://www.ageia.com</author>
+			<authoring_tool>PhysX	Rocket,	PhysX	Viewer,	or CreateDynamics</authoring_tool>
+			<comments>questions	to:	jratcliff@ageia.com</comments>
+		</contributor>
+		 <created>2013-06-03T07:07:11.319Z</created>
+		 <modified>2013-06-03T07:07:11.319Z</modified>
+		<unit	meter="1"	name="meter"/>
+		<up_axis>Y_UP</up_axis>
+	</asset>
+	 <library_materials>
+			<material	id="Material"	name="Material">
+				 <instance_effect	url="#Material-fx"></instance_effect>
+			</material>
+			<material	id="SWMaterial-0"	name="SWMaterial-0">
+				 <instance_effect	url="#SWMaterial-fx-0"></instance_effect>
+			</material>
+	 </library_materials>
+	 <library_effects>
+			<effect	id="Material-fx" name="Material">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-0" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.803922 0.588235	0.92549	1</color>
+									</ambient>
+									<diffuse>
+										 <color>0.803922 0.588235	0.92549	1</color>
+									</diffuse>
+									<specular>
+										 <color>0.631373 0.631373	0.631373 1</color>
+									</specular>
+									<shininess>
+										 <float>1</float>
+									</shininess>
+									<reflective>
+										 <color>0	0	0	1</color>
+									</reflective>
+									<transparent>
+										 <color>1	1	1	1</color>
+									</transparent>
+									<transparency>
+										 <float>0</float>
+									</transparency>
+							 </phong>
+						</technique>
+				 </profile_COMMON>
+			</effect>
+			<effect	id="SWMaterial-fx-0" name="SWMaterial-0">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-1" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.150588 0.000000 0.000000 1</color>
+									</ambient>
+									<diffuse>
+										 <color>0.752941 0.000000 0.000000 1</color>
+									</diffuse>
+									<specular>
+										 <color>0.752941 0.000000 0.000000 1</color>
+									</specular>
+									<shininess>
+										 <float>1.000000</float>
+									</shininess>
+									<reflective>
+										 <color>0	0	0	1</color>
+									</reflective>
+									<transparent opaque="A_ONE">
+										 <color>1	1	1	1</color>
+									</transparent>
+									<transparency>
+										 <float>1.000000</float>
+									</transparency>
+							 </phong>
+						</technique>
+				 </profile_COMMON>
+			</effect>
+	 </library_effects>
+	 <library_lights>
+		<light id="Light-0" name="Light-0">
+			<technique_common>
+				<directional>
+					<color>0.100000001 0.100000001 0.100000001</color>
+				</directional>
+			</technique_common>
+		</light>
+		<light id="Light-1" name="Light-1">
+			<technique_common>
+				<directional>
+					<color>0.100000001 0.100000001 0.100000001</color>
+				</directional>
+			</technique_common>
+		</light>
+		<light id="Light-2" name="Light-2">
+			<technique_common>
+				<directional>
+					<color>0.100000001 0.100000001 0.100000001</color>
+				</directional>
+			</technique_common>
+		</light>
+	 </library_lights>
+	 <library_cameras>
+		<camera id="Camera-0" name="Camera-0" >
+			<optics>
+				<technique_common>
+				<perspective>
+					<xfov>26.991464615</xfov>
+					<aspect_ratio>1.294117689</aspect_ratio>
+					<znear>0.100000001</znear>
+					<zfar>5000</zfar>
+				</perspective>
+				</technique_common>
+			</optics>
+		</camera>
+	 </library_cameras>
+	<library_geometries>
+		<geometry	id="TriangleMesh_0-Mesh" name="TriangleMesh_0-Mesh">
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+							<param name="X"	type="float"/>
+							<param name="Y"	type="float"/>
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+				 </source>
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+				 383 41 406 41 415 0 					</p>
+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_visual_scenes>
+		<visual_scene	id="Scene0-Visual"	name="Scene0-Visual">
+			<node	id="Actor0-Node" name="Actor0" type="NODE">
+        <translate>0	0 0</translate>
+        <rotate>1 0	0	 0</rotate>
+			    <instance_geometry url="#ActorShape0_0-Mesh" >
+				 <bind_material>
+				  <technique_common>
+				  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
+				  </technique_common>
+				 </bind_material>
+				</instance_geometry>
+			</node>
+			<node id="Light-0-Node" name="Light-0" type="NODE">
+				<translate> 0.100000001 7.300000191 3</translate>
+				<rotate> -0.999906301 0.006848673 0 67.661239624</rotate>
+				<instance_light url="#Light-0" />
+			</node>
+			<node id="Light-1-Node" name="Light-1" type="NODE">
+				<translate> -6.699999809 3.799999952 1.600000024</translate>
+				<rotate> -0.493340075 -0.434918255 0 78.265274048</rotate>
+				<instance_light url="#Light-1" />
+			</node>
+			<node id="Light-2-Node" name="Light-2" type="NODE">
+				<translate> 3.799999952 5.400000095 -4.300000191</translate>
+				<rotate> 0.954617381 0 0.148917452 225.879959106</rotate>
+				<instance_light url="#Light-2" />
+			</node>
+			<node id="Camera-0-Node" name="Camera-0" type="NODE">
+              <translate>1.405430675	0.463091135 -0.162378564</translate>
+              <rotate>0.570263565 0.564484596	0.596788585	 144.583648682</rotate>
+				<instance_camera url="#Camera-0" />
+			</node>
+			</visual_scene>
+	</library_visual_scenes>
+	<library_physics_materials>
+		<physics_material	id="pmat0_0-PhysicsMaterial"	name="pmat0_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.029999999</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0.029999999</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat1_0-PhysicsMaterial"	name="pmat1_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.100000001</dynamic_friction>
+				<restitution>0.001</restitution>
+				<static_friction>0.100000001</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat2_0-PhysicsMaterial"	name="pmat2_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.200000003</dynamic_friction>
+				<restitution>0.002</restitution>
+				<static_friction>0.200000003</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat3_0-PhysicsMaterial"	name="pmat3_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.300000012</dynamic_friction>
+				<restitution>0.003</restitution>
+				<static_friction>0.300000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat4_0-PhysicsMaterial"	name="pmat4_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.400000006</dynamic_friction>
+				<restitution>0.004</restitution>
+				<static_friction>0.400000006</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat5_0-PhysicsMaterial"	name="pmat5_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.5</dynamic_friction>
+				<restitution>0.005</restitution>
+				<static_friction>0.5</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat6_0-PhysicsMaterial"	name="pmat6_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.600000024</dynamic_friction>
+				<restitution>0.006</restitution>
+				<static_friction>0.600000024</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat7_0-PhysicsMaterial"	name="pmat7_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.699999988</dynamic_friction>
+				<restitution>0.007</restitution>
+				<static_friction>0.699999988</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat8_0-PhysicsMaterial"	name="pmat8_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.800000012</dynamic_friction>
+				<restitution>0.008</restitution>
+				<static_friction>0.800000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat9_0-PhysicsMaterial"	name="pmat9_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.900000036</dynamic_friction>
+				<restitution>0.009</restitution>
+				<static_friction>0.900000036</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat10_0-PhysicsMaterial"	name="pmat10_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>1</dynamic_friction>
+				<restitution>0.01</restitution>
+				<static_friction>1</static_friction>
+			</technique_common>
+		</physics_material>
+	</library_physics_materials>
+	<library_physics_models>
+		<physics_model id="Scene0-PhysicsModel">
+			<rigid_body	sid="Actor0-RigidBody" name="LP21.SLDPRT">
+				<technique_common>
+					<dynamic>false</dynamic>
+					<mass>1</mass>
+					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+					<shape>
+					 <density>1</density>
+						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+						<instance_geometry url="#TriangleMesh_0-Mesh">
+						 <bind_material>
+						  <technique_common>
+						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
+						  </technique_common>
+						 </bind_material>
+						</instance_geometry>
+            <translate>0	0 0</translate>
+            <rotate>1 0	0	 0</rotate>
+					 <extra>
+						 <technique	profile="PhysX">
+							 <group>0</group>
+							 <skinWidth>0.000116</skinWidth>
+							 <disable_collision>false</disable_collision>
+						 </technique>
+					 </extra>
+					 </shape>
+					</technique_common>
+			<extra>
+				<technique profile="PhysX">
+					<group>0</group>
+					<disable_collision>true</disable_collision>
+					<disable_response>false</disable_response>
+					<lock_com>true</lock_com>
+				</technique>
+			</extra>
+			 </rigid_body>
+		</physics_model>
+		<physics_model id="Scene0-PhysicsInstance">
+			<instance_physics_model	url="#Scene0-PhysicsModel">
+				<instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+					<technique_common>
+					</technique_common>
+				</instance_rigid_body>
+			<extra>
+				<technique profile="PhysX">
+				</technique>
+			</extra>
+			</instance_physics_model>
+		</physics_model>
+	</library_physics_models>
+	<library_physics_scenes>
+		<physics_scene id="SceneInstances-Physics">
+			<instance_physics_model	url="#Scene0-PhysicsInstance"/>
+			<technique_common>
+				<gravity>0	0 0</gravity>
+				<time_step>0.000781</time_step>
+			</technique_common>
+		</physics_scene>
+	</library_physics_scenes>
+	<scene>
+		<instance_physics_scene	url="#SceneInstances-Physics"/>
+		<instance_visual_scene	url="#Scene0-Visual"/>
+	</scene>
+</COLLADA>

data/meshes/Classic/PSM/outer_pitch_front.dae

@@ -0,0 +1,684 @@
+<?xml	version="1.0"	encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+	<asset>
+		<contributor>
+			<author>NxuStream2 converter - http://www.ageia.com</author>
+			<authoring_tool>PhysX	Rocket,	PhysX	Viewer,	or CreateDynamics</authoring_tool>
+			<comments>questions	to:	jratcliff@ageia.com</comments>
+		</contributor>
+		 <created>2013-06-03T05:20:07.320Z</created>
+		 <modified>2013-06-03T05:20:07.320Z</modified>
+		<unit	meter="1"	name="meter"/>
+		<up_axis>Y_UP</up_axis>
+	</asset>
+	 <library_materials>
+			<material	id="Material"	name="Material">
+				 <instance_effect	url="#Material-fx"></instance_effect>
+			</material>
+			<material	id="SWMaterial-0"	name="SWMaterial-0">
+				 <instance_effect	url="#SWMaterial-fx-0"></instance_effect>
+			</material>
+	 </library_materials>
+	 <library_effects>
+			<effect	id="Material-fx" name="Material">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-0" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.803922 0.588235	0.92549	1</color>
+									</ambient>
+									<diffuse>
+										 <color>0.803922 0.588235	0.92549	1</color>
+									</diffuse>
+									<specular>
+										 <color>0.631373 0.631373	0.631373 1</color>
+									</specular>
+									<shininess>
+										 <float>1</float>
+									</shininess>
+									<reflective>
+										 <color>0	0	0	1</color>
+									</reflective>
+									<transparent>
+										 <color>1	1	1	1</color>
+									</transparent>
+									<transparency>
+										 <float>0</float>
+									</transparency>
+							 </phong>
+						</technique>
+				 </profile_COMMON>
+			</effect>
+			<effect	id="SWMaterial-fx-0" name="SWMaterial-0">
+				 <profile_COMMON>
+						<technique id="Material-fx-COMMON-1" sid="COMMON">
+							 <phong>
+									<ambient>
+										 <color>0.181961 0.088627 0.006275 1</color>
+									</ambient>
+									<diffuse>
+										 <color>0.909804 0.443137 0.031373 1</color>
+									</diffuse>
+									<specular>
+										 <color>0.909804 0.443137 0.031373 1</color>
+									</specular>
+									<shininess>
+										 <float>1.000000</float>
+									</shininess>
+									<reflective>
+										 <color>0	0	0	1</color>
+									</reflective>
+									<transparent opaque="A_ONE">
+										 <color>1	1	1	1</color>
+									</transparent>
+									<transparency>
+										 <float>1.000000</float>
+									</transparency>
+							 </phong>
+						</technique>
+				 </profile_COMMON>
+			</effect>
+	 </library_effects>
+	 <library_lights>
+		<light id="Light-0" name="Light-0">
+			<technique_common>
+				<directional>
+					<color>0.100000001 0.100000001 0.100000001</color>
+				</directional>
+			</technique_common>
+		</light>
+		<light id="Light-1" name="Light-1">
+			<technique_common>
+				<directional>
+					<color>0.100000001 0.100000001 0.100000001</color>
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+					<technique_common>
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+							<param name="X"	type="float"/>
+							<param name="Y"	type="float"/>
+							<param name="Z"	type="float"/>
+						</accessor>
+					 </technique_common>
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+				</triangles>
+			</mesh>
+		</geometry>
+	</library_geometries>
+	<library_visual_scenes>
+		<visual_scene	id="Scene0-Visual"	name="Scene0-Visual">
+			<node	id="Actor0-Node" name="Actor0" type="NODE">
+        <translate>0	0 0</translate>
+        <rotate>1 0	0	 0</rotate>
+			    <instance_geometry url="#ActorShape0_0-Mesh" >
+				 <bind_material>
+				  <technique_common>
+				  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
+				  </technique_common>
+				 </bind_material>
+				</instance_geometry>
+			</node>
+			<node id="Light-0-Node" name="Light-0" type="NODE">
+				<translate> 0.100000001 7.300000191 3</translate>
+				<rotate> -0.999906301 0.006848673 0 67.661239624</rotate>
+				<instance_light url="#Light-0" />
+			</node>
+			<node id="Light-1-Node" name="Light-1" type="NODE">
+				<translate> -6.699999809 3.799999952 1.600000024</translate>
+				<rotate> -0.493340075 -0.434918255 0 78.265274048</rotate>
+				<instance_light url="#Light-1" />
+			</node>
+			<node id="Light-2-Node" name="Light-2" type="NODE">
+				<translate> 3.799999952 5.400000095 -4.300000191</translate>
+				<rotate> 0.954617381 0 0.148917452 225.879959106</rotate>
+				<instance_light url="#Light-2" />
+			</node>
+			<node id="Camera-0-Node" name="Camera-0" type="NODE">
+              <translate>-0.329610288	0.093884178 -0.439684093</translate>
+              <rotate>0.681686163 0.691910982	-0.237829983	 209.472763062</rotate>
+				<instance_camera url="#Camera-0" />
+			</node>
+			</visual_scene>
+	</library_visual_scenes>
+	<library_physics_materials>
+		<physics_material	id="pmat0_0-PhysicsMaterial"	name="pmat0_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.029999999</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0.029999999</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat1_0-PhysicsMaterial"	name="pmat1_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.100000001</dynamic_friction>
+				<restitution>0.001</restitution>
+				<static_friction>0.100000001</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat2_0-PhysicsMaterial"	name="pmat2_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.200000003</dynamic_friction>
+				<restitution>0.002</restitution>
+				<static_friction>0.200000003</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat3_0-PhysicsMaterial"	name="pmat3_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.300000012</dynamic_friction>
+				<restitution>0.003</restitution>
+				<static_friction>0.300000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat4_0-PhysicsMaterial"	name="pmat4_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.400000006</dynamic_friction>
+				<restitution>0.004</restitution>
+				<static_friction>0.400000006</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat5_0-PhysicsMaterial"	name="pmat5_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.5</dynamic_friction>
+				<restitution>0.005</restitution>
+				<static_friction>0.5</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat6_0-PhysicsMaterial"	name="pmat6_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.600000024</dynamic_friction>
+				<restitution>0.006</restitution>
+				<static_friction>0.600000024</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat7_0-PhysicsMaterial"	name="pmat7_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.699999988</dynamic_friction>
+				<restitution>0.007</restitution>
+				<static_friction>0.699999988</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat8_0-PhysicsMaterial"	name="pmat8_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.800000012</dynamic_friction>
+				<restitution>0.008</restitution>
+				<static_friction>0.800000012</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat9_0-PhysicsMaterial"	name="pmat9_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0.900000036</dynamic_friction>
+				<restitution>0.009</restitution>
+				<static_friction>0.900000036</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material	id="pmat10_0-PhysicsMaterial"	name="pmat10_0-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>1</dynamic_friction>
+				<restitution>0.01</restitution>
+				<static_friction>1</static_friction>
+			</technique_common>
+		</physics_material>
+	</library_physics_materials>
+	<library_physics_models>
+		<physics_model id="Scene0-PhysicsModel">
+			<rigid_body	sid="Actor0-RigidBody" name="LP12.SLDPRT">
+				<technique_common>
+					<dynamic>false</dynamic>
+					<mass>1</mass>
+					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+					<shape>
+					 <density>1</density>
+						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+						<instance_geometry url="#TriangleMesh_0-Mesh">
+						 <bind_material>
+						  <technique_common>
+						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
+						  </technique_common>
+						 </bind_material>
+						</instance_geometry>
+            <translate>0	0 0</translate>
+            <rotate>1 0	0	 0</rotate>
+					 <extra>
+						 <technique	profile="PhysX">
+							 <group>0</group>
+							 <skinWidth>0.000036</skinWidth>
+							 <disable_collision>false</disable_collision>
+						 </technique>
+					 </extra>
+					 </shape>
+					</technique_common>
+			<extra>
+				<technique profile="PhysX">
+					<group>0</group>
+					<disable_collision>true</disable_collision>
+					<disable_response>false</disable_response>
+					<lock_com>true</lock_com>
+				</technique>
+			</extra>
+			 </rigid_body>
+		</physics_model>
+		<physics_model id="Scene0-PhysicsInstance">
+			<instance_physics_model	url="#Scene0-PhysicsModel">
+				<instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+					<technique_common>
+					</technique_common>
+				</instance_rigid_body>
+			<extra>
+				<technique profile="PhysX">
+				</technique>
+			</extra>
+			</instance_physics_model>
+		</physics_model>
+	</library_physics_models>
+	<library_physics_scenes>
+		<physics_scene id="SceneInstances-Physics">
+			<instance_physics_model	url="#Scene0-PhysicsInstance"/>
+			<technique_common>
+				<gravity>0	0 0</gravity>
+				<time_step>0.000781</time_step>
+			</technique_common>
+		</physics_scene>
+	</library_physics_scenes>
+	<scene>
+		<instance_physics_scene	url="#SceneInstances-Physics"/>
+		<instance_visual_scene	url="#Scene0-Visual"/>
+	</scene>
+</COLLADA>