diff --git a/msx_assets/object/017_orange/collision.obj b/msx_assets/object/017_orange/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05335436dd07f71b4500496273e052ae6370f99c
--- /dev/null
+++ b/msx_assets/object/017_orange/collision.obj
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\ No newline at end of file
diff --git a/msx_assets/object/017_orange/material_0.mtl b/msx_assets/object/017_orange/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/017_orange/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/017_orange/textured.mtl b/msx_assets/object/017_orange/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/017_orange/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/017_orange/textured.obj b/msx_assets/object/017_orange/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c725f887a3cf0237a55be83351bf78700b595eda
--- /dev/null
+++ b/msx_assets/object/017_orange/textured.obj
@@ -0,0 +1,33139 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
+usemtl material_0
+v -0.02692645 -0.02176845 -0.01363799
+v -0.02761903 -0.02021342 -0.01480299
+v -0.02642914 -0.02167056 -0.01504699
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diff --git a/msx_assets/object/019_pitcher_base/collision.obj b/msx_assets/object/019_pitcher_base/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6cf41b04e1c39429167a26af7e3328db10d4795
--- /dev/null
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diff --git a/msx_assets/object/019_pitcher_base/material_0.mtl b/msx_assets/object/019_pitcher_base/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/019_pitcher_base/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/019_pitcher_base/textured.mtl b/msx_assets/object/019_pitcher_base/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/019_pitcher_base/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/019_pitcher_base/textured.obj b/msx_assets/object/019_pitcher_base/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63b9a909b27ea43c525ca60df1602dd86a8b91ae
--- /dev/null
+++ b/msx_assets/object/019_pitcher_base/textured.obj
@@ -0,0 +1,33517 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
+usemtl material_0
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diff --git a/msx_assets/object/022_windex_bottle/collision.obj b/msx_assets/object/022_windex_bottle/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0237017fd7ecbd066075f88e40c817b2eb78f837
--- /dev/null
+++ b/msx_assets/object/022_windex_bottle/collision.obj
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\ No newline at end of file
diff --git a/msx_assets/object/022_windex_bottle/material_0.mtl b/msx_assets/object/022_windex_bottle/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/022_windex_bottle/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/022_windex_bottle/textured.mtl b/msx_assets/object/022_windex_bottle/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/022_windex_bottle/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/022_windex_bottle/textured.obj b/msx_assets/object/022_windex_bottle/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..135a4dd0d878ae6dda7adb951765d927cb7bd8db
--- /dev/null
+++ b/msx_assets/object/022_windex_bottle/textured.obj
@@ -0,0 +1,33663 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
+usemtl material_0
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diff --git a/msx_assets/object/029_plate/collision.obj b/msx_assets/object/029_plate/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2052c12e6bd7c6f83f286e17c9118e098dfda1de
--- /dev/null
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\ No newline at end of file
diff --git a/msx_assets/object/029_plate/material_0.mtl b/msx_assets/object/029_plate/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/029_plate/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/029_plate/textured.mtl b/msx_assets/object/029_plate/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/029_plate/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/029_plate/textured.obj b/msx_assets/object/029_plate/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad26422db5c37c855a7965dd3818854a0a189b48
--- /dev/null
+++ b/msx_assets/object/029_plate/textured.obj
@@ -0,0 +1,35665 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
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diff --git a/msx_assets/object/044_flat_screwdriver/collision.obj b/msx_assets/object/044_flat_screwdriver/collision.obj
new file mode 100644
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diff --git a/msx_assets/object/044_flat_screwdriver/material_0.mtl b/msx_assets/object/044_flat_screwdriver/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/044_flat_screwdriver/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/044_flat_screwdriver/textured.mtl b/msx_assets/object/044_flat_screwdriver/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/044_flat_screwdriver/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/044_flat_screwdriver/textured.obj b/msx_assets/object/044_flat_screwdriver/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7de9c9c36f054fabd600cf911704766ab02c5369
--- /dev/null
+++ b/msx_assets/object/044_flat_screwdriver/textured.obj
@@ -0,0 +1,33407 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/050_medium_clamp/collision.obj b/msx_assets/object/050_medium_clamp/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48d536e59be26be15cdbaa273505d8773ca30401
--- /dev/null
+++ b/msx_assets/object/050_medium_clamp/collision.obj
@@ -0,0 +1,5079 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/msx_assets/object/050_medium_clamp/material_0.mtl b/msx_assets/object/050_medium_clamp/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/050_medium_clamp/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/050_medium_clamp/textured.mtl b/msx_assets/object/050_medium_clamp/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/050_medium_clamp/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/050_medium_clamp/textured.obj b/msx_assets/object/050_medium_clamp/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d8fa31b15b42d28fa5c0e0ab4475e684030952b
--- /dev/null
+++ b/msx_assets/object/050_medium_clamp/textured.obj
@@ -0,0 +1,34097 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
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\ No newline at end of file
diff --git a/msx_assets/object/065-f_cups/collision.obj b/msx_assets/object/065-f_cups/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ff397397b32cd6c11d0e0af0bfa003f79248a0
--- /dev/null
+++ b/msx_assets/object/065-f_cups/collision.obj
@@ -0,0 +1,3257 @@
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diff --git a/msx_assets/object/065-f_cups/material_0.mtl b/msx_assets/object/065-f_cups/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/065-f_cups/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/065-f_cups/textured.mtl b/msx_assets/object/065-f_cups/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/065-f_cups/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/065-f_cups/textured.obj b/msx_assets/object/065-f_cups/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58056bbd11ab6bc46d417f77320379e65df563af
--- /dev/null
+++ b/msx_assets/object/065-f_cups/textured.obj
@@ -0,0 +1,33249 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/072-a_toy_airplane/collision.obj b/msx_assets/object/072-a_toy_airplane/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce06baf02136700414b7bdfaa0d71ddb66f5b0f2
--- /dev/null
+++ b/msx_assets/object/072-a_toy_airplane/collision.obj
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diff --git a/msx_assets/object/072-a_toy_airplane/material_0.mtl b/msx_assets/object/072-a_toy_airplane/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/072-a_toy_airplane/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/072-a_toy_airplane/textured.mtl b/msx_assets/object/072-a_toy_airplane/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/072-a_toy_airplane/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/072-a_toy_airplane/textured.obj b/msx_assets/object/072-a_toy_airplane/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f817720ba8ca1795f2e3820e6e5843e10cd34553
--- /dev/null
+++ b/msx_assets/object/072-a_toy_airplane/textured.obj
@@ -0,0 +1,35915 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
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diff --git a/msx_assets/object/073-b_lego_duplo/collision.obj b/msx_assets/object/073-b_lego_duplo/collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b6a496649aa3bee2b72adfca936edc1fb3429b
--- /dev/null
+++ b/msx_assets/object/073-b_lego_duplo/collision.obj
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diff --git a/msx_assets/object/073-b_lego_duplo/material_0.mtl b/msx_assets/object/073-b_lego_duplo/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/msx_assets/object/073-b_lego_duplo/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/msx_assets/object/073-b_lego_duplo/textured.mtl b/msx_assets/object/073-b_lego_duplo/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/msx_assets/object/073-b_lego_duplo/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/msx_assets/object/073-b_lego_duplo/textured.obj b/msx_assets/object/073-b_lego_duplo/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c423cfc017d820bc40bfa3b6fdef3086991f9b8
--- /dev/null
+++ b/msx_assets/object/073-b_lego_duplo/textured.obj
@@ -0,0 +1,33713 @@
+# https://github.com/mikedh/trimesh
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diff --git a/msx_assets/object/storage_rack_01/storage_rack_01.gltf b/msx_assets/object/storage_rack_01/storage_rack_01.gltf
new file mode 100644
index 0000000000000000000000000000000000000000..70fcb45e4372839ec6ffe9a477aa61eb2633d6ab
--- /dev/null
+++ b/msx_assets/object/storage_rack_01/storage_rack_01.gltf
@@ -0,0 +1,269 @@
+{
+	"asset":{
+		"generator":"Khronos glTF Blender I/O v4.0.43",
+		"version":"2.0"
+	},
+	"scene":0,
+	"scenes":[
+		{
+			"name":"Scene",
+			"nodes":[
+				0
+			]
+		}
+	],
+	"nodes":[
+		{
+			"mesh":0,
+			"name":"storage_rack_01"
+		}
+	],
+	"materials":[
+		{
+			"doubleSided":true,
+			"name":"metal_rack",
+			"normalTexture":{
+				"index":0
+			},
+			"pbrMetallicRoughness":{
+				"baseColorTexture":{
+					"index":1
+				},
+				"metallicRoughnessTexture":{
+					"index":2
+				}
+			}
+		},
+		{
+			"doubleSided":true,
+			"name":"wood_rack",
+			"normalTexture":{
+				"index":3
+			},
+			"pbrMetallicRoughness":{
+				"baseColorTexture":{
+					"index":4
+				},
+				"metallicFactor":0,
+				"metallicRoughnessTexture":{
+					"index":5
+				}
+			}
+		}
+	],
+	"meshes":[
+		{
+			"name":"storage_rack_01",
+			"primitives":[
+				{
+					"attributes":{
+						"POSITION":0,
+						"NORMAL":1,
+						"TEXCOORD_0":2
+					},
+					"indices":3,
+					"material":0
+				},
+				{
+					"attributes":{
+						"POSITION":4,
+						"NORMAL":5,
+						"TEXCOORD_0":6
+					},
+					"indices":7,
+					"material":1
+				}
+			]
+		}
+	],
+	"textures":[
+		{
+			"sampler":0,
+			"source":0
+		},
+		{
+			"sampler":0,
+			"source":1
+		},
+		{
+			"sampler":0,
+			"source":2
+		},
+		{
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+		},
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+			"source":4
+		},
+		{
+			"sampler":0,
+			"source":5
+		}
+	],
+	"images":[
+		{
+			"mimeType":"image/png",
+			"name":"metal_rack_normal",
+			"uri":"metal_rack_normal.png"
+		},
+		{
+			"mimeType":"image/jpeg",
+			"name":"metal_rack_baseColor",
+			"uri":"metal_rack_baseColor.jpg"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"metal_rack_metallicRoughness",
+			"uri":"metal_rack_metallicRoughness.png"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"wood_rack_normal",
+			"uri":"wood_rack_normal.png"
+		},
+		{
+			"mimeType":"image/jpeg",
+			"name":"wood_rack_baseColor",
+			"uri":"wood_rack_baseColor.jpg"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"wood_rack_metallicRoughness",
+			"uri":"wood_rack_metallicRoughness.png"
+		}
+	],
+	"accessors":[
+		{
+			"bufferView":0,
+			"componentType":5126,
+			"count":32297,
+			"max":[
+				0.6250001192092896,
+				2,
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+			],
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+				-0.625,
+				-2.7319620343746465e-08,
+				-0.42500007152557373
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+			"type":"VEC3"
+		},
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+			"componentType":5126,
+			"count":32297,
+			"type":"VEC3"
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+			"type":"VEC2"
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+			"count":135936,
+			"type":"SCALAR"
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+			"max":[
+				0.5195733904838562,
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+				0.6086955666542053,
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+			],
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+			"count":126,
+			"type":"VEC3"
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+			"count":126,
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+			"type":"SCALAR"
+		}
+	],
+	"bufferViews":[
+		{
+			"buffer":0,
+			"byteLength":387564,
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+		},
+		{
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+		},
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+		},
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+		},
+		{
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+			"byteLength":1512,
+			"byteOffset":1306888,
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+		},
+		{
+			"buffer":0,
+			"byteLength":1008,
+			"byteOffset":1308400,
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+		},
+		{
+			"buffer":0,
+			"byteLength":576,
+			"byteOffset":1309408,
+			"target":34963
+		}
+	],
+	"samplers":[
+		{
+			"magFilter":9729,
+			"minFilter":9987
+		}
+	],
+	"buffers":[
+		{
+			"byteLength":1309984,
+			"uri":"storage_rack_01.bin"
+		}
+	]
+}
diff --git a/msx_assets/robot/franka_v3_sphere.urdf b/msx_assets/robot/franka_v3_sphere.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9fa40ed39aed3ba0cdd446ad989e6b7c028a5892
--- /dev/null
+++ b/msx_assets/robot/franka_v3_sphere.urdf
@@ -0,0 +1,575 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="panda" path="scripts/robot/panda_v3.urdf">
+	<link name="panda_link0">
+		<visual>
+			<geometry>
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+			</geometry>
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+	</link>
+	<link name="panda_link1">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link1.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
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+		</inertial>
+	</link>
+	<link name="panda_link2">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link2.dae"></mesh>
+			</geometry>
+		</visual>
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+		</inertial>
+	</link>
+	<link name="panda_link3">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link3.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
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+		</inertial>
+	</link>
+	<link name="panda_link4">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link4.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+		</inertial>
+	</link>
+	<link name="panda_link5">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link5.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+		</inertial>
+	</link>
+	<link name="panda_link6">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link6.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+			<origin xyz="0.04832931056606769 0.00040021078968048053 0.00887578661584854" rpy="0 0 0"></origin>
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+		</inertial>
+	</link>
+	<link name="panda_link7">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link7.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+			<mass value="0.735522"></mass>
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+		</inertial>
+	</link>
+	<link name="panda_link8"></link>
+	<link name="panda_hand">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/hand.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+			<origin xyz="9.193240296840668e-05 0.07441707816624642 0.027520674433231355" rpy="0 0 0"></origin>
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+			<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_hand_tcp"></link>
+	<link name="panda_leftfinger">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/finger.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+			</geometry>
+			<origin xyz="-0.0035 0.0185 0.011" rpy="0 0 0"></origin>
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+			<origin xyz="-2e-05 0.012332000000000001 0.034529" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 0.00758 0.04525" rpy="0 0 0"></origin>
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+			<mass value="0.015"></mass>
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+		</inertial>
+	</link>
+	<link name="panda_rightfinger">
+		<visual>
+			<origin rpy="0 0 3.141592653589793" xyz="0 0 0"></origin>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/finger.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
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+			<origin xyz="-0.0035 -0.0185 0.011" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 -0.00758 0.04525" rpy="0 0 0"></origin>
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+			<mass value="0.015"></mass>
+			<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"></inertia>
+		</inertial>
+	</link>
+	<link name="camera_base_link"></link>
+	<link name="camera_link">
+		<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"></origin>
+			<geometry>
+				<box size="0.02005 0.099 0.023"></box>
+			</geometry>
+		</visual>
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+			<origin xyz="0.0 0.020947999999999994 0.002948" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 0.019475999999999993 -0.001476" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 0.0016589999999999973 0.00094" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 -0.015049000000000003 -0.00116" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 -0.031233000000000004 0.000864" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 -0.06077200000000001 0.002772" rpy="0 0 0"></origin>
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+			<origin xyz="0.0 -0.062009 -0.004009" rpy="0 0 0"></origin>
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+			<mass value="0.564"></mass>
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+		</inertial>
+	</link>
+	<joint name="panda_joint1" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="0 0 0" xyz="0 0 0.333"></origin>
+		<parent link="panda_link0"></parent>
+		<child link="panda_link1"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint2" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"></safety_controller>
+		<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"></origin>
+		<parent link="panda_link1"></parent>
+		<child link="panda_link2"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint3" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"></origin>
+		<parent link="panda_link2"></parent>
+		<child link="panda_link3"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint4" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"></origin>
+		<parent link="panda_link3"></parent>
+		<child link="panda_link4"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint5" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"></origin>
+		<parent link="panda_link4"></parent>
+		<child link="panda_link5"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint6" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"></origin>
+		<parent link="panda_link5"></parent>
+		<child link="panda_link6"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint7" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"></origin>
+		<parent link="panda_link6"></parent>
+		<child link="panda_link7"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint8" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0.107"></origin>
+		<parent link="panda_link7"></parent>
+		<child link="panda_link8"></child>
+	</joint>
+	<joint name="panda_hand_joint" type="fixed">
+		<parent link="panda_link8"></parent>
+		<child link="panda_hand"></child>
+		<origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"></origin>
+	</joint>
+	<joint name="panda_hand_tcp_joint" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0.1034"></origin>
+		<parent link="panda_hand"></parent>
+		<child link="panda_hand_tcp"></child>
+	</joint>
+	<joint name="panda_finger_joint1" type="prismatic">
+		<parent link="panda_hand"></parent>
+		<child link="panda_leftfinger"></child>
+		<origin rpy="0 0 0" xyz="0 0 0.0584"></origin>
+		<axis xyz="0 1 0"></axis>
+		<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"></limit>
+		<dynamics damping="0.3"></dynamics>
+	</joint>
+	<joint name="panda_finger_joint2" type="prismatic">
+		<parent link="panda_hand"></parent>
+		<child link="panda_rightfinger"></child>
+		<origin rpy="0 0 0" xyz="0 0 0.0584"></origin>
+		<axis xyz="0 -1 0"></axis>
+		<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"></limit>
+		<mimic joint="panda_finger_joint1"></mimic>
+		<dynamics damping="0.3"></dynamics>
+	</joint>
+	<joint name="realsense_joint" type="fixed">
+		<origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"></origin>
+		<parent link="panda_hand"></parent>
+		<child link="camera_base_link"></child>
+	</joint>
+	<joint name="camera_link_joint" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0.02 0.0115"></origin>
+		<parent link="camera_base_link"></parent>
+		<child link="camera_link"></child>
+	</joint>
+</robot>
\ No newline at end of file
diff --git a/msx_assets/robot/panda_v2.srdf b/msx_assets/robot/panda_v2.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f150964e8c34a5e430d41099a4e523c06f86130
--- /dev/null
+++ b/msx_assets/robot/panda_v2.srdf
@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+    </group>
+    <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_hand" reason="Default"/>
+</robot>
diff --git a/msx_assets/robot/panda_v2.urdf b/msx_assets/robot/panda_v2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f3374e361bc4c701ef26a4847b8ab3bbcdc4e1f5
--- /dev/null
+++ b/msx_assets/robot/panda_v2.urdf
@@ -0,0 +1,339 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+</robot>
diff --git a/msx_assets/robot/panda_v2_sphere.urdf b/msx_assets/robot/panda_v2_sphere.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f522fface1780620f14c1a9aed79fbf477e0b82d
--- /dev/null
+++ b/msx_assets/robot/panda_v2_sphere.urdf
@@ -0,0 +1,451 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.118443"></sphere>
+			</geometry>
+			<origin xyz="-0.013302850344896318 -1.7654266119003296e-05 0.06998816952080536" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.094468"></sphere>
+			</geometry>
+			<origin xyz="-0.08469985034489633 -6.542661190032961e-07 0.04372716952080535" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.088921"></sphere>
+			</geometry>
+			<origin xyz="2.117776274681085e-06 -0.048460439349412916 -0.01970848887789249" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.092445"></sphere>
+			</geometry>
+			<origin xyz="7.811777627468109e-05 -0.004169439349412919 -0.1211374888778925" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.080952"></sphere>
+			</geometry>
+			<origin xyz="-6.325302803516388e-05 -0.1374107672843933 0.0027253661164045317" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.083055"></sphere>
+			</geometry>
+			<origin xyz="7.469719648361267e-07 -0.05252276728439331 0.041859366116404534" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077314"></sphere>
+			</geometry>
+			<origin xyz="2.4746971964836127e-05 -0.0018717672843933109 0.052315366116404534" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.084565"></sphere>
+			</geometry>
+			<origin xyz="0.07038373313939572 0.038575908588051794 -0.01422854923415184" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.081753"></sphere>
+			</geometry>
+			<origin xyz="0.005515733139395712 0.003120908588051797 -0.06724954923415184" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.083165"></sphere>
+			</geometry>
+			<origin xyz="-0.07579066810381413 0.06943287985908986 0.0036627439314126965" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.084983"></sphere>
+			</geometry>
+			<origin xyz="-0.013342668103814126 0.011239879859089853 0.0367247439314127" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.07799"></sphere>
+			</geometry>
+			<origin xyz="9.441931009292602e-06 0.0039791757259368885 -0.20816402466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077391"></sphere>
+			</geometry>
+			<origin xyz="4.14419310092926e-05 0.039383175725936886 -0.14107102466511726" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.076558"></sphere>
+			</geometry>
+			<origin xyz="4.34419310092926e-05 0.04415417572593689 -0.06345502466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.071983"></sphere>
+			</geometry>
+			<origin xyz="6.54419310092926e-05 0.06623817572593689 -0.003236024665117257" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 0.035 0.0" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 0.0 0.0" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 -0.015 0.0" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.054007"></sphere>
+			</geometry>
+			<origin xyz="-0.00016322969400882695 -0.0007641521297693243 0.07940087966275215" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.04804"></sphere>
+			</geometry>
+			<origin xyz="0.034025770305991174 0.034175847870230674 0.08081187966275215" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.044394"></sphere>
+			</geometry>
+			<origin xyz="9.193240296840668e-05 0.07441707816624642 0.027520674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.048978"></sphere>
+			</geometry>
+			<origin xyz="2.5932402968406678e-05 0.033791078166246415 0.023450674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.050352"></sphere>
+			</geometry>
+			<origin xyz="1.9324029684066776e-06 -0.0068179218337535855 0.020964674433231353" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.044425"></sphere>
+			</geometry>
+			<origin xyz="7.293240296840668e-05 -0.06114992183375358 0.039945674433231354" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.043995"></sphere>
+			</geometry>
+			<origin xyz="1.6932402968406676e-05 -0.06272592183375358 0.006249674433231354" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 0.01 0.043" rpy="0 0 0"></origin>
+    </collision>
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 0.02 0.015" rpy="0 0 0"></origin>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 -0.01 0.043" rpy="0 0 0"></origin>
+    </collision>
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 -0.02 0.015" rpy="0 0 0"></origin>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <!--  camera mount-->
+  <joint name="realsense_joint" type="fixed">
+    <origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"/>
+    <parent link="panda_hand"/>
+    <child link="camera_base_link"/>
+  </joint>
+  <link name="camera_base_link"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_base_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <!-- <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
+      </geometry>
+    </visual> -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+</robot>
diff --git a/msx_assets/robot/panda_v3.srdf b/msx_assets/robot/panda_v3.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..0f150964e8c34a5e430d41099a4e523c06f86130
--- /dev/null
+++ b/msx_assets/robot/panda_v3.srdf
@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<robot name="panda">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+    </group>
+    <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_hand" reason="Default"/>
+</robot>
diff --git a/msx_assets/robot/panda_v3.urdf b/msx_assets/robot/panda_v3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9d3141789a7d0fe16608601a53ae80a738cd27a
--- /dev/null
+++ b/msx_assets/robot/panda_v3.urdf
@@ -0,0 +1,377 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
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+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  
+  <!--  camera mount-->
+  <joint name="realsense_joint" type="fixed">
+    <origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"/>
+    <parent link="panda_hand"/>
+    <child link="camera_base_link"/>
+  </joint>
+  <link name="camera_base_link"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_base_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
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+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
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+  </link>
+</robot>
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diff --git a/project/pyproject.toml b/project/pyproject.toml
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+[project]
+name = "mani_skill_task_environment"
+version = "0.0.1"
+description = "Use ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills for algorithms testing"
+readme = "README.md"
+authors = [
+    { name = "ManiSkill contributors" }
+]
+license = { text = "MIT" }  # Adjust if your license differs
+requires-python = ">=3.9"
+dependencies = [
+    "numpy>=1.22,<2.0.0",
+    "scipy",
+    "dacite",
+    "gymnasium==0.29.1",
+    "h5py",
+    "pyyaml",
+    "tqdm",
+    "GitPython",
+    "tabulate",
+    "transforms3d",
+    "trimesh",
+    "imageio",
+    "imageio[ffmpeg]",
+    "mplib==0.2.1; platform_system == 'Linux'",
+    "fast_kinematics==0.2.2; platform_system == 'Linux'",
+    "IPython",
+    "pytorch_kinematics==0.7.5",
+    "pynvml",
+    "coacd",
+    "tyro>=0.8.5",
+    "huggingface_hub",
+    "sapien>=3.0.0.b1; platform_system == 'Linux'",
+    "sapien>=3.0.0.b1; platform_system == 'Windows'",
+    "open3d==0.19.0",
+    "hydra-core==1.3.2",
+]
+
+[build-system]
+requires = ["setuptools>=62.3.0"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools]
+packages = []  # This is a workspace root, not a package itself
+
+[tool.pytest.ini_options]
+markers = [
+    "slow: marks tests as slow (deselect with '-m \"not slow\"')",
+    "serial",
+    "gpu_sim: marks tests as using the GPU simulation (deselect with '-m \"not gpu_sim\"')",
+    "serial",
+]
+
+[tool.uv.workspace]
+members = []