diff --git a/assets/body/v2.0/meshes/visual/body_link0.dae b/assets/body/v2.0/meshes/visual/body_link0.dae
index 5dcd2101..e95d27ef 100644
--- a/assets/body/v2.0/meshes/visual/body_link0.dae
+++ b/assets/body/v2.0/meshes/visual/body_link0.dae
@@ -214,7 +214,7 @@
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1421 0 3056 1664 0 3055 1606 0 3058 1484 0 3058 1484 0 3057 1421 0 3060 1335 0 3053 3176 0 3073 4098 0 3002 3841 0 3054 3407 0 3073 3407 0 3053 3407 0 3013 2615 0 3070 2061 0 3054 2690 0 3556 4120 0 2966 3843 0 3063 3955 0 3064 4114 0 3063 3955 0 2968 2764 0 3064 4114 0 2968 2764 0 3066 4066 0 3575 4102 0 2966 3843 0 3556 4120 0 3067 4154 0 2993 3693 0 3065 3865 0 3066 4066 0 2992 3755 0 3067 4154 0 3068 4147 0 3065 3865 0 3002 3841 0 3069 4169 0 3068 4147 0 3002 3841 0 3072 2516 0 3070 2062 0 3013 2696 0 3071 2462 0 3072 2516 0 3013 3844 0 3002 3841 0 3073 4098 0 3069 4169 0 3006 2612 0 3566 2095 0 3071 2419 0 3006 2612 0 3574 2223 0 3566 2095 0 3042 2562 0 3056 2530 0 3734 2472 0 3057 2731 0 3037 2677 0 3724 4025 0 3060 1335 0 3057 1421 0 3059 1274 0 3060 1335 0 3059 1274 0 3062 1106 0 3062 1106 0 3059 1274 0 3061 1048 0 3056 2530 0 3058 2663 0 3734 2472 0 3062 1106 0 3061 1048 0 3076 949 0 3070 2061 0 3074 2050 0 3054 2690 0 3074 3407 0 3073 3407 0 3054 3407 0 3578 2616 0 3584 2132 0 2969 3687 0 3587 4152 0 2966 3843 0 3575 4102 0 3578 2616 0 2969 3687 0 3588 2137 0 2969 3687 0 3584 2132 0 3583 2048 0 2970 2512 0 3583 2041 0 3585 2153 0 2971 2646 0 3585 2153 0 3586 2354 0 3587 4152 0 3579 3945 0 2966 3843 0 3588 2137 0 2969 3687 0 3633 1996 0 3579 3945 0 3631 4062 0 2972 2741 0 3630 3966 0 2972 2741 0 3631 4062 0 2973 3774 0 3638 2008 0 3635 2660 0 2973 3774 0 3634 2336 0 3637 1943 0 3636 4051 0 2975 3593 0 3630 3966 0 2980 2657 0 3645 2259 0 3634 2518 0 3635 2660 0 3633 1996 0 2969 3687 0 3006 2612 0 3596 2222 0 3574 2038 0 3596 2089 0 3011 2415 0 3600 2118 0 3653 2348 0 3007 3731 0 3586 2497 0 3655 2072 0 3600 2110 0 3010 2292 0 3008 2339 0 3653 2348 0 3660 2054 0 3008 2339 0 3660 2054 0 3663 2200 0 3664 2391 0 3009 2595 0 3663 2311 0 3655 2129 0 3010 2242 0 3666 2067 0 3666 2093 0 3010 2361 0 3664 2391 0 3064 4114 0 3556 4120 0 3063 3955 0 2973 3774 0 3637 1943 0 3638 2008 0 3728 4201 0 3036 3708 0 3636 4051 0 3645 2259 0 2980 2657 0 3649 2296 0 2988 2536 0 3693 2147 0 3649 2296 0 2988 2536 0 3695 2190 0 3693 2108 0 3698 2217 0 3695 2190 0 2989 2604 0 3713 2244 0 3698 2171 0 2990 2545 0 2991 2572 0 3715 2338 0 3713 2244 0 3068 4147 0 3067 4154 0 3065 3865 0 3560 4394 0 3067 4154 0 3068 4147 0 3561 4392 0 3068 4147 0 3069 4169 0 3564 1888 0 3070 2062 0 3072 2516 0 3071 2462 0 3564 1887 0 3072 2516 0 3057 2731 0 3724 4025 0 3059 2474 0 3734 2472 0 3058 2663 0 3060 2711 0 3059 2474 0 3724 4025 0 3061 2393 0 3734 2472 0 3060 2711 0 3062 3551 0 3723 3820 0 3036 3708 0 3722 4088 0 3722 4088 0 3036 3708 0 3728 4201 0 3724 4025 0 3037 2677 0 3723 3820 0 3041 3744 0 3727 2333 0 3725 2702 0 3740 2116 0 3039 2576 0 3726 2503 0 3725 3822 0 3730 2184 0 3040 3686 0 3040 3758 0 3730 2126 0 3726 2224 0 3042 2562 0 3734 2472 0 3727 2501 0 3751 2539 0 3039 2576 0 3740 2390 0 3715 2338 0 3045 2554 0 3750 2357 0 3750 2357 0 3044 2605 0 3751 2115 0 3075 2310 0 3061 2393 0 3724 4025 0 3062 3551 0 3076 3709 0 3734 2472 0 3075 2310 0 3724 4025 0 3077 2237 0 3734 2472 0 3076 3709 0 3078 3848 0 3069 4169 0 3073 4098 0 3604 4515 0 3074 3407 0 3604 3407 0 3073 3407 0 3070 2061 0 3603 1713 0 3074 2050 0 3076 949 0 3061 1048 0 3075 916 0 3076 949 0 3075 916 0 3078 857 0 3078 857 0 3075 916 0 3077 825 0 3078 857 0 3077 825 0 3080 761 0 3080 761 0 3077 825 0 3079 715 0 3080 761 0 3079 715 0 3766 676 0 3083 11 0 3082 11 0 3081 11 0 3086 11 0 3083 11 0 3081 11 0 3081 1958 0 3082 1958 0 3084 1930 0 3083 3469 0 3085 3473 0 3082 3511 0 3086 11 0 3081 11 0 3091 11 0 3081 2735 0 3084 2655 0 3092 2651 0 3084 1930 0 3082 1958 0 3085 1905 0 3092 2651 0 3084 2655 0 3089 2768 0 3087 11 0 3083 11 0 3086 11 0 3086 11 0 3088 11 0 3087 11 0 3084 1930 0 3085 1905 0 3089 1820 0 3089 1820 0 3085 1905 0 3090 1764 0 3091 11 0 3081 11 0 3092 11 0 3091 11 0 3092 11 0 3094 11 0 3094 11 0 3092 11 0 3093 11 0 3093 11 0 3095 11 0 3094 11 0 3100 11 0 3095 11 0 3093 11 0 3100 11 0 3096 11 0 3095 11 0 3097 11 0 3102 11 0 3093 11 0 3093 11 0 3102 11 0 3100 11 0 3112 11 0 3103 11 0 3097 11 0 3100 11 0 3098 11 0 3096 11 0 3101 11 0 3099 11 0 3098 11 0 3101 11 0 3104 11 0 3099 11 0 3097 11 0 3103 11 0 3102 11 0 3101 11 0 3098 11 0 3100 11 0 3108 11 0 3105 11 0 3104 11 0 3108 11 0 3104 11 0 3101 11 0 3108 11 0 3106 11 0 3105 11 0 3109 11 0 3107 11 0 3106 11 0 3109 11 0 3132 11 0 3107 11 0 3109 11 0 3106 11 0 3108 11 0 3109 11 0 3133 11 0 3132 11 0 3110 11 0 3134 11 0 3109 11 0 3111 11 0 3135 11 0 3110 11 0 3113 11 0 3103 11 0 3112 11 0 3113 11 0 3112 11 0 3116 11 0 3116 11 0 3114 11 0 3113 11 0 3116 11 0 3115 11 0 3114 11 0 3115 11 0 3137 11 0 3111 11 0 3139 11 0 3115 11 0 3116 11 0 3119 3381 0 3100 3350 0 3102 3394 0 3117 2910 0 3101 2910 0 3100 3258 0 3120 3407 0 3102 3394 0 3103 3407 0 3118 3177 0 3108 3177 0 3101 3177 0 3121 3089 0 3109 3081 0 3108 3089 0 3124 3039 0 3115 3049 0 3111 3039 0 3122 3043 0 3110 2964 0 3109 3081 0 3123 2955 0 3111 2940 0 3110 2964 0 3125 3304 0 3103 3304 0 3113 3304 0 3126 3195 0 3113 3195 0 3114 3195 0 3127 3083 0 3114 3130 0 3115 3049 0 3117 3350 0 3100 3350 0 3119 3381 0 3118 2909 0 3101 2910 0 3117 2910 0 3119 3381 0 3102 3394 0 3120 3407 0 3120 3304 0 3103 3304 0 3125 3304 0 3121 3177 0 3108 3177 0 3118 3177 0 3122 3043 0 3109 3081 0 3121 3089 0 3123 2955 0 3110 2964 0 3122 3043 0 3124 2940 0 3111 2940 0 3123 2955 0 3125 3195 0 3113 3195 0 3126 3195 0 3126 3130 0 3114 3130 0 3127 3083 0 3127 3083 0 3115 3049 0 3124 3039 0 3117 11 0 3119 11 0 3118 11 0 3118 11 0 3119 11 0 3120 11 0 3118 11 0 3120 11 0 3125 11 0 3118 11 0 3125 11 0 3126 11 0 3122 11 0 3121 11 0 3118 11 0 3123 11 0 3122 11 0 3118 11 0 3126 11 0 3127 11 0 3118 11 0 3118 11 0 3124 11 0 3123 11 0 3127 11 0 3124 11 0 3118 11 0 3089 1820 0 3090 1764 0 3128 1665 0 3128 1665 0 3090 1764 0 3129 1607 0 3088 3177 0 3086 3177 0 3155 3177 0 3155 3407 0 3087 3407 0 3088 3407 0 3128 1665 0 3129 1607 0 3130 1486 0 3130 1486 0 3129 1607 0 3131 1419 0 3880 2342 0 3085 3473 0 3083 3469 0 3130 1486 0 3131 1419 0 3144 1333 0 3880 2342 0 3090 3501 0 3085 3473 0 3083 3176 0 3087 3176 0 3880 3176 0 3165 2280 0 3086 2326 0 3091 2487 0 3164 3872 0 3093 2575 0 3092 2651 0 3165 2280 0 3091 2487 0 3094 3896 0 3093 2575 0 3171 3918 0 3097 2767 0 3095 2708 0 3175 2013 0 3094 3896 0 3096 2643 0 3176 2189 0 3095 2708 0 3096 2643 0 3098 2389 0 3176 2233 0 3160 3735 0 3112 2639 0 3097 2767 0 3112 2639 0 3158 3987 0 3116 3623 0 3116 3623 0 3156 3802 0 3139 3767 0 3098 2389 0 3099 3480 0 3194 2209 0 3099 3480 0 3104 2343 0 3196 2248 0 3904 2206 0 3105 2641 0 3106 2507 0 3107 2293 0 3904 2206 0 3106 2507 0 3913 2207 0 3104 2479 0 3105 2641 0 3092 2651 0 3089 2768 0 3166 3980 0 3109 11 0 3134 11 0 3133 11 0 3110 11 0 3135 11 0 3134 11 0 3136 11 0 3135 11 0 3111 11 0 3111 11 0 3137 11 0 3136 11 0 3139 11 0 3137 11 0 3115 11 0 3138 11 0 3137 11 0 3139 11 0 3139 11 0 3140 11 0 3138 11 0 3141 11 0 3140 11 0 3139 11 0 3141 11 0 3142 11 0 3140 11 0 3143 11 0 3142 11 0 3141 11 0 3204 2341 0 3136 3519 0 3137 2714 0 3205 2420 0 3137 2714 0 3138 3280 0 3136 3519 0 3208 2258 0 3135 3823 0 3138 3198 0 3140 2471 0 3205 2475 0 3141 3814 0 3139 3767 0 3207 4175 0 3202 2045 0 3140 2471 0 3142 3176 0 3141 3814 0 3203 4136 0 3143 3177 0 3142 3407 0 3143 3407 0 3202 3407 0 3134 2428 0 3135 3823 0 3225 2098 0 3134 2428 0 3244 2221 0 3133 2573 0 3132 2331 0 3946 2002 0 3107 2293 0 3133 2573 0 3250 1995 0 3132 2331 0 3140 2471 0 3202 2045 0 3206 1985 0 3141 3814 0 3207 4175 0 3203 4136 0 3202 3407 0 3143 3407 0 3203 3407 0 3204 2607 0 3137 2714 0 3212 1983 0 3212 1983 0 3137 2714 0 3205 2420 0 3207 4175 0 3139 3767 0 3210 4040 0 3215 1946 0 3205 2475 0 3140 2471 0 3206 1985 0 3215 1946 0 3140 2471 0 3204 2188 0 3213 2091 0 3136 3519 0 3136 3519 0 3213 1949 0 3208 2329 0 3135 3823 0 3208 2269 0 3225 2144 0 3139 3767 0 3156 3802 0 3210 4040 0 3144 1333 0 3145 1271 0 3146 1104 0 3144 1333 0 3131 1419 0 3145 1271 0 3166 3980 0 3089 2768 0 3128 2520 0 3129 3538 0 3090 3501 0 3880 2342 0 3166 3980 0 3128 2520 0 3130 2439 0 3154 3407 0 3087 3407 0 3155 3407 0 3146 1104 0 3145 1271 0 3147 1051 0 3146 1104 0 3147 1051 0 3148 951 0 3148 951 0 3147 1051 0 3149 915 0 3880 2342 0 3131 3592 0 3129 3538 0 3130 2439 0 3144 2345 0 3166 3980 0 3880 2342 0 3145 3642 0 3131 3592 0 3166 3980 0 3144 2345 0 3146 2263 0 3155 3177 0 3086 3177 0 3882 3177 0 3880 3176 0 3087 3176 0 3154 3176 0 3165 2280 0 3094 3896 0 3173 2547 0 3156 3802 0 3116 3623 0 3158 3987 0 3161 4141 0 3158 3987 0 3112 2639 0 3112 2639 0 3160 3735 0 3161 4141 0 3171 3918 0 3093 2575 0 3185 4200 0 3172 4075 0 3093 2575 0 3164 3872 0 3172 4075 0 3185 4200 0 3093 2575 0 3094 3896 0 3175 2013 0 3173 2547 0 3095 2708 0 3176 2155 0 3175 2013 0 3097 2767 0 3171 3918 0 3177 4160 0 3179 4155 0 3097 2767 0 3177 4160 0 3160 3735 0 3097 2767 0 3179 4155 0 3164 3872 0 3092 2651 0 3166 3980 0 3086 2326 0 3165 2280 0 3882 2101 0 3194 2209 0 3176 2233 0 3098 2389 0 3099 3480 0 3196 2248 0 3194 2209 0 3196 2248 0 3104 2218 0 3900 2040 0 3900 1998 0 3104 2343 0 3901 2092 0 3904 2206 0 3913 2207 0 3105 2641 0 3107 2293 0 3903 2142 0 3904 2206 0 3104 2343 0 3910 2202 0 3901 2092 0 3913 2207 0 3910 2121 0 3104 2479 0 3210 4040 0 3156 3802 0 3157 4234 0 3148 951 0 3149 915 0 3150 860 0 3150 860 0 3149 915 0 3151 823 0 3880 2342 0 3149 3783 0 3147 3695 0 3147 3695 0 3145 3642 0 3880 2342 0 3146 2263 0 3148 2193 0 3166 3980 0 3166 3980 0 3148 2193 0 3150 3762 0 3150 860 0 3151 823 0 3152 758 0 3152 758 0 3151 823 0 3153 714 0 3880 2342 0 3151 3886 0 3149 3783 0 3152 758 0 3153 714 0 3877 648 0 3153 3977 0 3151 3886 0 3880 2342 0 3158 3987 0 3157 4234 0 3156 3802 0 3159 4358 0 3157 4234 0 3158 3987 0 3159 4358 0 3223 4366 0 3157 4234 0 3162 4582 0 3223 4366 0 3159 4358 0 3163 4436 0 3159 4358 0 3161 4141 0 3161 4141 0 3159 4358 0 3158 3987 0 3163 4436 0 3162 4582 0 3159 4358 0 3161 4141 0 3160 3735 0 3179 4155 0 3161 4141 0 3179 4155 0 3163 4436 0 3180 4625 0 3162 4582 0 3163 4436 0 3237 4605 0 3162 4582 0 3238 4988 0 3182 4776 0 3162 4582 0 3180 4625 0 3182 4776 0 3238 4988 0 3162 4582 0 3174 1895 0 3165 2280 0 3173 2547 0 3166 3980 0 3189 4426 0 3164 3872 0 3174 1895 0 3167 1644 0 3165 2280 0 3168 1659 0 3165 2280 0 3167 1644 0 3169 4434 0 3189 4426 0 3166 3980 0 3169 4434 0 3894 4803 0 3189 4426 0 3190 1560 0 3170 1079 0 3167 1644 0 3168 1659 0 3167 1644 0 3886 1131 0 3886 1131 0 3167 1644 0 3170 1079 0 3177 4160 0 3171 3918 0 3178 4457 0 3171 3918 0 3185 4200 0 3178 4457 0 3175 2013 0 3174 1895 0 3173 2547 0 3181 4546 0 3177 4160 0 3188 4650 0 3177 4160 0 3178 4457 0 3188 4650 0 3179 4155 0 3177 4160 0 3181 4546 0 3163 4436 0 3179 4155 0 3181 4546 0 3163 4436 0 3181 4546 0 3180 4625 0 3180 4625 0 3181 4546 0 3183 4759 0 3180 4625 0 3183 4759 0 3182 4776 0 3184 5082 0 3238 4988 0 3182 4776 0 3181 4546 0 3188 4650 0 3183 4759 0 3182 4776 0 3183 4759 0 3199 4994 0 3182 4776 0 3199 4994 0 3184 5082 0 3172 4075 0 3164 3872 0 3189 4426 0 3189 4426 0 3185 4200 0 3172 4075 0 3175 2013 0 3167 1644 0 3174 1895 0 3175 2013 0 3176 2155 0 3186 1467 0 3187 1754 0 3186 1467 0 3176 2189 0 3187 1754 0 3176 2189 0 3194 2209 0 3175 2013 0 3190 1560 0 3167 1644 0 3175 2013 0 3186 1474 0 3193 1315 0 3193 1315 0 3190 1560 0 3175 2013 0 3191 1518 0 3187 1754 0 3194 2209 0 3178 4457 0 3185 4200 0 3188 4650 0 3188 4650 0 3185 4200 0 3192 4711 0 3188 4650 0 3192 4711 0 3198 4893 0 3189 4426 0 3192 4711 0 3185 4200 0 3894 4803 0 3192 4711 0 3189 4426 0 3191 1434 0 3186 1467 0 3187 1754 0 3193 1315 0 3170 1079 0 3190 1560 0 3895 924 0 3193 1315 0 3186 1467 0 3899 1181 0 3186 1467 0 3191 1287 0 3198 4893 0 3192 4711 0 3896 5042 0 3195 1709 0 3191 1518 0 3194 2209 0 3195 1709 0 3194 2209 0 3196 2248 0 3197 1449 0 3191 1518 0 3195 1709 0 3196 2248 0 3197 1449 0 3195 1709 0 3198 4893 0 3896 5042 0 3200 5101 0 3183 4759 0 3188 4650 0 3198 4893 0 3183 4759 0 3198 4893 0 3199 4994 0 3184 5082 0 3199 4994 0 3201 5133 0 3199 4994 0 3198 4893 0 3200 5101 0 3199 4994 0 3200 5101 0 3201 5133 0 3201 5133 0 3200 5101 0 3902 5184 0 3225 2098 0 3232 2112 0 3134 2428 0 3134 2428 0 3232 2000 0 3244 2221 0 3133 2573 0 3244 2221 0 3250 2134 0 3250 2134 0 3946 2136 0 3132 2331 0 3946 2002 0 3903 2142 0 3107 2293 0 3202 3407 0 3203 3407 0 3218 3407 0 3202 2045 0 3218 1548 0 3206 1985 0 3231 4512 0 3203 4136 0 3207 4175 0 3204 2456 0 3211 1749 0 3209 1685 0 3204 2341 0 3209 1685 0 3213 1949 0 3204 3698 0 3212 1983 0 3211 1749 0 3205 2522 0 3214 1690 0 3212 1983 0 3214 1690 0 3205 2475 0 3215 1946 0 3207 4175 0 3210 4040 0 3216 4361 0 3213 1981 0 3226 1834 0 3208 2258 0 3211 1749 0 3227 1588 0 3209 1685 0 3212 1983 0 3227 1551 0 3211 1749 0 3214 1690 0 3228 1354 0 3212 1983 0 3215 1946 0 3217 1503 0 3214 1690 0 3210 4040 0 3157 4234 0 3216 4361 0 3216 4361 0 3224 4664 0 3207 4175 0 3218 1548 0 3215 1946 0 3206 1985 0 3218 3407 0 3203 3407 0 3231 3407 0 3231 4512 0 3207 4175 0 3224 4664 0 3218 1548 0 3217 1503 0 3215 1946 0 3220 11 0 3154 11 0 3155 11 0 3219 11 0 3154 11 0 3220 11 0 3208 2258 0 3226 1739 0 3225 2098 0 3209 1685 0 3227 1588 0 3213 1921 0 3214 1690 0 3217 1503 0 3228 1354 0 3213 1925 0 3227 1551 0 3226 1726 0 3212 1983 0 3228 1354 0 3227 1569 0 3216 4361 0 3157 4234 0 3223 4366 0 3216 4361 0 3223 4366 0 3229 4518 0 3230 4655 0 3224 4664 0 3216 4361 0 3216 4361 0 3229 4518 0 3230 4655 0 3226 1739 0 3233 1743 0 3225 2098 0 3227 1551 0 3234 1610 0 3226 1726 0 3162 4582 0 3229 4518 0 3223 4366 0 3162 4582 0 3230 4655 0 3229 4518 0 3230 4655 0 3238 4988 0 3224 4664 0 3228 1354 0 3217 1503 0 3218 1548 0 3218 1548 0 3239 1278 0 3228 1354 0 3218 3407 0 3231 3407 0 3240 3407 0 3224 4664 0 3248 4889 0 3231 4512 0 3233 1743 0 3232 2000 0 3225 2085 0 3234 1610 0 3241 1394 0 3232 1968 0 3226 1739 0 3234 1610 0 3233 1743 0 3228 1354 0 3236 1218 0 3227 1569 0 3227 1551 0 3235 1378 0 3234 1610 0 3227 1551 0 3236 1267 0 3235 1378 0 3237 4605 0 3230 4655 0 3162 4582 0 3230 5099 0 3237 5099 0 3238 5099 0 3224 4664 0 3238 4988 0 3248 4889 0 3234 1610 0 3232 1968 0 3233 1743 0 3236 1176 0 3228 1354 0 3246 927 0 3235 1378 0 3241 1394 0 3234 1610 0 3236 1267 0 3241 1394 0 3235 1378 0 3228 1354 0 3247 878 0 3246 969 0 3228 1354 0 3239 1278 0 3247 878 0 3239 1278 0 3218 1548 0 3240 1035 0 3240 3407 0 3231 3407 0 3248 3407 0 3239 1278 0 3240 1035 0 3247 878 0 3241 1394 0 3242 1598 0 3232 1968 0 3232 1968 0 3242 1598 0 3244 2221 0 3241 1394 0 3243 1328 0 3242 1598 0 3245 1679 0 3244 2221 0 3242 1598 0 3242 1598 0 3243 1328 0 3245 1679 0 3247 878 0 3249 665 0 3246 969 0 3245 1679 0 3243 1328 0 3250 1995 0 3243 1328 0 3246 969 0 3251 1010 0 3236 1267 0 3246 971 0 3241 1394 0 3241 1394 0 3246 971 0 3243 1328 0 3953 5185 0 3238 4988 0 3184 5082 0 3240 3407 0 3248 3407 0 3252 3407 0 3238 4988 0 3953 5185 0 3248 4889 0 3252 765 0 3247 878 0 3240 1035 0 3244 2221 0 3245 1679 0 3250 1995 0 3243 1328 0 3251 1010 0 3250 1939 0 3246 969 0 3249 665 0 3251 943 0 3250 1995 0 3251 1239 0 3946 1972 0 3251 943 0 3249 665 0 3949 865 0 3251 1010 0 3949 865 0 3946 1217 0 3184 5082 0 3201 5133 0 3953 5185 0 3201 5133 0 3919 5317 0 3953 5185 0 3252 765 0 3249 665 0 3247 878 0 3952 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3407 0 4259 5904 0 4026 5971 0 4247 5782 0 3147 1051 0 3149 915 0 3146 1104 0 3878 656 0 3877 648 0 3152 758 0 3880 2342 0 3131 3592 0 3129 3538 0 3130 2439 0 3144 2345 0 3166 3980 0 3880 2342 0 3145 3642 0 3131 3592 0 3166 3980 0 3144 2345 0 3146 2263 0 3155 3177 0 3086 3177 0 3882 3177 0 3880 3176 0 3087 3176 0 3154 3176 0 3165 2280 0 3094 3896 0 3173 2547 0 3156 3802 0 3116 3623 0 3158 3987 0 3161 4141 0 3158 3987 0 3112 2639 0 3112 2639 0 3160 3735 0 3161 4141 0 3171 3918 0 3093 2575 0 3185 4200 0 3172 4075 0 3093 2575 0 3164 3872 0 3172 4075 0 3185 4200 0 3093 2575 0 3094 3896 0 3175 2013 0 3173 2547 0 3095 2708 0 3176 2155 0 3175 2013 0 3097 2767 0 3171 3918 0 3177 4160 0 3179 4155 0 3097 2767 0 3177 4160 0 3160 3735 0 3097 2767 0 3179 4155 0 3164 3872 0 3092 2651 0 3166 3980 0 3086 2326 0 3165 2280 0 3882 2101 0 3194 2209 0 3176 2233 0 3098 2389 0 3099 3480 0 3196 2248 0 3194 2209 0 3196 2248 0 3104 2218 0 3900 2040 0 3900 1998 0 3104 2343 0 3901 2092 0 3904 2206 0 3913 2207 0 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3162 4582 0 3174 1895 0 3165 2280 0 3173 2547 0 3166 3980 0 3189 4426 0 3164 3872 0 3174 1895 0 3167 1644 0 3165 2280 0 3168 1659 0 3165 2280 0 3167 1644 0 3169 4434 0 3189 4426 0 3166 3980 0 3169 4434 0 3894 4803 0 3189 4426 0 3190 1560 0 3170 1079 0 3167 1644 0 3168 1659 0 3167 1644 0 3886 1131 0 3886 1131 0 3167 1644 0 3170 1079 0 3177 4160 0 3171 3918 0 3178 4457 0 3171 3918 0 3185 4200 0 3178 4457 0 3175 2013 0 3174 1895 0 3173 2547 0 3181 4546 0 3177 4160 0 3188 4650 0 3177 4160 0 3178 4457 0 3188 4650 0 3179 4155 0 3177 4160 0 3181 4546 0 3163 4436 0 3179 4155 0 3181 4546 0 3163 4436 0 3181 4546 0 3180 4625 0 3180 4625 0 3181 4546 0 3183 4759 0 3180 4625 0 3183 4759 0 3182 4776 0 3184 5082 0 3238 4988 0 3182 4776 0 3181 4546 0 3188 4650 0 3183 4759 0 3182 4776 0 3183 4759 0 3199 4994 0 3182 4776 0 3199 4994 0 3184 5082 0 3172 4075 0 3164 3872 0 3189 4426 0 3189 4426 0 3185 4200 0 3172 4075 0 3175 2013 0 3167 1644 0 3174 1895 0 3175 2013 0 3176 2155 0 3186 1467 0 3187 1754 0 3186 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5441 0 4962 5262 0 4963 5223 0 4965 5496 0 4962 5262 0 4919 5441 0 4965 5496 0 4924 5685 0 4964 5484 0 4763 5600 0 4966 5702 0 4930 6068 0 4931 5603 0 4881 5466 0 4763 5600 0 4560 6195 0 4520 6182 0 4519 6177 0</p>
         </triangles>
       </mesh>
     </geometry>
diff --git a/assets/end_effector/pinch_gripper/meshes/README.md b/assets/end_effector/pinch_gripper/meshes/README.md
new file mode 100644
index 00000000..730fae76
--- /dev/null
+++ b/assets/end_effector/pinch_gripper/meshes/README.md
@@ -0,0 +1,22 @@
+# Finger mesh assets
+
+Coordinates are expressed in metres in the existing finger frames. Visual DAE files retain the contact pads, plastic body and metal mount as separate geometry groups.
+
+| Representation | Inner finger triangles | Outer finger triangles | Location |
+| --- | ---: | ---: | --- |
+| Visual | 2486 | 2486 | `visual/finger_{inner,outer}.dae` |
+| Whole collision | 2388 | 2374 | `collision/finger_{inner,outer}.stl` |
+| Four-piece collision | 2580 | 2580 | `collision/splited/finger_{inner,outer}/` |
+| Five-piece collision | 2590 | 2580 | `collision/splited/five_parts/finger_{inner,outer}/` |
+
+The default `config/link/collisions.yaml` references the whole-finger STL files. Each split set is complete and uses the same frame as the whole mesh.
+
+| Part | Four-piece set | Five-piece set |
+| --- | --- | --- |
+| `00` | Tip section | Tip section |
+| `01` | Front section | Front section |
+| `02` | Middle section | Middle section |
+| `03` | Rear plastic and metal mount | Rear plastic |
+| `04` | Included in `03` | Metal mount |
+
+Collision STLs retain concave geometry. Each file is a closed, consistently wound single shell. The whole collision mesh is the union of the four-piece set, with internal cut faces removed.
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl b/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl
index 15476285..6732386f 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl and b/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl b/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl
index 657f7482..b1a3ba05 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl and b/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_00.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_00.stl
index a5fd6999..f571c780 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_00.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_00.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_01.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_01.stl
index ae1384f9..e99d8a38 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_01.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_01.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_02.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_02.stl
index 4dd93ef1..ba55168b 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_02.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_02.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_03.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_03.stl
index 295ccbe4..0cb14237 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_03.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_inner/finger_inner_03.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_00.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_00.stl
index fe959ed2..58bf2481 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_00.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_00.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_01.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_01.stl
index 777fa29d..a7d33ed0 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_01.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_01.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_02.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_02.stl
index 88b6d46f..4829ad3a 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_02.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_02.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_03.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_03.stl
index 36f6c52f..6f7155f7 100644
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_03.stl and b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outer/finger_outer_03.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_00.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_00.stl
deleted file mode 100644
index 63e5c3a4..00000000
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_00.stl and /dev/null differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_01.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_01.stl
deleted file mode 100644
index 307054b4..00000000
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_01.stl and /dev/null differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_02.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_02.stl
deleted file mode 100644
index 98e07a48..00000000
Binary files a/assets/end_effector/pinch_gripper/meshes/collision/splited/finger_outter/finger_outter_02.stl and /dev/null differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_00.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_00.stl
new file mode 100644
index 00000000..f571c780
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_00.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_01.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_01.stl
new file mode 100644
index 00000000..e99d8a38
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_01.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_02.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_02.stl
new file mode 100644
index 00000000..ba55168b
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_02.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_03.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_03.stl
new file mode 100644
index 00000000..88080699
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_03.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_04.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_04.stl
new file mode 100644
index 00000000..b25775bd
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_inner/finger_inner_04.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_00.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_00.stl
new file mode 100644
index 00000000..58bf2481
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_00.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_01.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_01.stl
new file mode 100644
index 00000000..a7d33ed0
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_01.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_02.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_02.stl
new file mode 100644
index 00000000..4829ad3a
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_02.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_03.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_03.stl
new file mode 100644
index 00000000..22ae217d
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_03.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_04.stl b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_04.stl
new file mode 100644
index 00000000..cf874684
Binary files /dev/null and b/assets/end_effector/pinch_gripper/meshes/collision/splited/five_parts/finger_outer/finger_outer_04.stl differ
diff --git a/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae b/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae
index 033edf63..b97712c5 100644
--- a/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae
+++ b/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae
@@ -207,20 +207,10 @@
   <library_geometries>
     <geometry id="ee_base_link_02-mesh" name="ee_base_link_02">
       <mesh>
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               <param name="Z" type="float" />
@@ -230,29 +220,19 @@
         <vertices id="ee_base_link_02-mesh-vertices">
           <input semantic="POSITION" source="#ee_base_link_02-mesh-positions" />
         </vertices>
-        <triangles material="ee_base_link_02_mat-material" count="3520">
+        <triangles material="ee_base_link_02_mat-material" count="3488">
           <input semantic="VERTEX" source="#ee_base_link_02-mesh-vertices" offset="0" />
-          <input semantic="NORMAL" source="#ee_base_link_02-mesh-normals" offset="1" />
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4042 1363 4203 1313 4273 1327 4213 1326 3831 1325 3861 1354 4013 1317 5238 1954 7713 908 5272 1958 5698 1324 7428 911 7235 1329 3618 1325 3861 1326 3831 1363 4203 1327 4213 1328 4108 1325 3861 1351 4050 1354 4013 1335 3813 1326 3831 1353 4002 1353 4002 1326 3831 1354 4013 1328 4108 1327 4213 164 4183 1333 4042 1328 4108 164 4183 1334 3973 1333 4042 1331 3859 1344 9173 1343 9367 1346 9365 1506 9708 1342 9792 1340 9594 174 3386 173 3346 1329 3618 1340 9594 1346 9365 1343 9367 1340 9594 1342 9792 177 9768 1341 9614 1340 9594 177 9768 1341 9614 177 9768 1394 9593 1341 9614 1347 9353 1346 9365 1394 9593 1347 9353 1341 9614 1341 9614 1346 9365 1340 9594 1329 3618 1339 3617 1325 3861 1345 9179 1383 9027 1344 9173 1345 9179 1344 9173 1346 9365 1337 9200 1346 9365 1347 9353 1345 9179 1346 9365 1337 9200 1356 4224 1351 4050 1352 4293 1369 4009 1353 4002 1350 4137 1353 4002 1354 4013 1355 4166 1354 4013 1351 4050 1356 4224 1335 3813 1329 3618 1326 3831 1362 4038 1336 3858 1369 4009 1362 4038 1328 4108 1334 3973 1334 3973 1336 3858 1362 4038 1367 8625 1322 8655 1323 8509 1336 3858 1330 3629 1335 3813 1426 4772 1381 8476 1382 8470 1336 3858 1335 3813 1369 4009 1369 4009 1335 3813 1353 4002 1337 9200 1370 9064 1345 9179 1338 9171 1347 9353 1392 9303 1393 9129 1372 9039 1338 9171 1337 9200 1347 9353 1338 9171 1338 9171 1371 9063 1337 9200 173 3346 1339 3617 1329 3618 1420 8531 1418 8654 1415 8604 1445 7463 1368 8335 1324 7428 1420 8531 1376 8607 1418 8654 1421 8392 1382 8470 1377 8548 1421 8392 1377 8548 1419 8460 1419 8460 1377 8548 1376 8607 1419 8460 1376 8607 1420 8531 1413 4618 1410 7671 1435 7677 1432 4345 1396 4478 1395 4368 1433 4328 1395 4368 1401 4334 1407 4485 1408 4340 1401 4334 1413 4618 1405 4576 1410 7671 1409 8397 1308 8467 1411 8559 1410 7671 1404 4752 1409 8397 1419 8460 1424 8294 1421 8392 1436 8421 1409 8397 1411 8559 1410 7671 1409 8397 1436 8421 1435 7677 1410 7671 1436 8421 1407 4485 1406 4498 1413 4618 1407 4485 1413 4618 1437 4583 1415 8604 1417 8711 1414 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3994 2329 3637 2329 3637 2330 2970 2324 3649 2330 2970 2331 1570 2327 2082 2329 3637 2328 5273 2363 3659 2364 2193 2330 2970 2329 3637 2329 3637 2363 3505 2364 2193 2364 1892 2365 1314 2330 2970 2324 5054 2326 3328 2325 5284 2324 3649 2327 2898 2326 3328 2273 9147 2303 9295 2282 8782 2303 9295 2305 9211 2282 8782 2308 9695 2306 9678 2303 9295 2282 8782 2305 9211 2304 8812 2303 9295 2306 9678 2305 9211 2308 9695 2332 10680 2306 9678 2286 9635 2303 9295 2273 9147 2295 3218 2315 1965 2307 1901 2287 10670 2312 10672 2286 9635 2307 1901 2316 1552 2309 1572 2295 3218 2297 3757 2314 3327 2295 3218 2314 3327 2315 1965 2307 1901 2315 1965 2316 1552 2301 4696 2300 4025 2298 4190 2314 3327 2338 3105 2315 1965 2301 4696 2302 3650 2300 4025 2302 3650 2338 3105 2314 3327 2301 4696 2337 3981 2302 3650 2337 3981 2338 3105 2302 3650 2286 9635 2308 9695 2303 9295 2286 9635 2312 10672 2308 9695 2309 1572 2317 1313 2310 1348 2310 1348 2318 1247 2311 1258 2309 1572 2316 1552 2317 1313 2290 10948 2320 10975 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diff --git a/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae b/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae
index f0697c88..c1dc7b5f 100644
--- a/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae
+++ b/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae
@@ -77,9 +77,9 @@
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diff --git a/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae b/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae
index 79d8778f..fa285ba5 100644
--- a/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae
+++ b/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae
@@ -77,9 +77,9 @@
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl b/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl
index 129a0729..4497b70c 100644
Binary files a/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl and b/assets/robot/openarm_v2.0/meshes/arm/collision/base_link.stl differ
diff --git a/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl b/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl
index 5e1df763..f219c5e6 100644
Binary files a/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl and b/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl differ
diff --git a/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl b/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl
index 1d3dc3d8..8fadbf6b 100644
Binary files a/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl and b/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl differ
diff --git a/assets/robot/openarm_v2.0/meshes/arm/collision/splited/link5/link5_01.stl b/assets/robot/openarm_v2.0/meshes/arm/collision/splited/link5/link5_01.stl
index 0e0ce344..a4a7b98d 100644
Binary files a/assets/robot/openarm_v2.0/meshes/arm/collision/splited/link5/link5_01.stl and b/assets/robot/openarm_v2.0/meshes/arm/collision/splited/link5/link5_01.stl differ
diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae
index 282be7eb..f1755bb8 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/base_link.dae
@@ -59,9 +59,9 @@
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3599 3663 3058 3663 3498 3663 3058 3663 3059 3663 2904 3663 2904 3663 2421 3663 3058 3663 3465 3644 3759 3663 3072 3663 3606 3663 3072 3663 3759 3663 3575 3663 3145 3663 3728 3592 2290 3663 3728 3592 3145 3663 2901 3598 3620 3587 3465 3644 3458 3554 3620 3587 2901 3598 3460 3511 3620 3587 3458 3554 3617 3663 3006 3663 3683 3626 3006 3663 3617 3663 3005 3663 3520 3663 3005 3663 3617 3663 2258 3663 3005 3663 3520 3663 3005 3663 2258 3663 3004 3663 3332 3638 3004 3663 2258 3663 3593 3663 3025 3663 3401 3663 3085 3663 3382 3663 3083 3663 3024 3663 3593 3663 3022 3663 3093 3663 3022 3663 3593 3663 3022 3663 3093 3663 3488 3688 3488 3688 3093 3663 3501 3663 3092 3685 3501 3663 3093 3663 3501 3663 3092 3685 3690 3702 3728 3592 3752 3663 3334 3663 3524 3747 2807 3764 3012 3732 3042 3663 3748 3631 3039 3708 3653 3576 2420 3642 3524 3747 3502 3663 2789 3663 3501 3663 3142 3663 3333 3663 3753 3663 3333 3663 3142 3663 3332 3638 3401 3663 3407 3663 3659 3603 3407 3663 3401 3663 3517 3697 3517 3697 3401 3663 3025 3663 2835 3663 2881 3663 2769 3663 3616 3663 2769 3663 2881 3663 3382 3663 3085 3663 3616 3663 3390 3507 3659 3603 3407 3663 3616 3663 3085 3663 2769 3663 2770 3723 2769 3663 3085 3663 3601 3572 3704 3542 3690 3702 3704 3542 3601 3572 3329 3575 3488 3688 3501 3663 2789 3663 2805 3767 3524 3747 2420 3642 3751 3608 2292 3703 3350 3722 3752 3663 3728 3592 3751 3608 2382 3663 3750 3686 2764 3721 2803 3532 2764 3721 3750 3686 3550 3663 3558 3663 2413 3663 2921 3663 2413 3663 3558 3663 2413 3663 2921 3663 3713 3585 2920 3566 3713 3585 2921 3663 3713 3585 2920 3566 3390 3507 3659 3603 3390 3507 2920 3566 2589 3663 3756 3663 2587 3753 3739 3663 2587 3753 3756 3663 2187 3754 2587 3753 3739 3663 2587 3753 2187 3754 2598 3729 3387 3752 2598 3729 2187 3754 3756 3663 2589 3663 3755 3663 2334 3709 3739 3663 3018 3663 3756 3663 3018 3663 3739 3663 2572 3663 2257 3663 3125 3663 3142 3663 3004 3663 3332 3638 3004 3663 3142 3663 3653 3576 2255 3663 3150 3663 2257 3663 3150 3663 2255 3663 3389 3609 3454 3568 3708 3546 3717 3524 3749 3517 3717 3524 3708 3546 3658 3547 3578 3510 3580 3581 3747 3663 3389 3609 2255 3663 3462 3663 3775 3746 3412 3663 3690 3702 3775 3746 3601 3572 3571 3663 3755 3663 3570 3663 2900 3663 3098 3663 2898 3663 3570 3663 3755 3663 2589 3663 2257 3663 2572 3663 3010 3663 3096 3663 2900 3663 3095 3663 2900 3663 3096 3663 3098 3663 3417 3663 2785 3663 3419 3663 2574 3663 3010 3663 2572 3663 2901 3598 3095 3663 2900 3663 3025 3663 3593 3663 3024 3663 3141 3717 3653 3576 3142 3663 3653 3576 3141 3717 2420 3642 2292 3703 2420 3642 3141 3717 2420 3642 2294 3663 2421 3663 3389 3609 3747 3663 2596 3559 2895 3663 2596 3559 3747 3663 2596 3559 2895 3663 3335 3663 2785 3663 3335 3663 2895 3663 3417 3663 3335 3663 2785 3663 3335 3663 3417 3663 3571 3663 3754 3663 3571 3663 3417 3663 2937 3663 3314 3663 3482 3663 3755 3663 3571 3663 3754 3663 3095 3663 3465 3644 3072 3663 3753 3663 3334 3663 3752 3663 3334 3663 3753 3663 3333 3663 3095 3663 2901 3598 3465 3644 3550 3663 2417 3663 3551 3663 3562 3663 3413 3663 3556 3663 2921 3663 3556 3663 3413 3663 3659 3603 2920 3566 3658 3547 3578 3510 3658 3547 2920 3566 2413 3663 2417 3663 3550 3663 3413 3663 3562 3663 3411 3663 2416 3663 3551 3663 2417 3663 3551 3663 2416 3663 3552 3663 2419 3663 3552 3663 2416 3663 3552 3663 2419 3663 3711 3494 3285 3663 3273 3663 3282 3663 3321 3663 3280 3663 3275 3663 3518 3663 3407 3663 3517 3697 3556 3663 2921 3663 3558 3663 3411 3663 3560 3663 3412 3663 3560 3663 3411 3663 3562 3663 3492 3663 3598 3663 3491 3663 3598 3663 3599 3663 2264 3663 3457 3663 3485 3663 3062 3663 2264 3663 3290 3663 2265 3663 2265 3663 3290 3663 2912 3663 3293 3663 2912 3663 3290 3663 2912 3663 3294 3663 2910 3663 3407 3663 3518 3663 3509 3663 2365 3663 3509 3663 3518 3663 3509 3663 2365 3663 3712 3663 3713 3585 3390 3507 3714 3482 3392 3481 3714 3482 3390 3507 3294 3663 2912 3663 3293 3663 3607 3663 3305 3663 3606 3663 3553 3663 3715 3663 3554 3663 3296 3663 3297 3663 2906 3663 3311 3663 2941 3663 3310 3663 3715 3663 3553 3663 3029 3663 2264 3663 3491 3663 3598 3663 2377 3663 3548 3663 3506 3663 2633 3614 2635 3597 2631 3586 2636 3599 2631 3586 2635 3597 3507 3534 2943 3663 3454 3568 2238 3502 3410 3499 3507 3534 2943 3663 3507 3534 3410 3499 2834 3696 3454 3568 2943 3663 3506 3663 3548 3663 3716 3663 3711 3494 3395 3659 3552 3663 3029 3663 3552 3663 3030 3660 3552 3663 3029 3663 3553 3663 2632 3545 2634 3596 2633 3614 3345 3613 3380 3663 3108 3569 3087 3663 3412 3663 3560 3663 2634 3596 2632 3545 2374 3591 2635 3597 2633 3614 2634 3596 3275 3663 3280 3663 3274 3663 3281 3663 3274 3663 3280 3663 3282 3663 3274 3663 3281 3663 3274 3663 3282 3663 3273 3663 2631 3586 2636 3599 2630 3551 2636 3599 2637 3522 2630 3551 2639 3472 2630 3551 2637 3522 3716 3663 3554 3663 3715 3663 3554 3663 3716 3663 3548 3663 3273 3663 3285 3663 3345 3613 2838 3663 2836 3663 3756 3663 3319 3663 3323 3663 3318 3663 3345 3613 3285 3663 3380 3663 3284 3663 3380 3663 3285 3663 3380 3663 3284 3663 3379 3663 3283 3663 3379 3663 3284 3663 3657 3663 3423 3663 3656 3663 3756 3663 3710 3663 2838 3663 2838 3663 3710 3663 3359 3663 3761 3663 3359 3663 3710 3663 3359 3663 3761 3663 3358 3663 3287 3663 3375 3663 3288 3663 3375 3663 3287 3663 3706 3663 2369 3663 3706 3663 3287 3663 3706 3663 2369 3663 3707 3663 2370 3663 3707 3663 2369 3663 3707 3663 2370 3663 3705 3663 2371 3663 3705 3663 2370 3663 2815 3663 2732 3663 3324 3663 3279 3663 3324 3663 2732 3663 3324 3663 3279 3663 3323 3663 3318 3663 3323 3663 3279 3663 2979 3663 3362 3766 3468 3780 3013 3663 3455 3663 3014 3663 3756 3663 3455 3663 3013 3663 3455 3663 3756 3663 2836 3663 3423 3663 3657 3663 3422 3663 3362 3766 2979 3663 3301 3663 3456 3663 3014 3663 3455 3663 3656 3663 3423 3663 3072 3663 3766 3663 3470 3663 3710 3663 3471 3663 3483 3663 3482 3663 3314 3663 2938 3663 3312 3663 2938 3663 3314 3663 2937 3663 3760 3663 3718 3663 3606 3663 3762 3663 3358 3663 3761 3663 3358 3663 3762 3663 3271 3663 3516 3663 3271 3663 3762 3663 3378 3663 3288 3663 3375 3663 2898 3663 3098 3663 2895 3663 2880 3663 2879 3663 3271 3663 3271 3663 2879 3663 3272 3663 3016 3663 3272 3663 2879 3663 3272 3663 3016 3663 3456 3663 3014 3663 3456 3663 3016 3663 3307 3663 3369 3663 3306 3663 3597 3663 3492 3663 3457 3663 3492 3663 3597 3663 3598 3663 3308 3663 3367 3663 3307 3663 3369 3663 3307 3663 3367 3663 3760 3663 3306 3663 3369 3663 3306 3663 3760 3663 3305 3663 3606 3663 3305 3663 3760 3663 3286 3663 3377 3663 3283 3663 3377 3663 3286 3663 3378 3663 2246 3582 3499 3620 2243 3731 2940 3663 3310 3663 2941 3663 3419 3663 3479 3663 3472 3663 3479 3663 3419 3663 3476 3663 2932 3663 3476 3663 3419 3663 3476 3663 2932 3663 2940 3663 3310 3663 2940 3663 2932 3663 3499 3620 2246 3582 3498 3663 2903 3663 3062 3663 3485 3663 2374 3591 3705 3663 2371 3663 3500 3756 2243 3731 3499 3620 2632 3545 3108 3569 2374 3591 3108 3569 2632 3545 3345 3613 2782 3663 2369 3663 2720 3663 3287 3663 2720 3663 2369 3663 2720 3663 3287 3663 2722 3663 3722 3758 2722 3663 3287 3663 2722 3663 3722 3758 3500 3756 2243 3731 3500 3756 3722 3758 3379 3663 3283 3663 3377 3663 3755 3663 3766 3663 3756 3663 3710 3663 3756 3663 3766 3663 3288 3663 3378 3663 3286 3663 3063 3663 2905 3663 3059 3663 2248 3663 3498 3663 2246 3582 2264 3663 3498 3663 2248 3663 3498 3663 2264 3663 3599 3663 2904 3663 3059 3663 2905 3663 3601 3572 3602 3555 3728 3592 2905 3663 3063 3663 2903 3663 3062 3663 2903 3663 3063 3663 3271 3663 3516 3663 2815 3663 2732 3663 2815 3663 3516 3663 3705 3663 2374 3591 3108 3569 2235 3663 3131 3718 3270 3663 3691 3716 3332 3638 3130 3625 2614 3663 3399 3663 3525 3663 2237 3663 3525 3663 3399 3663 3332 3638 2258 3663 2189 3560 3617 3663 3683 3626 3619 3601 3130 3625 3619 3601 3683 3626 3619 3601 3130 3625 2191 3570 3435 3663 3287 3663 3432 3663 2191 3570 3130 3625 2189 3560 2189 3560 3130 3625 3332 3638 2797 3663 3297 3663 3342 3663 3297 3663 2797 3663 2906 3663 3671 3663 3709 3684 2800 3646 3726 3663 3727 3663 3709 3684 3709 3684 3727 3663 3270 3663 3270 3663 3727 3663 3725 3663 3141 3717 3350 3722 2292 3703 3684 3600 3130 3625 3683 3626 2963 3615 3171 3663 3525 3663 3171 3663 2963 3615 2337 3590 3130 3625 3131 3718 3691 3716 2235 3663 3691 3716 3131 3718 3691 3716 2235 3663 3675 3663 3027 3663 3290 3663 2264 3663 3432 3663 3289 3663 3431 3663 3292 3663 3431 3663 3289 3663 3431 3663 3292 3663 3428 3663 3291 3663 3428 3663 3292 3663 3428 3663 3291 3663 3027 3663 3290 3663 3027 3663 3291 3663 2720 3663 2779 3663 2782 3663 3168 3663 2906 3663 2797 3663 2798 3663 3535 3663 3723 3663 3709 3684 3130 3625 2800 3646 3684 3600 2800 3646 3130 3625 3325 3663 2800 3646 3684 3600 2800 3646 3325 3663 2798 3663 3535 3663 2798 3663 3325 3663 3709 3684 3671 3663 3672 3663 3536 3557 3723 3663 3535 3663 3723 3663 3536 3557 3687 3662 3722 3758 3287 3663 3435 3663 3363 3663 3302 3663 3612 3663 3302 3663 3363 3663 3301 3663 3289 3663 3432 3663 3287 3663 3022 3663 3488 3688 3729 3727 3675 3663 2614 3663 3484 3663 3730 3728 3452 3649 3149 3715 3149 3715 3452 3649 3517 3697 2367 3663 3133 3663 3132 3663 3731 3663 3732 3663 3678 3663 3525 3663 3724 3663 2963 3615 3724 3663 3525 3663 3270 3663 2237 3663 3270 3663 3525 3663 3452 3649 3677 3629 3542 3679 3132 3663 3046 3663 2367 3663 3046 3663 3132 3663 3045 3663 3724 3663 3733 3663 2963 3615 2337 3590 3567 3663 2335 3663 3068 3663 2335 3663 3567 3663 3678 3663 3734 3663 3731 3663 3270 3663 2237 3663 2235 3663 3615 3663 3542 3679 3677 3629 3542 3679 3615 3663 3540 3663 2830 3663 3540 3663 3615 3663 3540 3663 2830 3663 2367 3663 3133 3663 2367 3663 2830 3663 3525 3663 3484 3663 2614 3663 3484 3663 3525 3663 2335 3663 3566 3573 3452 3649 3488 3688 2614 3663 3675 3663 2235 3663 2788 3663 3728 3592 3484 3663 3334 3663 3484 3663 3728 3592 2963 3615 3452 3649 2337 3590 3566 3573 2337 3590 3452 3649 3552 3663 2365 3663 2367 3663 3567 3663 2337 3590 3566 3573 3724 3663 3270 3663 3725 3663 2335 3663 3068 3663 3484 3663 2788 3663 3484 3663 3068 3663 3395 3659 3712 3663 3552 3663 2365 3663 3552 3663 3712 3663 3296 3663 2906 3663 3295 3663 3615 3663 3677 3629 3678 3663 3542 3679 3517 3697 3452 3649 2830 3663 3414 3663 3133 3663 3595 3663 3133 3663 3414 3663 3517 3697 3025 3663 3149 3715 2954 3809 2955 3539 2953 3536 3410 3499 2238 3502 3409 3520 3030 3660 3409 3520 2238 3502 2880 3663 2951 3624 2950 3595 2951 3624 2880 3663 2815 3663 3271 3663 2815 3663 2880 3663 3323 3663 3319 3663 3322 3497 3314 3663 2738 3663 3710 3663 2738 3663 3314 3663 2737 3663 3316 3663 2737 3663 3314 3663 2737 3663 3316 3663 3315 3663 3276 3464 3322 3497 3320 3663 3279 3663 2732 3663 2734 3663 3322 3497 3276 3464 3278 3456 3277 3430 3278 3456 3276 3464 3605 3663 3552 3663 3674 3588 3409 3520 3030 3660 3552 3663 2943 3663 3603 3535 2834 3696 2379 3663 3544 3663 2377 3663 3604 3663 3605 3663 3674 3588 2367 3663 3674 3588 3552 3663 3552 3663 3605 3663 3409 3520 2953 3536 2955 3539 2952 3531 2949 3541 2952 3531 2955 3539 2950 3595 2952 3531 2949 3541 2952 3531 2950 3595 2951 3624 3396 3663 3507 3534 3454 3568 3548 3663 2377 3663 3544 3663 3717 3524 3396 3663 3454 3568 2377 3663 3506 3663 3396 3663 3507 3534 3396 3663 3506 3663 3714 3482 3392 3481 3711 3494 3364 3663 3367 3663 3309 3663 3485 3663 3457 3663 2323 3663 3492 3663 3168 3663 3457 3663 2797 3663 3457 3663 3168 3663 3457 3663 2797 3663 2323 3663 3340 3663 3342 3663 3297 3663 3298 3663 3340 3663 3297 3663 3279 3663 2734 3663 3317 3663 3656 3663 3072 3663 3718 3663 2979 3663 3698 3663 3719 3707 3027 3663 2264 3663 2248 3663 3295 3663 2910 3663 3294 3663 2910 3663 3295 3663 2908 3663 2906 3663 2908 3663 3295 3663 3699 3663 3719 3707 3698 3663 3303 3663 3612 3663 3302 3663 2933 3663 3313 3663 2938 3663 3313 3663 2933 3663 3311 3663 3362 3766 3301 3663 3363 3663 3720 3663 3719 3707 3721 3663 3624 3663 3721 3663 3719 3707 3341 3663 3340 3663 3298 3663 2955 3539 2954 3809 2533 3794 3364 3663 3310 3663 2932 3663 3309 3663 3367 3663 3308 3663 3317 3663 2734 3663 3315 3663 2736 3663 3315 3663 2734 3663 2737 3663 3315 3663 2736 3663 3719 3707 3699 3663 3700 3760 3305 3663 3607 3663 3304 3663 3609 3663 3304 3663 3607 3663 3304 3663 3609 3663 3303 3663 3612 3663 3303 3663 3609 3663 3312 3663 2938 3663 3313 3663 2788 3663 3028 3663 3728 3592 3320 3663 3322 3497 3319 3663 2941 3663 3311 3663 2933 3663 3309 3663 3310 3663 3364 3663 3463 3663 3600 3663 3672 3663 3505 3663 3569 3663 3503 3663 2576 3663 3590 3663 3008 3606 3590 3663 2576 3663 3592 3663 3569 3663 3592 3663 2576 3663 3592 3663 3569 3663 3689 3663 3505 3663 3689 3663 3569 3663 3689 3663 3505 3663 3463 3663 3600 3663 3463 3663 3505 3663 3744 3663 3672 3663 3600 3663 3672 3663 3744 3663 3709 3684 3726 3663 3709 3684 3744 3663 3522 3663 3746 3762 3744 3663 3623 3663 3719 3707 3138 3665 3385 3744 3138 3665 3719 3707 3123 3663 3151 3663 3739 3663 3503 3663 3113 3710 3522 3663 3113 3710 3503 3663 2795 3663 3719 3707 2583 3504 2581 3765 2187 3754 3739 3663 3151 3663 2593 3663 2795 3663 3503 3663 3151 3663 3123 3663 3152 3663 3124 3663 3152 3663 3123 3663 3152 3663 3124 3663 3150 3663 3125 3663 3150 3663 3124 3663 2595 3621 3008 3606 3740 3663 2593 3663 3503 3663 2591 3663 2572 3663 3125 3663 2593 3663 3746 3762 3113 3710 3745 3750 3522 3663 3744 3663 3600 3663 3719 3707 3623 3663 3624 3663 3138 3665 3385 3744 3115 3772 3120 3787 3115 3772 3385 3744 3511 3770 3169 3720 2595 3621 2795 3663 2593 3663 3020 3663 2883 3663 3020 3663 2593 3663 3020 3663 2883 3663 3021 3663 3738 3605 3021 3663 2883 3663 3021 3663 3738 3605 3113 3710 3113 3710 3738 3605 3745 3750 3620 3587 3461 3500 2583 3504 3008 3606 2595 3621 3169 3720 3485 3663 2323 3663 2619 3663 2591 3663 3503 3663 3569 3663 3750 3686 2770 3723 2803 3532 3083 3663 3156 3663 3082 3663 3156 3663 3083 3663 3382 3663 2881 3663 2835 3663 3686 3663 3747 3663 2255 3663 3042 3663 3748 3631 3042 3663 2255 3663 3749 3517 3708 3546 3750 3686 2770 3723 3750 3686 3708 3546 3739 3663 3082 3663 3156 3663 3085 3663 2803 3532 2770 3723 2764 3721 3016 3663 2382 3663 2879 3663 2382 3663 3016 3663 2382 3663 2879 3663 2381 3663 3547 3663 2381 3663 2879 3663 3329 3575 3728 3592 3028 3663 3028 3663 2788 3663 3502 3663 2789 3663 3502 3663 2788 3663 2379 3663 3546 3663 3544 3663 3513 3663 2581 3765 3512 3778 2891 3782 3512 3778 2581 3765 2764 3721 2803 3532 2760 3505 3527 3509 2760 3505 2803 3532 2381 3663 3547 3663 2379 3663 2760 3505 3527 3509 2334 3709 3344 3774 2334 3709 3527 3509 2334 3709 3344 3774 3739 3663 3082 3663 3739 3663 3344 3774 2901 3598 3038 3737 3458 3554 3740 3663 3008 3606 3590 3663 3389 3609 2598 3729 3387 3752 2598 3729 3389 3609 2596 3559 3697 3742 3458 3554 3038 3737 3538 3763 3385 3744 3687 3662 3719 3707 3687 3662 3385 3744 3687 3662 3719 3707 3513 3663 3511 3770 3697 3742 3169 3720 3546 3663 2379 3663 3547 3663 2581 3765 3513 3663 3719 3707 3700 3760 3620 3587 3719 3707 2583 3504 3719 3707 3620 3587 3512 3778 2891 3782 3511 3770 3697 3742 3511 3770 2891 3782 3038 3737 3169 3720 3697 3742 3039 3708 3169 3720 3038 3737 3169 3720 3039 3708 3748 3631 3055 3663 3056 3663 2883 3663 3688 3663 3740 3663 3687 3662 2828 3663 3687 3662 3740 3663 3687 3662 2828 3663 3723 3663 3723 3663 2828 3663 3694 3663 3736 3663 3384 3663 2611 3663 2593 3663 3055 3663 2883 3663 3123 3663 3739 3663 3156 3663 2595 3621 3740 3663 3688 3663 3057 3663 2883 3663 3056 3663 2883 3663 3057 3663 3156 3663 3123 3663 3156 3663 3057 3663 3398 3663 3397 3663 3672 3663 3463 3663 3672 3663 3397 3663 2576 3663 3008 3606 2574 3663 3010 3663 2574 3663 3008 3606 2765 3663 2611 3663 3384 3663 3045 3663 2962 3663 3044 3663 3133 3663 3732 3663 2767 3663 3732 3663 3133 3663 3678 3663 3687 3662 3539 3550 3538 3763 3298 3663 3299 3663 3341 3663 3055 3663 2593 3663 3125 3663 3300 3663 3341 3663 3299 3663 3341 3663 3300 3663 3339 3663 3301 3663 3339 3663 3300 3663 3339 3663 3301 3663 2329 3663 3741 3663 2329 3663 3301 3663 2329 3663 3741 3663 2331 3663 2617 3663 2331 3663 3741 3663 2331 3663 2617 3663 2327 3663 3595 3663 3678 3663 3133 3663 2619 3663 2327 3663 2617 3663 2767 3663 3732 3663 2765 3663 3723 3663 3672 3663 2798 3663 3672 3663 3723 3663 3398 3663 3694 3663 3398 3663 3723 3663 3695 3663 3398 3663 3694 3663 3398 3663 3695 3663 3592 3663 2963 3615 3734 3663 3678 3663 3044 3663 2962 3663 2814 3663 2882 3663 3686 3663 2834 3696 2834 3696 3686 3663 2835 3663 3616 3663 2881 3663 2811 3663 2962 3663 3735 3663 2814 3663 2396 3663 2814 3663 3735 3663 2814 3663 2396 3663 2812 3663 2397 3663 2812 3663 2396 3663 2812 3663 2397 3663 2811 3663 3734 3663 2963 3615 3733 3663 3452 3649 3729 3727 3488 3688 3729 3727 3452 3649 3730 3728 2252 3730 3044 3663 2814 3663 2814 3663 2882 3663 2252 3730 2834 3696 2252 3730 2882 3663 2252 3730 2834 3696 2284 3537 3604 3663 3674 3588 3603 3535 3674 3588 2367 3663 3046 3663 3678 3663 3595 3663 3615 3663 3616 3663 2811 3663 2886 3663 2883 3663 2886 3663 2811 3663 2886 3663 2883 3663 2884 3663 2767 3663 3735 3663 3133 3663 3735 3663 2767 3663 2396 3663 3737 3663 3384 3663 3736 3663 3384 3663 3737 3663 3383 3663 3738 3605 3383 3663 3737 3663 3383 3663 3738 3605 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@@ -113,10 +103,10 @@
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae
index 922c4808..ad53c409 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link1.dae
@@ -90,20 +90,10 @@
     </geometry>
     <geometry id="link1_01-mesh" name="link1_01">
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@@ -113,29 +103,19 @@
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           <technique_common>
-            <accessor source="#link1_02-mesh-normals-array" count="527" stride="3">
+            <accessor source="#link1_02-mesh-positions-array" count="380" stride="3">
               <param name="X" type="float" />
               <param name="Y" type="float" />
               <param name="Z" type="float" />
@@ -145,10 +125,10 @@
         <vertices id="link1_02-mesh-vertices">
           <input semantic="POSITION" source="#link1_02-mesh-positions" />
         </vertices>
-        <triangles material="palette_00_metal_silver_001-material" count="756">
+        <triangles material="palette_00_metal_silver_001-material" count="752">
           <input semantic="VERTEX" source="#link1_02-mesh-vertices" offset="0" />
-          <input semantic="NORMAL" source="#link1_02-mesh-normals" offset="1" />
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae
index 9ca00277..f008c4c9 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae
@@ -59,9 +59,9 @@
     <geometry id="link2_00-mesh" name="link2_00">
       <mesh>
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+            <accessor source="#link2_01-mesh-positions-array" count="677" stride="3">
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               <param name="Y" type="float" />
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@@ -113,29 +103,19 @@
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae
index 4396e5f2..0353db1a 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae
@@ -59,9 +59,9 @@
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-          <technique_common>
-            <accessor source="#link3_01-mesh-normals-array" count="2026" stride="3">
+            <accessor source="#link3_01-mesh-positions-array" count="1128" stride="3">
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               <param name="Y" type="float" />
               <param name="Z" type="float" />
@@ -113,10 +103,10 @@
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+        <triangles material="palette_00_metal_silver_003-material" count="2260">
           <input semantic="VERTEX" source="#link3_01-mesh-vertices" offset="0" />
-          <input semantic="NORMAL" source="#link3_01-mesh-normals" offset="1" />
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae
index 9b1f99f1..f79efe9f 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae
@@ -101,9 +101,9 @@
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+            <accessor source="#link4_00-mesh-normals-array" count="9349" stride="3">
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@@ -123,29 +123,19 @@
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2632 8497 2639 8754 2500 8723 2622 9004 2544 7920 2660 7677 2551 7344 2551 7344 2660 7677 2679 7460 2661 7723 2679 7460 2660 7677 2679 7460 2661 7723 2678 7702 2665 7921 2678 7702 2661 7723 2678 7702 2665 7921 2676 7802 2663 8035 2676 7802 2665 7921 2676 7802 2663 8035 2198 7934 2641 8116 2198 7934 2663 8035 2198 7934 2641 8116 2199 8036 2640 8270 2199 8036 2641 8116 2702 8853 2306 8934 2305 8968 2305 8968 2703 8801 2702 8853 2649 8536 2634 8689 2651 8627 2635 8764 2651 8627 2634 8689 2651 8627 2635 8764 2653 8651 2301 8804 2653 8651 2635 8764 2653 8651 2301 8804 2298 8707 2300 8822 2298 8707 2301 8804 2298 8707 2300 8822 2299 8751 2115 6696 2259 6848 2117 6616 2699 6679 2117 6616 2259 6848 2117 6616 2699 6679 2093 6580 2572 7765 2603 8202 2362 8024 2500 8723 2639 8754 2506 8543 2638 8605 2506 8543 2639 8754 2506 8543 2638 8605 2697 8425 2637 8470 2697 8425 2638 8605 2697 8425 2637 8470 2698 8297 2636 8342 2698 8297 2637 8470 2698 8297 2636 8342 2642 8147 2630 8316 2642 8147 2636 8342 2642 8147 2630 8316 2643 8207 2631 8397 2643 8207 2630 8316 2643 8207 2631 8397 2645 8321 2632 8497 2645 8321 2631 8397 2645 8321 2632 8497 2647 8433 2266 8928 2626 9008 2302 9027 2204 8907 2622 9004 2264 9098 2262 9216 2264 9098 2622 9004 2626 9008 2264 9098 2263 9164 2626 9008 2266 8928 2623 8847 2204 8907 2626 9008 2203 8828 2484 9128 2621 9327 2262 9216 2204 8907 2203 8828 2625 8712 2261 9290 2263 9164 2262 9216 2619 6133 2050 6011 2277 6013 2049 5926 2277 6013 2050 6011 2056 6174 2559 6198 2059 6196 2638 8605 2627 8572 2637 8470 2626 9008 2623 8847 2203 8828 2625 8712 2639 8754 2204 8907 2639 8754 2625 8712 2638 8605 2627 8572 2638 8605 2625 8712 2624 8737 2203 8828 2623 8847 2629 8432 2637 8470 2627 8572 2637 8470 2629 8432 2636 8342 2630 8316 2636 8342 2629 8432 2265 8919 2301 8804 2266 8928 2635 8764 2266 8928 2301 8804 2266 8928 2635 8764 2623 8847 2628 8663 2203 8828 2624 8737 2203 8828 2628 8663 2625 8712 2627 8572 2625 8712 2628 8663 2630 8316 2629 8432 2631 8397 2627 8572 2631 8397 2629 8432 2631 8397 2627 8572 2632 8497 2628 8663 2632 8497 2627 8572 2264 9098 2262 9216 2263 9164 2264 9098 2626 9008 2204 8907 2617 6352 2616 6687 2615 6368 2614 6657 2615 6368 2616 6687 2615 6368 2614 6657 2613 6431 2576 6881 2616 6687 2574 7044 2616 6687 2617 6352 2618 6750 2618 6750 2574 7044 2616 6687 2574 7044 2618 6750 2573 7099 2573 7099 2618 6750 2609 7056 2620 6643 2609 7056 2618 6750 2619 6133 2618 6750 2617 6352 2618 6750 2619 6133 2620 6643 2277 6013 2620 6643 2619 6133 2620 6643 2277 6013 2272 6515 2584 7314 2573 7099 2586 7382 2609 7056 2586 7382 2573 7099 2586 7382 2609 7056 2588 7510 2588 7510 2609 7056 2590 7463 2275 7025 2590 7463 2609 7056 2590 7463 2275 7025 2592 7640 2054 6114 2559 6198 2056 6174 2559 6198 2054 6114 2578 6107 2578 6107 2054 6114 2052 6089 2262 9216 2621 9327 2261 9290 2616 6687 2576 6881 2614 6657 2577 6880 2614 6657 2576 6881 2614 6657 2577 6880 2612 6698 2634 8689 2623 8847 2635 8764 2277 6013 2047 5866 2278 5912 2277 6013 2049 5926 2047 5866 2050 6011 2578 6107 2052 6089 2578 6107 2050 6011 2619 6133 2276 6273 2272 6515 2277 6013 2273 6630 2275 7025 2272 6515 2272 6515 2275 7025 2620 6643 2609 7056 2620 6643 2275 7025 2210 7219 2679 7460 2192 7328 2658 8499 2653 8651 2659 8551 2653 8651 2658 8499 2652 8541 2657 8412 2652 8541 2658 8499 2551 7344 2555 7149 2205 7321 2679 7460 2210 7219 2551 7344 2298 8707 2659 8551 2653 8651 2677 7531 2192 7328 2679 7460 2192 7328 2677 7531 2193 7386 2675 7689 2193 7386 2677 7531 2679 7460 2678 7702 2677 7531 2676 7802 2677 7531 2678 7702 2659 8551 2298 8707 2297 8609 2296 8664 2297 8609 2298 8707 2669 6871 2196 7196 2670 6923 2195 7252 2670 6923 2196 7196 2670 6923 2195 7252 2671 7007 2190 6524 2669 6871 2672 6614 2670 6923 2672 6614 2669 6871 2672 6614 2670 6923 2674 6685 2671 7007 2674 6685 2670 6923 2674 6685 2671 7007 2673 6876 2661 7723 2666 8076 2665 7921 2666 8076 2661 7723 2667 7987 2660 7677 2667 7987 2661 7723 2368 8815 2595 9046 2369 9061 2680 7629 2197 7794 2201 7884 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3899 2939 3899 2043 5689 3304 2191 3083 2168 3084 1781 3095 1926 3096 1428 3097 1485 3029 768 3055 748 3052 1176 3076 2222 3077 2656 3078 1996 3079 759 3267 823 3328 942 3018 2038 3020 2284 3072 2239 3072 3242 3020 3251 2043 5689 3021 6315 2043 6112 3020 6315 2043 2392 3071 2377 3072 2269 2102 2623 3039 2623 3040 2623 3032 2402 3024 2382 3023 2179 3034 1898 3023 2179 3033 1966 2937 1058 3016 1005 2941 818 3015 178 2941 360 3016 889 3038 3106 2102 3296 3040 3264 3041 3177 2137 3235 2138 3275 2137 3235 3041 3177 2135 3184 3042 3066 2135 3184 3041 3177 3448 780 3035 757 3028 980 3029 523 3028 704 3035 522 3027 1082 3036 1060 3037 1206 3014 436 3015 228 3016 889 3014 1539 3018 1727 3017 1868 3016 1166 3018 1727 3014 1539 3019 1090 3018 1380 3016 1005 3018 2183 3019 2403 3020 2284 3021 2443 3020 2284 3019 2403 3014 1539 3022 1399 3015 1399 2939 2561 3021 2443 2937 2459 3019 2403 2937 2459 3021 2443 3016 1005 2937 1058 3019 1090 3055 748 3029 668 3035 667 3049 1613 3048 1147 3050 1603 3455 1571 3050 1603 3048 1292 3050 1603 3455 1571 3051 1886 3051 1886 3455 1571 3458 1619 3052 1304 3055 827 3048 1012 3036 1060 3028 881 3037 1206 3027 2480 3025 2555 3026 2841 3052 1304 3048 1292 3049 1613 3029 1540 3037 1206 3028 1283 3052 1430 3037 1947 3029 1812 3037 1947 3052 1304 3053 1961 3049 1613 3053 1961 3052 1430 3053 1961 3049 1613 3054 1983 3050 1603 3054 1983 3049 1613 3054 1983 3050 1603 3051 1886 3043 2991 2128 3023 2130 3056 2128 3023 3031 2921 2129 2970 3044 2862 3064 2785 2124 2919 3031 2921 2128 3023 3043 2991 3043 2991 2134 3103 3042 3066 3042 3066 2134 3103 2135 3184 2134 3103 3043 2991 2130 3056 3038 2737 3040 2184 3039 2184 2124 2919 2126 2930 3044 2862 3111 2088 3194 2169 3195 1861 3190 2470 3125 2730 3191 2498 3125 2730 3190 2470 3126 2660 3193 2387 3128 2328 3192 2614 3128 2328 3193 2387 3111 2088 3194 2169 3111 2088 3193 2387 3196 1970 3195 1861 3194 2169 3195 1861 3196 1970 3197 1659 3198 1806 3197 1659 3196 1970 3197 1659 3198 1806 3199 1447 3200 1522 3199 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854 3221 963 3216 854 3222 901 3218 749 3223 851 3218 749 3222 901 3224 213 3225 337 3226 365 3227 486 3226 365 3225 337 3122 1744 3112 1938 3120 1715 3115 1628 3096 1428 3095 1926 3123 2343 3206 2517 3045 2306 3097 1485 3096 1428 3208 1246 3207 1278 3208 1246 3096 1428 3208 1246 3207 1278 3209 1187 3210 739 3211 661 3212 620 3212 620 3211 661 3213 530 3143 1087 3142 1034 3139 1196 3144 911 3142 1028 3143 1087 3142 1028 3144 911 3145 754 3139 1196 3142 1034 3140 1266 3135 1424 3134 1487 3136 1489 3135 1424 3136 1489 3138 1562 3135 1424 3138 1562 3133 1608 3135 1424 3139 1196 3140 1266 3146 676 3145 754 3144 911 3147 545 3148 612 3146 676 3145 754 3146 676 3148 612 3147 545 3149 484 3148 612 3150 444 3149 484 3147 545 3135 1424 3141 1332 3134 1487 3140 1266 3141 1332 3135 1424 3392 1175 3140 1266 3142 1030 2124 2919 3064 2785 2091 2877 3125 2730 2091 2877 3064 2785 2091 2877 3125 2730 2121 2747 3123 2343 3124 2236 3099 2248 3132 1722 3130 1964 3131 1997 3131 1997 3130 1964 3109 2089 3129 2076 3109 2089 3130 1964 3126 2660 2121 2747 3125 2730 3174 2091 3173 2082 3171 1959 3101 2148 3102 2049 3176 2283 3180 2742 2040 2905 3179 2795 3182 2065 3183 2299 3184 2182 3179 2795 2062 2840 3178 2639 3178 2639 2062 2840 2065 2768 3170 1486 3103 1493 3167 1420 2062 2840 3179 2795 2040 2905 3169 1534 3170 1486 3167 1420 3152 63 3153 162 3154 163 3155 289 3154 163 3081 233 3157 514 3156 386 3158 466 3224 213 3151 195 3108 269 3108 269 3151 195 3107 323 3224 213 3093 102 3151 195 3165 1224 3164 1239 3104 1316 3167 1420 3104 1316 3164 1239 3103 1493 3104 1316 3167 1420 3228 1143 3208 1246 3229 1133 3161 679 3160 642 3159 583 3159 583 3160 642 3157 514 3162 789 3160 642 3161 679 3164 1239 3105 1029 3163 1083 3105 1029 3164 1239 3165 1224 3167 1420 3168 1589 3169 1534 3014 1400 3373 1096 3417 1445 3416 1261 3415 1334 3491 1494 2155 3659 3413 3261 2157 3676 3410 3443 3412 3303 2151 3785 3395 3656 2140 4061 3394 3860 2140 4061 3395 3656 2145 4060 2153 3715 3412 3303 2155 3659 3413 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3162 844 3105 1036 3439 912 3442 971 3150 723 3442 1188 3439 912 3441 1497 3441 1705 3440 1610 3443 2597 3438 2272 3443 2597 3440 1993 3443 2597 3438 2612 3413 3225 3149 1007 3442 1188 3444 1293 3443 2597 3412 3303 3425 2625 3444 2017 3425 2388 3445 2605 3425 1952 3444 1533 3442 1396 3410 2864 3445 2605 3425 2625 3149 1007 3150 723 3442 971 3435 1220 3440 1426 3437 853 3440 1610 3435 1567 3438 1853 3438 2612 3428 2534 3413 3019 3410 3408 3425 2625 3412 3303 3093 692 3435 777 3151 660 3439 912 3437 853 3440 1426 3107 323 3151 197 3437 853 3435 777 3437 853 3151 197 3428 1889 3438 1853 3435 1567 3440 1426 3441 1497 3439 912 3150 442 3107 323 3439 912 3437 853 3439 912 3107 323 3145 755 3148 612 3396 988 3148 612 3149 485 3447 1088 3447 1088 3396 988 3148 612 3446 1597 3396 1192 3447 1088 3396 1566 3446 1836 3390 2014 3445 2605 3390 2288 3446 2083 3390 2594 3445 2605 3395 2922 3410 3408 3395 3488 3445 2644 3445 2485 3446 1836 3444 1875 3447 1088 3444 1383 3446 1597 3444 1293 3447 1088 3149 1007 3425 2388 3441 1972 3443 2597 3413 3225 3412 3303 3443 2597 3413 3225 3427 3068 3411 3361 3441 1705 3425 1952 3442 1396 3413 3225 3428 2685 3427 2857 3407 2053 3404 2547 3426 2347 3427 2584 3429 1982 3426 2347 3429 1982 3427 2584 3430 2045 3430 2045 3427 2584 3431 2151 3411 3211 3426 2645 3408 2978 3426 2645 3411 3064 3427 2857 3117 1759 3116 1713 3424 1953 3404 2547 3408 3473 3426 2645 3432 905 3157 796 3160 1067 3436 891 3431 1305 3434 1065 3157 515 3432 905 3156 386 3160 1067 3407 1356 3432 1124 3433 857 3156 386 3432 905 3156 377 3433 857 3155 292 3436 891 3154 163 3155 292 3154 163 3436 891 3152 64 3434 784 3152 64 3436 891 3152 651 3434 784 3093 692 3435 777 3093 103 3434 784 3434 1499 3428 2022 3435 1567 3428 2317 3431 2151 3427 2584 3428 1889 3434 1499 3431 1849 3426 1979 3432 1455 3407 1596 3432 1455 3426 1979 3433 1442 3429 1982 3433 1442 3426 1979 3430 1178 3155 916 3433 1194 3155 916 3430 1178 3436 891 3431 1305 3436 891 3430 1178 3433 1442 3429 1982 3430 1462 3201 1302 3341 1202 3199 1447 3340 1345 3199 1447 3341 1202 3199 1447 3340 1345 3197 1659 3223 851 3239 1010 3254 1015 3217 725 3211 661 3215 800 3295 939 3311 855 3286 705 3189 1587 3312 1384 3310 1204 3311 855 3295 939 3300 1043 3210 739 3215 800 3211 661 3215 800 3210 739 3204 867 3344 795 3204 867 3210 739 3204 867 3344 795 3203 1167 3342 1040 3203 1167 3344 795 3203 1167 3342 1040 3201 1302 3341 1202 3201 1302 3342 1040 3345 565 3331 455 3339 656 3108 269 3225 337 3224 213 3225 337 3108 269 3347 385 3331 455 3346 499 3347 385 3346 499 3331 455 3345 565 3147 545 3339 656 3331 455 3343 763 3338 707 3342 1040 3338 707 3343 763 3339 656 3339 656 3210 739 3345 565 3249 2094 3241 1766 3251 2376 3252 1607 3241 1766 3249 2094 3241 1766 3252 1607 3240 1387 3253 1326 3240 1387 3252 1607 3240 1387 3253 1326 3239 1010 3254 1015 3239 1010 3253 1326 3260 60 3094 169 3261 750 3226 365 3094 169 3224 213 3093 102 3224 213 3094 169 3260 60 3153 162 3152 63 3153 162 3260 60 3088 327 3316 558 3268 544 3286 705 3268 544 3316 558 3263 446 3153 162 3264 330 3080 350 3347 385 3107 323 3331 455 3243 1932 3258 2241 3244 1512 3107 323 3347 385 3108 269 3212 620 3345 565 3210 739 3150 444 3331 455 3107 323 3076 2222 3078 1996 3262 1325 3275 1738 3326 1544 3091 1483 3133 1608 3132 1722 3135 1424 3132 1722 3133 1608 3130 1964 3326 1544 3275 1738 3325 1837 3147 545 3331 455 3150 444 3328 942 3329 804 3079 759 3271 1129 3328 942 3314 951 3328 942 3271 1129 3327 1297 3091 1483 3327 1297 3271 1129 3330 731 3079 759 3329 804 3106 885 3163 1083 3105 1029 3106 885 3161 679 3320 716 3276 1985 3325 1837 3275 1738 3325 1837 3276 1985 3177 2146 3089 2473 3176 2283 3177 2146 3176 2283 3089 2473 3175 2518 3175 2518 3089 2473 2067 2622 2069 2668 2067 2622 3089 2473 3144 911 3334 970 3146 676 3320 716 3315 655 3330 731 3330 731 3315 655 3079 759 3314 951 3328 942 3267 823 3342 1040 3334 970 3341 1202 3334 970 3342 1040 3338 707 3337 1536 3197 1659 3340 1345 3344 795 3343 763 3342 1040 3343 763 3344 795 3339 656 3210 739 3339 656 3344 795 3345 565 3212 620 3346 499 3213 530 3346 499 3212 620 3346 499 3213 530 3347 385 3227 486 3347 385 3213 530 3347 385 3227 486 3225 337 3338 707 3146 676 3334 970 3340 1345 3332 1282 3337 1536 3332 1282 3340 1345 3333 1139 3341 1202 3333 1139 3340 1345 3333 1139 3341 1202 3334 970 3132 1722 3336 1757 3135 1424 3337 1536 3135 1424 3336 1757 3135 1424 3337 1536 3332 1282 3336 1757 3132 1722 3335 1963 3332 1282 3139 1196 3135 1424 3139 1196 3332 1282 3143 1087 3333 1139 3143 1087 3332 1282 3143 1087 3333 1139 3144 911 3334 970 3144 911 3333 1139 3335 1963 3111 2088 3336 1757 3146 676 3338 707 3147 545 3339 656 3147 545 3338 707 3111 2088 3335 1963 3110 2128 3195 1861 3336 1757 3111 2088 3336 1757 3195 1861 3337 1536 3197 1659 3337 1536 3195 1861 3109 2089 3110 2128 3131 1997 3335 1963 3131 1997 3110 2128 3131 1997 3335 1963 3132 1722 3381 1421 3363 1917 3415 1355 3363 1917 3381 1702 3382 2007 3382 2007 3381 1702 3366 1820 3383 1327 3366 1820 3381 1421 3350 1306 3361 1780 3351 1609 3384 2078 3372 1459 3351 1948 3372 1459 3384 2078 3370 1664 3385 2106 3370 1664 3384 2078 3370 1664 3385 2106 3367 1724 3351 1835 3361 2205 3384 2078 3364 2794 3348 2417 3380 2641 3353 2878 3358 3129 3375 2734 3353 2878 3361 2739 3352 2983 3361 2460 3353 2787 3374 2451 3375 2734 3374 2451 3353 2787 3374 2451 3375 2734 3376 2339 3357 3018 3375 2734 3358 3129 3375 2734 3357 3018 3378 2653 3378 2653 3357 3018 3380 2641 3356 2935 3380 2641 3357 3018 3380 2641 3356 2935 3364 2794 3380 2641 3379 2298 3378 2653 3379 2298 3380 2641 3348 2417 3389 1307 3392 1269 3142 1119 3392 1385 3389 1476 3393 1683 3388 2174 3393 2234 3389 1815 3348 2417 3349 2176 3379 2298 3386 2043 3367 1724 3385 2106 3367 1724 3386 2043 3365 1703 3365 1703 3386 2043 3366 1820 3387 2124 3366 1820 3386 2043 3366 1820 3387 2124 3382 2007 3363 1917 3382 2007 3349 2176 3379 2298 3382 2007 3387 2124 3382 2007 3379 2298 3349 2176 3385 2106 3376 2339 3386 2043 3390 2014 3388 2174 3389 1815 3374 2451 3384 2078 3361 2320 3384 2078 3374 2451 3385 2106 3376 2339 3385 2106 3374 2451 3386 2043 3376 2339 3387 2124 3377 2390 3387 2124 3376 2339 3387 2124 3377 2390 3379 2298 3356 2935 2058 2966 3364 2794 2058 2966 3356 2935 2057 3035 3357 3018 2057 3035 3356 2935 3357 3018 2053 3071 2057 3035 3313 2818 3082 2385 3354 2553 3313 2818 2060 2920 2040 2905 3313 2818 2040 2905 3180 2742 3352 2992 3361 2739 3362 2911 2053 3071 3357 3018 2055 3077 3358 3129 2051 3163 3357 3018 2055 3077 3357 3018 2051 3163 2051 3163 3358 3129 2048 3234 3288 771 3088 327 3260 60 3297 1381 3078 1996 3087 2158 3367 1724 3369 1376 3370 1664 3371 1148 3370 1664 3369 1128 3370 1664 3371 1148 3372 1459 3373 898 3372 1331 3371 700 3359 3224 3353 3078 3352 2989 3376 2339 3375 2734 3377 2390 3378 2653 3377 2390 3375 2734 3377 2390 3378 2653 3379 2298 3372 923 3373 826 3351 611 3353 3078 3359 3224 3358 3129 2048 3234 3358 3129 3359 3224 3359 3224 2042 3174 2048 3234 3352 2942 3360 3135 2042 3174 2042 3174 3359 3224 3352 2994 3366 1820 3383 1548 3365 1703 3368 1454 3365 1703 3383 1327 3546 2429 3558 2702 3547 2505 3369 1376 3367 1724 3368 1454 3365 1703 3368 1454 3367 1724 3350 1306 3351 1093 3017 856 3373 826 3017 856 3351 793 2960 694 3506 483 2959 527 3508 333 2959 527 3506 483 2959 527 3508 333 2956 394 3509 249 2956 394 3508 333 2956 394 3509 249 2933 242 3503 220 2933 242 3509 249 3502 222 2933 242 3503 221 2933 242 3502 222 2931 223 3506 483 2960 694 3505 552 3510 601 2952 767 2951 585 2952 767 3510 601 3511 699 3510 601 3420 502 3511 699 3508 333 3453 368 3454 272 2954 450 3512 353 3513 439 3513 439 3419 354 3420 502 3418 693 3511 699 3420 502 3511 699 3477 975 2952 767 3477 975 3511 699 3472 810 3418 693 3472 810 3511 699 2955 328 2940 191 3514 237 3422 282 3514 237 2940 191 3015 175 3022 379 3422 282 3422 282 3419 354 3514 237 3506 483 3453 368 3508 333 3453 396 3505 521 3452 532 3505 552 3453 368 3506 483 2962 893 2964 1022 3501 828 3473 1044 3501 828 2964 1022 3501 828 3473 1044 3507 877 3475 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-          <technique_common>
-            <accessor source="#link4_01-mesh-normals-array" count="420" stride="3">
+            <accessor source="#link4_01-mesh-positions-array" count="400" stride="3">
               <param name="X" type="float" />
               <param name="Y" type="float" />
               <param name="Z" type="float" />
@@ -155,29 +145,19 @@
         <vertices id="link4_01-mesh-vertices">
           <input semantic="POSITION" source="#link4_01-mesh-positions" />
         </vertices>
-        <triangles material="palette_00_metal_silver_004-material" count="1022">
+        <triangles material="palette_00_metal_silver_004-material" count="800">
           <input semantic="VERTEX" source="#link4_01-mesh-vertices" offset="0" />
-          <input semantic="NORMAL" source="#link4_01-mesh-normals" offset="1" />
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+            <accessor source="#link4_02-mesh-positions-array" count="783" stride="3">
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@@ -187,10 +167,10 @@
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diff --git a/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae
index 9cea61c1..77d0de78 100644
--- a/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae
+++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae
@@ -59,9 +59,9 @@
     <geometry id="link5_00-mesh" name="link5_00">
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868 1116 868 1228 868 1228 868 1116 868 1210 663 1101 868 1210 663 1116 868 1211 846 1102 666 1229 846 1229 846 1102 666 1227 846 1117 846 1227 846 1102 666 1205 1025 1191 1047 1094 1058 1096 1075 1094 1058 1191 1047 1201 639 1088 674 1191 1047 1096 1075 1191 1047 1088 674 1200 1093 1195 1076 1089 1076 1196 635 1203 640 1079 645 1095 622 1252 644 1204 643 1098 654 1099 743 1207 706 1193 1050 1207 706 1099 743 1205 1025 1094 1058 1097 1051 1205 1025 1097 1051 1206 1066 1202 866 1204 643 1252 644 1193 1050 1099 743 1194 673 1090 1041 1194 673 1099 743 1095 622 1206 641 1097 642 1206 641 1095 622 1204 643 1196 1661 1159 1661 1203 1661 1158 1661 1203 1661 1159 1661 1243 125 1125 164 1244 202 1131 281 1239 343 1132 374 1240 163 1128 127 1241 102 1128 127 1240 163 1129 200 1227 846 1117 846 1225 846 1184 868 1118 868 1224 868 1219 101 1112 44 1220 45 1112 44 1219 101 1113 126 1218 165 1113 126 1219 101 1113 126 1218 165 1114 201 1250 846 1135 846 1245 661 1121 846 1245 661 1135 846 1244 202 1124 260 1237 283 1124 260 1244 202 1125 164 1165 1258 1144 1123 1142 1125 1125 164 1243 125 1126 100 1242 44 1126 100 1243 125 1242 44 1127 45 1126 100 1241 102 1127 45 1242 44 1127 45 1241 102 1128 127 1201 639 1194 673 1088 674 1090 1041 1088 674 1194 673 1252 851 1065 851 1202 851 1154 851 1202 851 1065 851 1196 635 1079 645 1197 1077 1073 1081 1197 1077 1079 645 1081 649 1079 645 1203 640 1226 1395 1225 1454 1224 1493 1253 1652 1198 1661 1157 1661 1158 1661 1157 1661 1198 1661 1243 851 1230 1053 1242 851 1244 851 1230 1053 1243 851 1230 1053 1244 851 1237 851 1231 1063 1230 1053 1245 1126 1245 1126 1230 1053 1233 1102 1210 1132 1229 1256 1228 1296 1211 1104 1209 1056 1212 1059 1229 1256 1210 1132 1211 1104 1227 1358 1228 1296 1229 1256 1228 1296 1227 1358 1226 1395 1225 1454 1226 1395 1227 1358 1198 1661 1253 1652 1190 1661 1185 1598 1224 1493 1225 1454 1194 1664 1207 1660 1193 1661 1223 852 1209 1056 1222 852 1222 852 1209 1056 1221 852 1239 851 1230 1053 1238 851 1234 851 1230 1053 1235 851 1235 851 1230 1053 1236 851 1236 851 1230 1053 1237 851 1231 1063 1238 851 1230 1053 1232 1060 1230 1053 1234 851 1241 851 1230 1053 1240 851 1242 851 1230 1053 1241 851 1221 852 1209 1056 1220 852 1144 1123 1165 1258 1166 1293 1164 1352 1166 1293 1165 1258 1166 1293 1164 1352 1167 1391 1163 1455 1167 1391 1164 1352 1167 1391 1163 1455 1168 1495 1203 1661 1158 1661 1199 1661 1147 1661 1157 1661 1148 1661 1150 1661 1149 1661 1158 1661 1157 1661 1158 1661 1149 1661 1191 1661 1202 1661 1161 1661 1191 1661 1204 1665 1202 1661 1200 688 1098 688 1207 1092 1098 688 1200 688 1089 618 1239 343 1131 281 1230 257 1220 852 1209 1056 1219 852 1219 852 1209 1056 1218 852 1218 852 1209 1056 1217 852 1217 852 1209 1056 1216 852 1208 852 1216 852 1209 1056 1224 1493 1185 1598 1184 1574 1214 852 1209 1056 1215 852 1213 852 1209 1056 1214 852 1212 1059 1209 1056 1213 852 1210 1132 1209 1056 1211 1104 1147 1661 1146 1661 1157 1661 1157 1661 1146 1661 1145 1663 1253 868 1254 868 1184 868 1075 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1104 675 1112 851 1112 851 1104 675 1111 851 1111 851 1104 675 1110 851 1110 851 1104 675 1109 851 1102 614 1104 675 1101 599 1104 675 1115 851 1108 851 1115 851 1104 675 1100 670 1117 222 1118 85 1058 59 1174 457 1042 574 1175 520 1102 406 1116 358 1117 309 1116 406 1102 590 1101 599 1057 613 1042 676 1044 679 1119 852 1125 677 1120 659 1124 852 1125 677 1123 852 1119 852 1123 852 1125 677 1099 3 1089 3 1090 3 1252 3 1096 3 1088 3 1095 3 1096 3 1252 3 1043 408 1138 359 1139 307 1138 408 1043 577 1057 613 1136 223 1137 86 1077 104 1055 121 1179 161 1056 198 1256 1049 1093 700 1150 1084 1093 700 1256 1049 1092 1090 1061 1097 1149 1085 1091 1091 1150 1084 1091 1091 1149 1085 1063 634 1083 621 1151 619 1161 617 1151 619 1083 621 1152 1073 1153 1070 1069 1065 1068 1032 1069 1065 1153 1070 1154 846 1065 846 1155 846 1182 857 1064 856 1183 1062 1063 634 1183 1062 1064 856 1183 1062 1063 634 1151 619 1098 3 1089 3 1099 3 1179 161 1055 121 1180 99 1121 615 1125 677 1122 678 1050 852 1042 676 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682 1156 710 1042 574 1043 664 1141 623 1142 868 1141 623 1043 664 1149 1661 1148 1661 1157 1661 1253 1652 1184 1574 1185 1598 1186 1608 1187 1599 1188 1639 1255 1656 1188 1639 1187 1599 1185 1598 1189 1642 1253 1652 1253 1652 1189 1642 1190 1661 1187 1599 1246 1494 1247 1456 1160 1661 1192 1661 1255 1656 1255 1656 1192 1661 1188 1639 1154 1641 1151 1661 1202 1661 1144 1123 1141 1055 1142 1125 1143 1057 1141 1055 1144 1123 1173 851 1141 1055 1172 851 1174 851 1141 1055 1173 851 1175 851 1141 1055 1174 851 1179 851 1141 1055 1178 851 1180 851 1141 1055 1179 851 1161 1661 1201 1661 1191 1661 1209 1056 1223 852 1215 852 1181 1661 1154 1641 1152 1643 1154 1641 1181 1661 1182 1661 1161 1661 1202 1661 1151 1661 1061 1097 1062 1089 1148 1086 1183 1661 1151 1661 1154 1641 1155 1575 1153 1602 1154 1641 1245 1126 1251 1254 1250 1294 1251 1254 1245 1126 1233 1102 1168 1495 1153 1602 1155 1575 1153 1602 1168 1495 1163 1455 1152 1643 1154 1641 1153 1602 1160 1661 1255 1656 1161 1661 1195 1662 1161 1661 1255 1656 1197 1661 1159 1661 1196 1661 1169 851 1141 1055 1180 851 1170 851 1141 1055 1169 851 1072 1074 1160 636 1074 936 1172 282 1050 342 1173 373 1049 440 1173 373 1050 342 1173 373 1049 440 1174 457 1068 1032 1153 1070 1139 868 1163 868 1139 868 1153 1070 1175 520 1042 574 1141 623 1143 576 1044 626 1045 521 1046 459 1143 576 1045 521 1143 576 1046 459 1176 439 1054 46 1180 99 1055 121 1180 99 1054 46 1169 47 1074 650 1161 616 1083 621 1160 1074 1072 1101 1159 1088 1247 1456 1248 1394 1249 1357 1161 650 1074 1080 1160 936 1158 1054 1092 1090 1256 1049 1067 660 1152 1073 1069 1065 1152 1073 1067 660 1181 863 1066 860 1181 863 1067 660 1181 863 1066 860 1182 857 1064 856 1182 857 1066 860 1147 1067 1148 1086 1062 1089 1149 1085 1061 1097 1148 1086 1057 846 1144 662 1138 846 1166 846 1138 846 1144 662 1091 1091 1150 1084 1093 700 1164 868 1139 868 1163 868 1157 847 1156 710 1080 701 1158 1054 1159 1088 1092 1090 1072 1100 1092 1090 1159 1088 1171 199 1051 258 1172 282 1085 682 1080 701 1156 710 1051 258 1171 199 1052 162 1142 868 1043 664 1165 868 1165 868 1043 664 1164 868 1139 868 1164 868 1043 664 1145 1043 1086 658 1162 672 1086 658 1145 1043 1070 686 1155 846 1140 846 1168 846 1138 846 1167 846 1140 846 1248 1394 1247 1456 1246 1494 1250 1294 1249 1357 1248 1394 1047 371 1176 439 1046 459 1176 439 1047 371 1177 346 1169 47 1054 46 1053 103 1169 47 1053 103 1170 124 1052 162 1170 124 1053 103 1170 124 1052 162 1171 199 1050 342 1172 282 1051 258 1167 846 1138 846 1166 846 1168 846 1140 846 1167 846</p>
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