From 75606b85271443760048cde99e9f965f350dfee6 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 30 Sep 2026 10:55:54 +0200
Subject: [PATCH 01/13] new robot for mobile manipulation exercise myagv +
 mycobot

---
 CustomRobots/CMakeLists.txt                   |   3 +
 CustomRobots/myagv_mycobot/LICENSE            |  63 ++
 CustomRobots/myagv_mycobot/NOTICE             |  22 +
 .../launch/myagv_mycobot.launch.py            | 309 ++++++++++
 .../myagv_mycobot/meshes/gripper_base.stl     | Bin 0 -> 893684 bytes
 .../myagv_mycobot/meshes/gripper_left1.stl    | Bin 0 -> 131884 bytes
 .../myagv_mycobot/meshes/gripper_left2.stl    | Bin 0 -> 152484 bytes
 .../myagv_mycobot/meshes/gripper_left3.stl    | Bin 0 -> 358784 bytes
 .../myagv_mycobot/meshes/gripper_right1.stl   | Bin 0 -> 131884 bytes
 .../myagv_mycobot/meshes/gripper_right2.stl   | Bin 0 -> 152484 bytes
 .../myagv_mycobot/meshes/gripper_right3.stl   | Bin 0 -> 189684 bytes
 .../models/myagv_mycobot/meshes/joint1_pi.stl | Bin 0 -> 4785084 bytes
 .../models/myagv_mycobot/meshes/joint2.stl    | Bin 0 -> 712384 bytes
 .../models/myagv_mycobot/meshes/joint3.stl    | Bin 0 -> 1148884 bytes
 .../models/myagv_mycobot/meshes/joint4.stl    | Bin 0 -> 307534 bytes
 .../models/myagv_mycobot/meshes/joint5.stl    | Bin 0 -> 1145434 bytes
 .../models/myagv_mycobot/meshes/joint6.stl    | Bin 0 -> 490584 bytes
 .../models/myagv_mycobot/meshes/joint7.stl    | Bin 0 -> 482684 bytes
 .../myagv_mycobot/meshes/myagv_body.stl       | Bin 0 -> 6920584 bytes
 .../models/myagv_mycobot/meshes/myagv_top.stl | Bin 0 -> 1050734 bytes
 .../meshes/myagv_wheel_back_left.stl          | Bin 0 -> 98484 bytes
 .../meshes/myagv_wheel_back_right.stl         | Bin 0 -> 98484 bytes
 .../meshes/myagv_wheel_front_left.stl         | Bin 0 -> 98484 bytes
 .../meshes/myagv_wheel_front_right.stl        | Bin 0 -> 98484 bytes
 .../myagv_mycobot/myagv_mycobot.urdf.xacro    |  14 +
 .../myagv_mycobot_common.urdf.xacro           | 413 ++++++++++++++
 .../myagv_mycobot/myagv_mycobot_gz.urdf.xacro | 135 +++++
 .../models/conveyor/meshes/conveyor2_low.dae  | 334 +++++++++++
 .../CMakeLists.txt                            |  10 +
 .../config/controller_manager.yaml            |  63 ++
 .../config/joint_limits.yaml                  |  36 ++
 .../config/kinematics.yaml                    |   7 +
 .../config/moveit_controllers.yaml            |  25 +
 .../config/ompl_planning.yaml                 |  70 +++
 .../config/pilz_cartesian_limits.yaml         |   5 +
 .../myagv_mycobot_moveit_config/package.xml   |  25 +
 .../srdf/myagv_mycobot.srdf                   | 138 +++++
 ...ile_manipulation_warehouse_myagv.launch.py |  48 ++
 ...mobile_manipulation_warehouse_myagv.config | 157 +++++
 .../mobile_manipulation_warehouse_myagv.world | 537 ++++++++++++++++++
 database/worlds.sql                           |   4 +
 41 files changed, 2418 insertions(+)
 create mode 100644 CustomRobots/myagv_mycobot/LICENSE
 create mode 100644 CustomRobots/myagv_mycobot/NOTICE
 create mode 100644 CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_base.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left1.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left2.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left3.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right1.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right2.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right3.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint1_pi.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint2.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint3.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint4.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint5.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint6.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint7.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_body.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_top.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_left.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_right.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_left.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_right.stl
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
 create mode 100644 CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_gz.urdf.xacro
 create mode 100644 CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae
 create mode 100644 Industrial/myagv_mycobot_moveit_config/CMakeLists.txt
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/controller_manager.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/joint_limits.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/kinematics.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/moveit_controllers.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/ompl_planning.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/config/pilz_cartesian_limits.yaml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/package.xml
 create mode 100644 Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
 create mode 100644 Launchers/mobile_manipulation_warehouse_myagv.launch.py
 create mode 100644 Launchers/visualization/mobile_manipulation_warehouse_myagv.config
 create mode 100644 Scenes/mobile_manipulation_warehouse_myagv.world

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index d92dce93c..be020b6a3 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -139,6 +139,9 @@ install(
     mmo500/models
     mmo500/launch
 
+    myagv_mycobot/models
+    myagv_mycobot/launch
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)
diff --git a/CustomRobots/myagv_mycobot/LICENSE b/CustomRobots/myagv_mycobot/LICENSE
new file mode 100644
index 000000000..d51f6bb2b
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/LICENSE
@@ -0,0 +1,63 @@
+The myCobot 280 Pi and adaptive gripper meshes and kinematics come from
+mycobot_description in https://github.com/elephantrobotics/mycobot_ros2
+under this license:
+
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+------------------------------------------------------------------------------
+
+The myAGV meshes come from myagv_description in
+https://github.com/elephantrobotics/myagv_ros2 under this license:
+
+BSD 3-Clause License
+
+Copyright (c) 2024, Elephant Robotics
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/CustomRobots/myagv_mycobot/NOTICE b/CustomRobots/myagv_mycobot/NOTICE
new file mode 100644
index 000000000..4d36f92e9
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/NOTICE
@@ -0,0 +1,22 @@
+The meshes under models/myagv_mycobot/meshes/ come from Elephant Robotics,
+see LICENSE in this directory for both licenses.
+
+myagv_body, myagv_top and myagv_wheel_* were generated from myagv_base.dae
+and myagv_up.dae in https://github.com/elephantrobotics/myagv_ros2
+(myagv_description), Copyright (c) 2024 Elephant Robotics, BSD-3-Clause.
+The four mecanum wheels were split out of the base mesh so they can turn,
+and everything was converted from inches to meters.
+
+joint1_pi, joint2 to joint7 and gripper_* were converted to STL in meters from
+the myCobot 280 Pi and adaptive gripper meshes in
+https://github.com/elephantrobotics/mycobot_ros2 (mycobot_description),
+Copyright (c) 2020 Elephant Robotics, BSD-2-Clause.
+
+The arm and gripper joint origins, axes and limits in
+myagv_mycobot_common.urdf.xacro follow mycobot_280_pi_adaptive_gripper.urdf
+from the same source. The driving gripper joint is renamed from
+gripper_controller to gripper_base_to_gripper_left3 because ros2_control
+cannot activate a controller named like one of its joints. The laser and camera frames follow the myAGV bringup in
+https://github.com/elephantrobotics/myagv_ros (myagv_odometry).
+
+Everything else in this directory is original work for RoboticsAcademy.
diff --git a/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
new file mode 100644
index 000000000..ae194ea3b
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
@@ -0,0 +1,309 @@
+import os
+import xacro
+import yaml
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+
+def load_yaml(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return yaml.safe_load(f)
+
+
+def load_file(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return f.read()
+
+
+def launch_setup(context):
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    R = LaunchConfiguration("R")
+    P = LaunchConfiguration("P")
+    Y = LaunchConfiguration("Y")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
+
+    package_dir = get_package_share_directory("custom_robots")
+
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
+
+    # Robot description
+    xacro_file = os.path.join(
+        package_dir,
+        "models",
+        "myagv_mycobot",
+        "myagv_mycobot.urdf.xacro",
+    )
+
+    controllers_file = os.path.join(
+        get_package_share_directory("myagv_mycobot_moveit_config"),
+        "config",
+        "controller_manager.yaml",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "namespace": namespace,
+            "simulation_controllers": controllers_file,
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    # MoveIt configuration
+    robot_description_semantic = {
+        "robot_description_semantic": load_file(
+            "myagv_mycobot_moveit_config", "srdf/myagv_mycobot.srdf"
+        )
+    }
+
+    kinematics_yaml = load_yaml("myagv_mycobot_moveit_config", "config/kinematics.yaml")
+    kinematics_yaml = {
+        "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"]
+    }
+
+    moveit_controllers = load_yaml(
+        "myagv_mycobot_moveit_config", "config/moveit_controllers.yaml"
+    )
+    moveit_controllers = moveit_controllers["/**"]["ros__parameters"]
+
+    ompl_planning = load_yaml("myagv_mycobot_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning = ompl_planning["/**"]["ros__parameters"]
+
+    # Pilz provides the LIN and PTP planners used by Robmove
+    planning_pipelines_config = {
+        "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
+        "default_planning_pipeline": "pilz_industrial_motion_planner",
+        "ompl": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+        },
+        "pilz_industrial_motion_planner": {
+            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
+            "request_adapters": "",
+            "start_state_max_bounds_error": 0.1,
+            "default_planner_config": "PTP",
+        },
+    }
+
+    joint_limits_yaml = load_yaml("myagv_mycobot_moveit_config", "config/joint_limits.yaml")
+    pilz_cartesian_limits = load_yaml(
+        "myagv_mycobot_moveit_config", "config/pilz_cartesian_limits.yaml"
+    )
+    combined_planning = {
+        "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits}
+    }
+
+    moveit_controller_manager_param = {
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
+    }
+
+    # Core nodes
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[robot_description, {"use_sim_time": True}],
+    )
+
+    # No world transform because planning stays relative to base_footprint
+
+    gz_spawn_entity = Node(
+        package="ros_gz_sim",
+        executable="create",
+        namespace=gz_namespace,
+        arguments=[
+            "-topic",
+            f"/{namespace}/robot_description",
+            "-name",
+            entity,
+            "-allow_renaming",
+            "true",
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            R,
+            "-P",
+            P,
+            "-Y",
+            Y,
+        ],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+            f"/{namespace}/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            f"/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+        ],
+        output="screen",
+    )
+
+    # Images use ros_gz_image because the parameter bridge does not support them
+    gz_ros2_image_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        namespace=gz_namespace,
+        arguments=[f"/{namespace}/camera/image_raw"],
+        output="screen",
+    )
+
+    # Controller spawners
+    def controller_spawner(controller_name):
+        return Node(
+            package="controller_manager",
+            executable="spawner",
+            namespace=gz_namespace,
+            # Long timeouts because the scene is still loading
+            arguments=[
+                controller_name,
+                "--switch-timeout",
+                "90",
+                "--controller-manager-timeout",
+                "90",
+                "--service-call-timeout",
+                "90",
+            ],
+            output="screen",
+        )
+
+    joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster")
+    arm_controller_spawner = controller_spawner("arm_controller")
+    gripper_controller_spawner = controller_spawner("gripper_controller")
+
+    # MoveIt nodes
+    move_group = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            planning_pipelines_config,
+            moveit_controllers,
+            combined_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+        ],
+    )
+
+    # No move executable because myagv_mycobot has no joint_specifications.yaml
+    robmove = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "myagv_mycobot"},
+            {"ROB_GROUP": "mycobot_arm"},
+            {"ACTION_NAME": f"/{namespace}/Robmove"},
+        ],
+    )
+
+    robpose = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        name="robpose",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "myagv_mycobot"},
+            {"ROB_GROUP": "mycobot_arm"},
+        ],
+    )
+
+    moveit_nodes = [move_group, robmove, robpose]
+
+    # Startup order
+    # Each step starts when the previous one exits
+    after_spawn = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gz_spawn_entity,
+            on_exit=[joint_state_broadcaster_spawner],
+        )
+    )
+
+    after_joint_state_broadcaster = RegisterEventHandler(
+        OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[arm_controller_spawner],
+        )
+    )
+
+    after_arm = RegisterEventHandler(
+        OnProcessExit(
+            target_action=arm_controller_spawner,
+            on_exit=[gripper_controller_spawner],
+        )
+    )
+
+    after_gripper = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gripper_controller_spawner,
+            on_exit=moveit_nodes,
+        )
+    )
+
+    return [
+        robot_state_publisher_node,
+        gz_spawn_entity,
+        gz_ros2_bridge,
+        gz_ros2_image_bridge,
+        after_spawn,
+        after_joint_state_broadcaster,
+        after_arm,
+        after_gripper,
+    ]
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("namespace", default_value="myagv_mycobot"),
+        DeclareLaunchArgument("entity", default_value="myagv_mycobot"),
+    ]
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_base.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..213b9f4c941ca6689dc5f02457f98f956c01fd99
GIT binary patch
literal 893684
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left3.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left3.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right1.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right1.stl
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right2.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right2.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right3.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right3.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint1_pi.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint1_pi.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint2.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint2.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint3.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6225f7dd3d59133303a1a105c3054b1bba2b3adf
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint4.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint4.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint5.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint5.stl
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint7.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/joint7.stl
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_body.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_body.stl
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HcmV?d00001

diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_top.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_top.stl
new file mode 100644
index 0000000000000000000000000000000000000000..47da22220c408b8b80e011e288f713a0b7698e25
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_left.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_left.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_right.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_right.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_left.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f5b73248bee322c333f1bae228d862778a51a052
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diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_right.stl b/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_right.stl
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HcmV?d00001

diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
new file mode 100644
index 000000000..085b86f9d
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="myagv_mycobot">
+
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
+
+  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
+
+  <xacro:include filename="$(find custom_robots)/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro"/>
+
+  <xacro:myagv_mycobot namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+</robot>
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
new file mode 100644
index 000000000..b393a3358
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
@@ -0,0 +1,413 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="mesh_dir" value="file://$(find custom_robots)/models/myagv_mycobot/meshes"/>
+  <xacro:property name="wheel_radius" value="0.04"/>
+  <xacro:property name="plate_top" value="0.1322"/>
+  <xacro:property name="arm_x" value="0.03"/>
+  <xacro:property name="arm_effort" value="10.0"/>
+  <xacro:property name="arm_velocity" value="2.8"/>
+  <xacro:property name="gripper_effort" value="2.0"/>
+
+  <!-- Driving pose folded above the base, also used as the MoveIt home state -->
+  <xacro:property name="home_j1" value="0.0"/>
+  <xacro:property name="home_j2" value="1.0"/>
+  <xacro:property name="home_j3" value="-2.3"/>
+  <xacro:property name="home_j4" value="-0.2"/>
+  <xacro:property name="home_j5" value="0.0"/>
+  <xacro:property name="home_j6" value="0.0"/>
+
+  <xacro:include filename="$(find custom_robots)/models/myagv_mycobot/myagv_mycobot_gz.urdf.xacro"/>
+
+  <material name="myagv_grey">
+    <color rgba="0.25 0.25 0.27 1"/>
+  </material>
+  <material name="myagv_plate">
+    <color rgba="0.12 0.12 0.13 1"/>
+  </material>
+  <material name="myagv_wheel">
+    <color rgba="0.08 0.08 0.08 1"/>
+  </material>
+  <material name="mycobot_white">
+    <color rgba="0.95 0.95 0.95 1"/>
+  </material>
+  <material name="mycobot_grey">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="gripper_black">
+    <color rgba="0.15 0.15 0.15 1"/>
+  </material>
+
+  <!-- Link with a mesh visual and a box collision fitted to that mesh -->
+  <xacro:macro name="mesh_link" params="name mesh material vxyz vrpy cxyz csize mass ixx iyy izz">
+    <link name="${name}">
+      <inertial>
+        <origin xyz="${cxyz}"/>
+        <mass value="${mass}"/>
+        <inertia ixx="${ixx}" ixy="0" ixz="0" iyy="${iyy}" iyz="0" izz="${izz}"/>
+      </inertial>
+      <visual>
+        <origin xyz="${vxyz}" rpy="${vrpy}"/>
+        <geometry>
+          <mesh filename="${mesh_dir}/${mesh}.stl"/>
+        </geometry>
+        <material name="${material}"/>
+      </visual>
+      <collision>
+        <origin xyz="${cxyz}"/>
+        <geometry>
+          <box size="${csize}"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <!-- Passive mecanum wheels that roll on the floor while VelocityControl drives the base -->
+  <xacro:macro name="mecanum_wheel" params="name xyz">
+    <link name="${name}_link">
+      <inertial>
+        <mass value="0.1"/>
+        <inertia ixx="4.8e-05" ixy="0" ixz="0" iyy="8.0e-05" iyz="0" izz="4.8e-05"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_${name}.stl"/>
+        </geometry>
+        <material name="myagv_wheel"/>
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="${wheel_radius}"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_joint" type="continuous">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+      <origin xyz="${xyz}"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.001" friction="0.0"/>
+    </joint>
+    <xacro:rolling_wheel link="${name}_link"/>
+    <xacro:hidden_from_laser link="${name}_link"/>
+  </xacro:macro>
+
+  <xacro:macro name="state_only" params="name">
+    <joint name="${name}">
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="arm_joint_control" params="name lower upper initial">
+    <joint name="${name}">
+      <command_interface name="position">
+        <param name="min">${lower}</param>
+        <param name="max">${upper}</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">${initial}</param>
+      </state_interface>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <!-- Humble gz_ros2_control only drives a mimic joint through these params -->
+  <xacro:macro name="mimic_joint_control" params="name multiplier">
+    <joint name="${name}">
+      <param name="mimic">gripper_base_to_gripper_left3</param>
+      <param name="multiplier">${multiplier}</param>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="myagv_mycobot" params="namespace simulation_controllers">
+
+    <!-- myAGV 2023 base -->
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+      <inertial>
+        <origin xyz="0.007 -0.004 0.07"/>
+        <mass value="3.2"/>
+        <inertia ixx="0.0143" ixy="0" ixz="0" iyy="0.0296" iyz="0" izz="0.0368"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_body.stl"/>
+        </geometry>
+        <material name="myagv_grey"/>
+      </visual>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_top.stl"/>
+        </geometry>
+        <material name="myagv_plate"/>
+      </visual>
+      <!-- Box fitted to the body and top plate meshes -->
+      <collision>
+        <origin xyz="0.007 -0.0042 0.0753"/>
+        <geometry>
+          <box size="0.313 0.2 0.1138"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <xacro:hidden_from_laser link="base_link"/>
+
+    <joint name="base_footprint_joint" type="fixed">
+      <parent link="base_footprint"/>
+      <child link="base_link"/>
+      <origin xyz="0 0 0"/>
+    </joint>
+
+    <xacro:mecanum_wheel name="wheel_front_left" xyz="0.1124 0.0946 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_front_right" xyz="0.1124 -0.1029 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_back_left" xyz="-0.1014 0.0946 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_back_right" xyz="-0.1014 -0.1029 ${wheel_radius}"/>
+
+    <!-- Sensor frames from the myAGV bringup -->
+    <link name="laser_frame"/>
+    <joint name="laser_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="laser_frame"/>
+      <origin xyz="0.065 0 0.08" rpy="0 0 ${pi}"/>
+    </joint>
+
+    <link name="camera_link"/>
+    <joint name="camera_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="camera_link"/>
+      <origin xyz="0.13 0 0.131" rpy="0 0 0"/>
+    </joint>
+
+    <!-- myCobot 280 Pi, link and joint names kept from mycobot_description -->
+    <link name="g_base"/>
+    <joint name="g_base_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="g_base"/>
+      <origin xyz="${arm_x} 0 ${plate_top}"/>
+    </joint>
+
+    <xacro:mesh_link name="joint1" mesh="joint1_pi" material="mycobot_white"
+      vxyz="0 0 0" vrpy="0 0 0"
+      cxyz="-0.0013 0 0.0405" csize="0.0985 0.0926 0.0809"
+      mass="0.33" ixx="4.160e-04" iyy="4.466e-04" izz="5.027e-04"/>
+    <xacro:mesh_link name="joint2" mesh="joint2" material="mycobot_white"
+      vxyz="0 0 -0.06096" vrpy="0 0 -1.5708"
+      cxyz="0 -0.0063 -0.0206" csize="0.0480 0.0605 0.0871"
+      mass="0.12" ixx="1.124e-04" iyy="9.883e-05" izz="5.969e-05"/>
+    <xacro:mesh_link name="joint3" mesh="joint3" material="mycobot_white"
+      vxyz="0 0 0.03256" vrpy="0 -1.5708 0"
+      cxyz="-0.0540 0 0.0576" csize="0.1560 0.0480 0.0554"
+      mass="0.12" ixx="5.378e-05" iyy="2.741e-04" izz="2.664e-04"/>
+    <xacro:mesh_link name="joint4" mesh="joint4" material="mycobot_white"
+      vxyz="0 0 0.03056" vrpy="0 -1.5708 0"
+      cxyz="-0.0468 0 0.0065" csize="0.1368 0.0432 0.0578"
+      mass="0.10" ixx="4.339e-05" iyy="1.838e-04" izz="1.715e-04"/>
+    <xacro:mesh_link name="joint5" mesh="joint5" material="mycobot_white"
+      vxyz="0 -0.001 -0.0345" vrpy="0 -1.5708 1.5708"
+      cxyz="0.0001 -0.0095 -0.0081" csize="0.0386 0.0563 0.0528"
+      mass="0.08" ixx="3.974e-05" iyy="2.850e-05" izz="3.109e-05"/>
+    <xacro:mesh_link name="joint6" mesh="joint6" material="mycobot_white"
+      vxyz="0 0 -0.038" vrpy="0 0 0"
+      cxyz="0 0.0068 -0.0094" csize="0.0384 0.0567 0.0571"
+      mass="0.06" ixx="3.239e-05" iyy="2.369e-05" izz="2.345e-05"/>
+    <xacro:mesh_link name="joint6_flange" mesh="joint7" material="mycobot_grey"
+      vxyz="0 0 -0.012" vrpy="0 0 0"
+      cxyz="0 0 -0.0051" csize="0.0384 0.0384 0.0137"
+      mass="0.02" ixx="2.770e-06" iyy="2.770e-06" izz="4.915e-06"/>
+
+    <joint name="g_base_to_joint1" type="fixed">
+      <parent link="g_base"/>
+      <child link="joint1"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="joint2_to_joint1" type="revolute">
+      <parent link="joint1"/>
+      <child link="joint2"/>
+      <origin xyz="0 0 0.13956" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.9321" upper="2.9321" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint3_to_joint2" type="revolute">
+      <parent link="joint2"/>
+      <child link="joint3"/>
+      <origin xyz="0 0 -0.001" rpy="0 1.5708 -1.5708"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.4434" upper="2.4434" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint4_to_joint3" type="revolute">
+      <parent link="joint3"/>
+      <child link="joint4"/>
+      <origin xyz="-0.1104 0 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.6179" upper="2.6179" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint5_to_joint4" type="revolute">
+      <parent link="joint4"/>
+      <child link="joint5"/>
+      <origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.6179" upper="2.6179" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint6_to_joint5" type="revolute">
+      <parent link="joint5"/>
+      <child link="joint6"/>
+      <origin xyz="0 -0.07318 -0.001" rpy="1.5708 -1.5708 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.7052" upper="2.7925" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint6output_to_joint6" type="revolute">
+      <parent link="joint6"/>
+      <child link="joint6_flange"/>
+      <origin xyz="0 0.0456 0" rpy="-1.5708 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-3.14159" upper="3.14159" velocity="${arm_velocity}"/>
+    </joint>
+
+    <!-- Adaptive gripper, closed at -0.74 and fully open at 0.15 -->
+    <xacro:mesh_link name="gripper_base" mesh="gripper_base" material="gripper_black"
+      vxyz="0 0 -0.012" vrpy="0 0 0"
+      cxyz="0 -0.0012 0.0123" csize="0.0580 0.0622 0.0509"
+      mass="0.06" ixx="3.232e-05" iyy="2.977e-05" izz="3.618e-05"/>
+    <xacro:mesh_link name="gripper_left1" mesh="gripper_left1" material="gripper_black"
+      vxyz="0.039 -0.0133 -0.012" vrpy="0 0 0"
+      cxyz="0.0065 0.0241 -0.0082" csize="0.0244 0.0582 0.0207"
+      mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
+    <xacro:mesh_link name="gripper_left2" mesh="gripper_left2" material="gripper_black"
+      vxyz="0.005 -0.0195 -0.012" vrpy="0 0 0"
+      cxyz="-0.0145 0.0075 -0.0082" csize="0.0359 0.0243 0.0200"
+      mass="0.01" ixx="8.251e-07" iyy="1.409e-06" izz="1.567e-06"/>
+    <xacro:mesh_link name="gripper_left3" mesh="gripper_left3" material="gripper_black"
+      vxyz="0.012 0.0025 -0.012" vrpy="0 0 0"
+      cxyz="-0.0097 0.0025 -0.0007" csize="0.0450 0.0335 0.0050"
+      mass="0.01" ixx="9.578e-07" iyy="1.711e-06" izz="2.627e-06"/>
+    <xacro:mesh_link name="gripper_right1" mesh="gripper_right1" material="gripper_black"
+      vxyz="-0.039 -0.0133 -0.012" vrpy="0 0 0"
+      cxyz="-0.0078 0.0245 -0.0082" csize="0.0244 0.0582 0.0207"
+      mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
+    <xacro:mesh_link name="gripper_right2" mesh="gripper_right2" material="gripper_black"
+      vxyz="-0.005 -0.0195 -0.012" vrpy="0 0 0"
+      cxyz="0.0134 0.0077 -0.0082" csize="0.0357 0.0247 0.0200"
+      mass="0.01" ixx="8.407e-07" iyy="1.397e-06" izz="1.571e-06"/>
+    <xacro:mesh_link name="gripper_right3" mesh="gripper_right3" material="gripper_black"
+      vxyz="-0.012 0.0025 -0.012" vrpy="0 0 0"
+      cxyz="0.0085 0.0027 -0.0007" csize="0.0450 0.0339 0.0050"
+      mass="0.01" ixx="9.801e-07" iyy="1.706e-06" izz="2.645e-06"/>
+
+    <joint name="joint6output_to_gripper_base" type="fixed">
+      <parent link="joint6_flange"/>
+      <child link="gripper_base"/>
+      <origin xyz="0 0 0.034" rpy="1.579 0 0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_left3" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_left3"/>
+      <origin xyz="-0.012 0.005 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.74" upper="0.15" velocity="1.5"/>
+    </joint>
+
+    <!-- Mimic limits follow the driving joint range times the multiplier -->
+    <joint name="gripper_base_to_gripper_left2" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_left2"/>
+      <origin xyz="-0.005 0.027 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.79" upper="0.2" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_left3_to_gripper_left1" type="revolute">
+      <parent link="gripper_left3"/>
+      <child link="gripper_left1"/>
+      <origin xyz="-0.027 0.016 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_right3" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_right3"/>
+      <origin xyz="0.012 0.005 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_right2" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_right2"/>
+      <origin xyz="0.005 0.027 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_right3_to_gripper_right1" type="revolute">
+      <parent link="gripper_right3"/>
+      <child link="gripper_right1"/>
+      <origin xyz="0.027 0.016 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.79" upper="0.2" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="1.0" offset="0"/>
+    </joint>
+
+    <!-- Point between the finger pads that MoveIt uses as the arm tip, z points out of the gripper -->
+    <link name="gripper_tcp"/>
+    <joint name="gripper_tcp_joint" type="fixed">
+      <parent link="gripper_base"/>
+      <child link="gripper_tcp"/>
+      <origin xyz="0 0.07 -0.0082" rpy="-1.5708 0 0"/>
+    </joint>
+
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom namespace="${namespace}"/>
+    <xacro:gpu_laser link="laser_frame" namespace="${namespace}"/>
+    <xacro:camera link="camera_link" namespace="${namespace}"/>
+    <xacro:suction_contact link="gripper_left1"/>
+
+    <ros2_control name="mycobot" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+      <xacro:arm_joint_control name="joint2_to_joint1" lower="-2.9321" upper="2.9321" initial="${home_j1}"/>
+      <xacro:arm_joint_control name="joint3_to_joint2" lower="-2.4434" upper="2.4434" initial="${home_j2}"/>
+      <xacro:arm_joint_control name="joint4_to_joint3" lower="-2.6179" upper="2.6179" initial="${home_j3}"/>
+      <xacro:arm_joint_control name="joint5_to_joint4" lower="-2.6179" upper="2.6179" initial="${home_j4}"/>
+      <xacro:arm_joint_control name="joint6_to_joint5" lower="-2.7052" upper="2.7925" initial="${home_j5}"/>
+      <xacro:arm_joint_control name="joint6output_to_joint6" lower="-3.14159" upper="3.14159" initial="${home_j6}"/>
+      <xacro:arm_joint_control name="gripper_base_to_gripper_left3" lower="-0.74" upper="0.15" initial="0.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_left2" multiplier="1.0"/>
+      <xacro:mimic_joint_control name="gripper_left3_to_gripper_left1" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_right3" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_right2" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_right3_to_gripper_right1" multiplier="1.0"/>
+    </ros2_control>
+
+    <!-- Wheels are state only because MoveIt waits for every joint of the URDF -->
+    <ros2_control name="myagv_wheels" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+      <xacro:state_only name="wheel_front_left_joint"/>
+      <xacro:state_only name="wheel_front_right_joint"/>
+      <xacro:state_only name="wheel_back_left_joint"/>
+      <xacro:state_only name="wheel_back_right_joint"/>
+    </ros2_control>
+
+    <xacro:ros2_control_plugin namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+  </xacro:macro>
+
+</robot>
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_gz.urdf.xacro b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_gz.urdf.xacro
new file mode 100644
index 000000000..7d0bdcb8e
--- /dev/null
+++ b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_gz.urdf.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
+
+  <!-- Friction only across the wheel axis so the wheels roll and still slide sideways -->
+  <xacro:macro name="rolling_wheel" params="link">
+    <gazebo reference="${link}">
+      <collision>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.0</mu>
+              <mu2>1.0</mu2>
+              <fdir1 gz:expressed_in="${link}">0 1 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Visuals the laser does not see because it sits inside the chassis -->
+  <xacro:macro name="hidden_from_laser" params="link">
+    <gazebo reference="${link}">
+      <visual>
+        <visibility_flags>1</visibility_flags>
+      </visual>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="velocity" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+        <topic>/${namespace}/cmd_vel</topic>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="odom" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+        <odom_frame>odom</odom_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
+        <odom_publish_frequency>50</odom_publish_frequency>
+        <odom_topic>/${namespace}/odom</odom_topic>
+        <dimensions>3</dimensions>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- YDLidar X2 with the range used by the myAGV driver -->
+  <xacro:macro name="gpu_laser" params="link namespace">
+    <gazebo reference="${link}">
+      <sensor name="laser" type="gpu_lidar">
+        <always_on>1</always_on>
+        <visualize>0</visualize>
+        <update_rate>10</update_rate>
+        <topic>/${namespace}/scan</topic>
+        <gz_frame_id>${link}</gz_frame_id>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.14159</min_angle>
+              <max_angle>3.14159</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.12</min>
+            <max>8.0</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+          <!-- Skips the base visuals around the sensor -->
+          <visibility_mask>4294967294</visibility_mask>
+        </lidar>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="camera" params="link namespace">
+    <gazebo reference="${link}">
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <update_rate>15</update_rate>
+        <topic>/${namespace}/camera/image_raw</topic>
+        <gz_frame_id>${link}</gz_frame_id>
+        <camera name="camera">
+          <camera_info_topic>/${namespace}/camera/camera_info</camera_info_topic>
+          <horizontal_fov>1.047</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10.0</far>
+          </clip>
+        </camera>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Contact sensor on one finger for gz_link_attacher -->
+  <xacro:macro name="suction_contact" params="link">
+    <gazebo reference="${link}">
+      <sensor name="suction_contact" type="contact">
+        <always_on>true</always_on>
+        <update_rate>30</update_rate>
+        <contact>
+          <collision>${link}_collision</collision>
+        </contact>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="ros2_control_plugin" params="namespace simulation_controllers">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <!-- Same namespace as robot_state_publisher -->
+        <ros>
+          <namespace>${namespace}</namespace>
+        </ros>
+        <parameters>${simulation_controllers}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+</robot>
diff --git a/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae b/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae
new file mode 100644
index 000000000..ecba3af8f
--- /dev/null
+++ b/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae
@@ -0,0 +1,334 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.1 commit date:2020-06-25, commit time:09:47, hash:8289fc688b3e</authoring_tool>
+    </contributor>
+    <created>2020-07-08T11:00:20</created>
+    <modified>2020-07-08T11:00:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0.2202612 0.2202612 0.2202612 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.5542161 0.5542161 0.5542161 1</color>
+            </diffuse>
+            <reflectivity>
+              <float sid="specular">0.5</float>
+            </reflectivity>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.005243494 0.005243494 0.005243494 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.9042329 0.9042329 0.9042329 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+    <material id="Material_003-material" name="Material.003">
+      <instance_effect url="#Material_003-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="132">2.23704 0.717992 -0.1 2.05808 0.717992 -0.1 -2.05808 0.717992 -0.1 -2.23704 0.717992 -0.1 2.05808 -0.71058 -0.1 -2.05808 -0.71058 -0.1 -2.23704 -0.71058 -0.1 2.23704 -0.85529 -0.1 2.05808 -0.85529 -0.1 -2.05808 -0.85529 -0.1 -2.23704 -0.85529 -0.1 2.05808 0.858996 -0.1 -2.23704 0.858996 -0.1 2.23704 0.717992 -0.3 2.05808 0.717992 -0.3 -2.05808 0.717992 -0.3 -2.23704 0.717992 -0.3 2.05808 -0.71058 -0.3 -2.05808 -0.71058 -0.3 -2.23704 -0.71058 -0.3 2.23704 -0.85529 -0.3 2.05808 -0.85529 -0.3 -2.05808 -0.85529 -0.3 -2.23704 -0.85529 -0.3 2.05808 0.858996 -0.3 -2.23704 0.858996 -0.3 2.05808 -0.71058 -0.3 2.05808 -0.85529 -0.3 2.23704 -0.85529 -0.3 2.23704 -0.71058 -0.3 2.23704 -0.85529 -0.3 2.05808 -0.71058 -0.3 2.05808 -0.85529 -0.3 2.05808 0.71942 -0.3 2.05808 0.71942 -0.3 2.23704 0.71942 -0.3 -2.05849 -0.71058 -0.3 -2.23745 -0.71058 -0.3 -2.05849 -0.71058 -0.3 -2.23745 -0.71058 -0.3 -2.23745 0.71942 -0.3 -2.23745 0.71942 -0.3 -2.05849 0.71942 -0.3 -2.05849 0.71942 -0.3</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-positions-array" count="44" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="15">-1 0 0 0 -1 0 1 0 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="5" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-map-0">
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+          <technique_common>
+            <accessor source="#Cube_002-mesh-map-0-array" count="114" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <triangles material="Material-material" count="38">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_002-mesh-map-0" offset="2" set="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_001-mesh" name="Cube.001">
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78 1183 94 78 1184 141 103 1185 142 103 1186 92 103 1187 140 22 1188 141 22 1189 90 22 1190 139 21 1191 140 21 1192 88 21 1193 131 76 1194 139 76 1195 86 76 1196 137 75 1197 138 75 1198 82 75 1199 136 104 1200 137 104 1201 80 104 1202 135 17 1203 136 17 1204 78 17 1205 134 16 1206 135 16 1207 76 16 1208 130 73 1209 134 73 1210 74 73 1211 82 1 1212 138 1 1213 124 1 1214 169 0 1215 299 0 1216 132 0 1217 168 0 1218 298 0 1219 299 0 1220 167 0 1221 297 0 1222 298 0 1223 166 0 1224 296 0 1225 297 0 1226 165 0 1227 295 0 1228 296 0 1229 164 0 1230 294 0 1231 295 0 1232 163 0 1233 293 0 1234 294 0 1235 162 0 1236 292 0 1237 293 0 1238 161 0 1239 291 0 1240 292 0 1241 160 0 1242 290 0 1243 291 0 1244 159 0 1245 289 0 1246 290 0 1247 158 0 1248 288 0 1249 289 0 1250 157 0 1251 287 0 1252 288 0 1253 156 0 1254 286 0 1255 287 0 1256 155 0 1257 285 0 1258 286 0 1259 154 0 1260 284 0 1261 285 0 1262 153 0 1263 283 0 1264 284 0 1265 152 0 1266 282 0 1267 283 0 1268 151 0 1269 281 0 1270 282 0 1271 150 0 1272 280 0 1273 281 0 1274 149 0 1275 279 0 1276 280 0 1277 148 0 1278 278 0 1279 279 0 1280 147 0 1281 277 0 1282 278 0 1283 146 0 1284 276 0 1285 277 0 1286 145 0 1287 275 0 1288 276 0 1289 144 0 1290 274 0 1291 275 0 1292 247 0 1293 273 0 1294 96 0 1295 319 58 1296 304 58 1297 305 58 1298 245 0 1299 271 0 1300 272 0 1301 244 0 1302 270 0 1303 271 0 1304 243 0 1305 269 0 1306 270 0 1307 242 0 1308 268 0 1309 269 0 1310 241 0 1311 267 0 1312 268 0 1313 240 0 1314 266 0 1315 267 0 1316 239 0 1317 265 0 1318 266 0 1319 238 0 1320 264 0 1321 265 0 1322 237 0 1323 263 0 1324 264 0 1325 236 0 1326 262 0 1327 263 0 1328 235 0 1329 261 0 1330 262 0 1331 234 0 1332 260 0 1333 261 0 1334 233 0 1335 259 0 1336 260 0 1337 232 0 1338 258 0 1339 259 0 1340 231 0 1341 257 0 1342 258 0 1343 230 0 1344 256 0 1345 257 0 1346 229 0 1347 255 0 1348 256 0 1349 228 0 1350 254 0 1351 255 0 1352 227 0 1353 253 0 1354 254 0 1355 226 0 1356 252 0 1357 253 0 1358 225 0 1359 251 0 1360 252 0 1361 224 0 1362 250 0 1363 251 0 1364 223 0 1365 249 0 1366 250 0 1367 299 0 1368 221 0 1369 48 0 1370 297 0 1371 219 0 1372 220 0 1373 296 0 1374 218 0 1375 219 0 1376 295 0 1377 217 0 1378 218 0 1379 294 0 1380 216 0 1381 217 0 1382 293 0 1383 215 0 1384 216 0 1385 292 0 1386 214 0 1387 215 0 1388 291 0 1389 213 0 1390 214 0 1391 290 0 1392 212 0 1393 213 0 1394 289 0 1395 211 0 1396 212 0 1397 288 0 1398 210 0 1399 211 0 1400 287 0 1401 209 0 1402 210 0 1403 286 0 1404 208 0 1405 209 0 1406 285 0 1407 207 0 1408 208 0 1409 284 0 1410 206 0 1411 207 0 1412 283 0 1413 205 0 1414 206 0 1415 282 0 1416 204 0 1417 205 0 1418 281 0 1419 203 0 1420 204 0 1421 280 0 1422 202 0 1423 203 0 1424 279 0 1425 201 0 1426 202 0 1427 278 0 1428 200 0 1429 201 0 1430 277 0 1431 199 0 1432 200 0 1433 276 0 1434 198 0 1435 199 0 1436 275 0 1437 197 0 1438 198 0 1439 273 0 1440 195 0 1441 43 0 1442 272 0 1443 194 0 1444 195 0 1445 271 0 1446 193 0 1447 194 0 1448 270 0 1449 192 0 1450 193 0 1451 269 0 1452 191 0 1453 192 0 1454 268 0 1455 190 0 1456 191 0 1457 267 0 1458 189 0 1459 190 0 1460 266 0 1461 188 0 1462 189 0 1463 265 0 1464 187 0 1465 188 0 1466 264 0 1467 186 0 1468 187 0 1469 263 0 1470 185 0 1471 186 0 1472 262 0 1473 184 0 1474 185 0 1475 261 0 1476 183 0 1477 184 0 1478 260 0 1479 182 0 1480 183 0 1481 259 0 1482 181 0 1483 182 0 1484 258 0 1485 180 0 1486 181 0 1487 257 0 1488 179 0 1489 180 0 1490 256 0 1491 178 0 1492 179 0 1493 255 0 1494 177 0 1495 178 0 1496 254 0 1497 176 0 1498 177 0 1499 253 0 1500 175 0 1501 176 0 1502 252 0 1503 174 0 1504 175 0 1505 251 0 1506 173 0 1507 174 0 1508 250 0 1509 172 0 1510 173 0 1511 249 0 1512 171 0 1513 172 0 1514 248 0 1515 170 0 1516 171 0 1517 306 0 1518 310 0 1519 311 0 1520 304 0 1521 308 0 1522 309 0 1523 314 0 1524 302 0 1525 303 0 1526 312 0 1527 300 0 1528 301 0 1529 274 58 1530 312 58 1531 313 58 1532 220 4 1533 302 4 1534 314 4 1535 246 58 1536 306 58 1537 307 58 1538 298 58 1539 314 58 1540 315 58 1541 320 4 1542 308 4 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_002" name="Cube.002" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube.002">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Material_003-material" target="#Material_003-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Cube_001" name="Cube.001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube.001">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/Industrial/myagv_mycobot_moveit_config/CMakeLists.txt b/Industrial/myagv_mycobot_moveit_config/CMakeLists.txt
new file mode 100644
index 000000000..10d20e998
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(myagv_mycobot_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config srdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/Industrial/myagv_mycobot_moveit_config/config/controller_manager.yaml b/Industrial/myagv_mycobot_moveit_config/config/controller_manager.yaml
new file mode 100644
index 000000000..1b3ea4aff
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/controller_manager.yaml
@@ -0,0 +1,63 @@
+/**/controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+/**/arm_controller:
+  ros__parameters:
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_nonzero_velocity_at_trajectory_end: true
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+/**/gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_base_to_gripper_left3
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+      gripper_base_to_gripper_left3:
+        trajectory: 0.5
+        goal: 0.5
diff --git a/Industrial/myagv_mycobot_moveit_config/config/joint_limits.yaml b/Industrial/myagv_mycobot_moveit_config/config/joint_limits.yaml
new file mode 100644
index 000000000..73e5cd5b0
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,36 @@
+joint_limits:
+  joint2_to_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint3_to_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint4_to_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint5_to_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint6_to_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint6output_to_joint6:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  gripper_base_to_gripper_left3:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
diff --git a/Industrial/myagv_mycobot_moveit_config/config/kinematics.yaml b/Industrial/myagv_mycobot_moveit_config/config/kinematics.yaml
new file mode 100644
index 000000000..030203455
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/kinematics.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    mycobot_arm:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.1
+      kinematics_solver_attempts: 10
diff --git a/Industrial/myagv_mycobot_moveit_config/config/moveit_controllers.yaml b/Industrial/myagv_mycobot_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 000000000..b69a3951a
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    moveit_simple_controller_manager:
+      controller_names:
+        - arm_controller
+        - gripper_controller
+
+      arm_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - joint2_to_joint1
+          - joint3_to_joint2
+          - joint4_to_joint3
+          - joint5_to_joint4
+          - joint6_to_joint5
+          - joint6output_to_joint6
+
+      gripper_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - gripper_base_to_gripper_left3
diff --git a/Industrial/myagv_mycobot_moveit_config/config/ompl_planning.yaml b/Industrial/myagv_mycobot_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..18060885b
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,70 @@
+/**:
+  ros__parameters:
+    planner_configs:
+      SBLkConfigDefault:
+        type: geometric::SBL
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      ESTkConfigDefault:
+        type: geometric::EST
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+      LBKPIECEkConfigDefault:
+        type: geometric::LBKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      BKPIECEkConfigDefault:
+        type: geometric::BKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      KPIECEkConfigDefault:
+        type: geometric::KPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      RRTkConfigDefault:
+        type: geometric::RRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+      RRTConnectkConfigDefault:
+        type: geometric::RRTConnect
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      RRTstarkConfigDefault:
+        type: geometric::RRTstar
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+      TRRTkConfigDefault:
+        type: geometric::TRRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        max_states_failed: 10  # when to start increasing temp. default: 10
+        temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+        min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+        init_temperature: 10e-6  # initial temperature. default: 10e-6
+        frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+        frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+        k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
+      PRMkConfigDefault:
+        type: geometric::PRM
+        max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+      PRMstarkConfigDefault:
+        type: geometric::PRMstar
+    mycobot_arm:
+      planner_configs:
+        - SBLkConfigDefault
+        - ESTkConfigDefault
+        - LBKPIECEkConfigDefault
+        - BKPIECEkConfigDefault
+        - KPIECEkConfigDefault
+        - RRTkConfigDefault
+        - RRTConnectkConfigDefault
+        - RRTstarkConfigDefault
+        - TRRTkConfigDefault
+        - PRMkConfigDefault
+        - PRMstarkConfigDefault
+      longest_valid_segment_fraction: 0.01
diff --git a/Industrial/myagv_mycobot_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/myagv_mycobot_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 000000000..cddce52d8
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 0.15
+  max_trans_acc: 0.15
+  max_trans_dec: 0.15
+  max_rot_vel: 2.0
diff --git a/Industrial/myagv_mycobot_moveit_config/package.xml b/Industrial/myagv_mycobot_moveit_config/package.xml
new file mode 100644
index 000000000..b82542d6b
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>myagv_mycobot_moveit_config</name>
+  <version>0.0.0</version>
+  <description>MoveIt2 configuration for the Elephant Robotics myAGV with a myCobot 280 Pi</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
new file mode 100644
index 000000000..fea26b02d
--- /dev/null
+++ b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
@@ -0,0 +1,138 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="myagv_mycobot">
+
+  <!-- No virtual joint so planning stays relative to base_footprint while the base drives -->
+
+  <group name="mycobot_arm">
+    <chain base_link="g_base" tip_link="gripper_tcp"/>
+  </group>
+
+  <group name="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3"/>
+    <joint name="gripper_base_to_gripper_left2"/>
+    <joint name="gripper_left3_to_gripper_left1"/>
+    <joint name="gripper_base_to_gripper_right3"/>
+    <joint name="gripper_base_to_gripper_right2"/>
+    <joint name="gripper_right3_to_gripper_right1"/>
+  </group>
+
+  <end_effector name="gripper" parent_link="gripper_tcp" group="adaptive_gripper" parent_group="mycobot_arm"/>
+
+  <!-- Folded above the base, safe for driving -->
+  <group_state name="home" group="mycobot_arm">
+    <joint name="joint2_to_joint1" value="0"/>
+    <joint name="joint3_to_joint2" value="1.0"/>
+    <joint name="joint4_to_joint3" value="-2.3"/>
+    <joint name="joint5_to_joint4" value="-0.2"/>
+    <joint name="joint6_to_joint5" value="0"/>
+    <joint name="joint6output_to_joint6" value="0"/>
+  </group_state>
+
+  <!-- Gripper ahead of the base and pitched 60 degrees down, clear of a 0.2 m high belt -->
+  <group_state name="ready" group="mycobot_arm">
+    <joint name="joint2_to_joint1" value="0.633"/>
+    <joint name="joint3_to_joint2" value="0.532"/>
+    <joint name="joint4_to_joint3" value="-1.456"/>
+    <joint name="joint5_to_joint4" value="-0.204"/>
+    <joint name="joint6_to_joint5" value="-0.305"/>
+    <joint name="joint6output_to_joint6" value="0.564"/>
+  </group_state>
+
+  <group_state name="zero" group="mycobot_arm">
+    <joint name="joint2_to_joint1" value="0"/>
+    <joint name="joint3_to_joint2" value="0"/>
+    <joint name="joint4_to_joint3" value="0"/>
+    <joint name="joint5_to_joint4" value="0"/>
+    <joint name="joint6_to_joint5" value="0"/>
+    <joint name="joint6output_to_joint6" value="0"/>
+  </group_state>
+
+  <group_state name="GripperOpen" group="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3" value="0.15"/>
+  </group_state>
+
+  <group_state name="GripperClose" group="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3" value="-0.74"/>
+  </group_state>
+
+  <!-- Adjacent, Default and Never pairs from 20000 random samples of the arm and gripper -->
+  <disable_collisions link1="base_link" link2="joint1" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="joint2" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="joint3" reason="Never"/>
+  <disable_collisions link1="base_link" link2="wheel_back_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_back_right_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_front_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_front_right_link" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Default"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Default"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_base" link2="joint6" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="joint6_flange" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Default"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
+  <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_right1" link2="joint6_flange" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right3" link2="joint5" reason="Never"/>
+  <disable_collisions link1="gripper_right3" link2="joint6" reason="Never"/>
+  <disable_collisions link1="gripper_right3" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+  <disable_collisions link1="joint1" link2="wheel_back_left_link" reason="Adjacent"/>
+  <disable_collisions link1="joint1" link2="wheel_back_right_link" reason="Adjacent"/>
+  <disable_collisions link1="joint1" link2="wheel_front_left_link" reason="Adjacent"/>
+  <disable_collisions link1="joint1" link2="wheel_front_right_link" reason="Adjacent"/>
+  <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+  <disable_collisions link1="joint2" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="joint2" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="joint2" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="joint2" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+  <disable_collisions link1="joint3" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="joint3" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="joint3" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="joint3" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+  <disable_collisions link1="joint4" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="joint4" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="joint4" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="joint4" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+  <disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
+  <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_front_right_link" reason="Never"/>
+
+</robot>
diff --git a/Launchers/mobile_manipulation_warehouse_myagv.launch.py b/Launchers/mobile_manipulation_warehouse_myagv.launch.py
new file mode 100644
index 000000000..4b8ef1e9b
--- /dev/null
+++ b/Launchers/mobile_manipulation_warehouse_myagv.launch.py
@@ -0,0 +1,48 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    world_file_name = "mobile_manipulation_warehouse_myagv.world"
+    worlds_dir = "/opt/jderobot/Scenes"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+        ],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
+
+    return ld
diff --git a/Launchers/visualization/mobile_manipulation_warehouse_myagv.config b/Launchers/visualization/mobile_manipulation_warehouse_myagv.config
new file mode 100644
index 000000000..75560e42b
--- /dev/null
+++ b/Launchers/visualization/mobile_manipulation_warehouse_myagv.config
@@ -0,0 +1,157 @@
+<?xml version="1.0"?>
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="false"/>
+
+<!-- Window -->
+<window>
+    <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/>
+    <menus>
+        <drawer visible="false">
+        </drawer>
+        <plugins visible="true">
+        </plugins>
+    </menus>
+    <dialog_on_exit>false</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+        <title>3D View</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="string" key="state">docked</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>11 -11 9 0 0.5 2.356</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="TransformControl" name="Transform Control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">250</property>
+        <property key="height" type="double">100</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">true</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <follow_offset>0 0 2</follow_offset>
+    <follow_pgain>1</follow_pgain>
+</plugin>
+
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="WorldStats" name="World stats">
+    <gz-gui>
+        <title>World stats</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">110</property>
+        <property type="double" key="width">290</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+        </anchors>
+    </gz-gui>
+
+    <sim_time>true</sim_time>
+    <real_time>true</real_time>
+    <real_time_factor>true</real_time_factor>
+    <iterations>true</iterations>
+    <topic>/world/world_demo/stats</topic>
+
+</plugin>
\ No newline at end of file
diff --git a/Scenes/mobile_manipulation_warehouse_myagv.world b/Scenes/mobile_manipulation_warehouse_myagv.world
new file mode 100644
index 000000000..db285f2d5
--- /dev/null
+++ b/Scenes/mobile_manipulation_warehouse_myagv.world
@@ -0,0 +1,537 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+    <!-- 2 ms step keeps the 10 ms controller period an exact multiple of the step -->
+    <physics name="2ms" type="ode">
+      <max_step_size>0.002</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>500</real_time_update_rate>
+    </physics>
+
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
+    </plugin>
+    <!-- Suction mode on one finger of the myCobot adaptive gripper -->
+    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
+      <robot_model_name>myagv_mycobot</robot_model_name>
+      <gripper_link_name>gripper_left1</gripper_link_name>
+    </plugin>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>false</shadows>
+      <grid>false</grid>
+    </scene>
+
+    <light type="directional" name="sun">
+      <cast_shadows>false</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="ground_logo">
+      <static>true</static>
+      <pose>0 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.001 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>1.33 1.25 1</scale>
+              <uri>model://warehouse_floor/meshes/floor.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Objects start on conveyor1 and go to the tray of their color -->
+    <model name="conveyor1">
+      <static>true</static>
+      <pose>5 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.15 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 0.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor2">
+      <static>true</static>
+      <pose>0 5 0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.15 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 0.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor3">
+      <static>true</static>
+      <pose>-5 0 0 0 0 1.57</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.15 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 0.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="conveyor4">
+      <static>true</static>
+      <pose>0 -5 0 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.15 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="belt">
+          <pose>0 0 0.1 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>2.5 1 0.2</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="green_tray">
+      <static>true</static>
+      <pose>0 4.63 0.2 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://green_tray/meshes/green_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="yellow_tray">
+      <static>true</static>
+      <pose>-4.63 0 0.2 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://yellow_tray/meshes/yellow_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="blue_tray">
+      <static>true</static>
+      <pose>0 -4.63 0.2 0 0 0</pose>
+      <link name="link">
+        <visual name="visual">
+          <pose>0 0 0.005 0 0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>0.5 0.5 0.5</scale>
+              <uri>model://blue_tray/meshes/blue_tray.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name="bottom">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.25 0.01</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="front_wall">
+          <pose>0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="back_wall">
+          <pose>-0.12 0 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.008 0.25 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="left_wall">
+          <pose>0 0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name="right_wall">
+          <pose>0 -0.12 0.015 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.25 0.012 0.03</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+
+    <model name="wall_north">
+      <static>true</static>
+      <pose>0 7.5 1.25 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_south">
+      <static>true</static>
+      <pose>0 -7.5 1.25 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_east">
+      <static>true</static>
+      <pose>7.5 0 1.25 0 0 1.57</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="wall_west">
+      <static>true</static>
+      <pose>-7.5 0 1.25 0 0 1.57</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>15 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0.9 0.9 0.9 1</ambient>
+            <diffuse>0.9 0.9 0.9 1</diffuse>
+            <specular>0.1 0.1 0.1 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="blue_box">
+      <pose>4.6 0 0.215 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.02</mass>
+          <inertia>
+            <ixx>2.54e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>3.00e-06</iyy><iyz>0</iyz><izz>2.54e-06</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box><size>0.03 0.025 0.03</size></box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box><size>0.03 0.025 0.03</size></box>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="yellow_ball">
+      <pose>4.6 -0.35 0.215 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.02</mass>
+          <inertia>
+            <ixx>1.80e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>1.80e-06</iyy><iyz>0</iyz><izz>1.80e-06</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <sphere><radius>0.015</radius></sphere>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <sphere><radius>0.015</radius></sphere>
+          </geometry>
+          <material>
+            <ambient>1 1 0 1</ambient>
+            <diffuse>1 1 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="green_cylinder">
+      <pose>4.6 0.35 0.22 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <mass>0.02</mass>
+          <inertia>
+            <ixx>3.79e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>3.79e-06</iyy><iyz>0</iyz><izz>2.25e-06</izz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <cylinder><radius>0.015</radius><length>0.04</length></cylinder>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <cylinder><radius>0.015</radius><length>0.04</length></cylinder>
+          </geometry>
+          <material>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+  </world>
+</sdf>
diff --git a/database/worlds.sql b/database/worlds.sql
index 2880e15df..4e66b8e4a 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -210,6 +210,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 85	XLeRobot Warehouse	58
 86	XLeRobot Home	81
 87	MMO-500 Warehouse	82
+88	myAGV myCobot Warehouse	83
 \.
 
 --
@@ -284,6 +285,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 63	85	40	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 64	86	40	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
 65	87	41	{{0.0,0.0,0.02,0.0,0.0,0.0}}
+66	88	42	{{0.0,0.0,0.01,0.0,0.0,0.0}}
 \.
 
 --
@@ -335,6 +337,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
 81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
 82	Mobile Manipulation Warehouse	/opt/jderobot/Launchers/mobile_manipulation_warehouse.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse.config"}	ROS2	gz	mobile_manipulation_warehouse.urdf
+83	Mobile Manipulation Warehouse myAGV	/opt/jderobot/Launchers/mobile_manipulation_warehouse_myagv.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse_myagv.config"}	ROS2	gz	mobile_manipulation_warehouse_myagv.urdf
 \.
 
 --
@@ -383,6 +386,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 39	Mir100 High Noise	/home/ws/src/CustomRobots/mir100/launch/mir100.launch.py	mir100	noise:=high namespace:=mir100	mir100/models/mir100/mir100.urdf.xacro
 40	XLeRobot	/home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py	xlerobot	namespace:=logistic_robot	xlerobot/models/xlerobot/xlerobot.urdf.xacro
 41	MMO-500	/home/ws/src/CustomRobots/mmo500/launch/mmo500.launch.py	mmo500	namespace:=mmo500	mmo500/models/mmo500/mmo500.urdf.xacro
+42	myAGV myCobot	/home/ws/src/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py	myagv_mycobot	namespace:=myagv_mycobot	myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
 \.
 
 --

From 57251f080903b608e7ddab6d4dbad60cca99da01 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Wed, 30 Sep 2026 11:52:06 +0200
Subject: [PATCH 02/13] myagv world changes

---
 .../models/conveyor/meshes/conveyor2_low.dae  | 334 ------------------
 .../srdf/myagv_mycobot.srdf                   |  14 +-
 .../mobile_manipulation_warehouse_myagv.world | 110 ++----
 3 files changed, 30 insertions(+), 428 deletions(-)
 delete mode 100644 CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae

diff --git a/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae b/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae
deleted file mode 100644
index ecba3af8f..000000000
--- a/CustomRobots/pick_place/models/conveyor/meshes/conveyor2_low.dae
+++ /dev/null
@@ -1,334 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.83.1 commit date:2020-06-25, commit time:09:47, hash:8289fc688b3e</authoring_tool>
-    </contributor>
-    <created>2020-07-08T11:00:20</created>
-    <modified>2020-07-08T11:00:20</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <dof_distance sid="dof_distance" type="float">10</dof_distance>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_effects>
-    <effect id="Material-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0.2202612 0.2202612 0.2202612 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.5542161 0.5542161 0.5542161 1</color>
-            </diffuse>
-            <reflectivity>
-              <float sid="specular">0.5</float>
-            </reflectivity>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Material_001-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.005243494 0.005243494 0.005243494 1</color>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Material_003-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <diffuse>
-              <color sid="diffuse">0.9042329 0.9042329 0.9042329 1</color>
-            </diffuse>
-            <index_of_refraction>
-              <float sid="ior">1.45</float>
-            </index_of_refraction>
-          </lambert>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_images/>
-  <library_materials>
-    <material id="Material-material" name="Material">
-      <instance_effect url="#Material-effect"/>
-    </material>
-    <material id="Material_001-material" name="Material.001">
-      <instance_effect url="#Material_001-effect"/>
-    </material>
-    <material id="Material_003-material" name="Material.003">
-      <instance_effect url="#Material_003-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube_002-mesh" name="Cube.002">
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44 68 810 42 68 811 112 68 812 13 69 813 17 69 814 113 69 815 17 70 816 16 70 817 114 70 818 16 71 819 15 71 820 115 71 821 15 48 822 14 48 823 116 48 824 14 72 825 12 72 826 117 72 827 25 73 828 29 73 829 134 73 830 29 16 831 28 16 832 135 16 833 28 17 834 27 17 835 136 17 836 27 74 837 26 74 838 137 74 839 26 75 840 24 75 841 138 75 842 7 76 843 11 76 844 139 76 845 11 21 846 10 21 847 140 21 848 10 22 849 9 22 850 141 22 851 9 77 852 8 77 853 142 77 854 8 78 855 6 78 856 143 78 857 169 58 858 30 58 859 25 58 860 30 58 861 32 58 862 31 58 863 25 58 864 31 58 865 24 58 866 32 58 867 33 58 868 34 58 869 34 58 870 35 58 871 32 58 872 35 58 873 31 58 874 32 58 875 24 58 876 26 58 877 28 58 878 26 58 879 27 58 880 28 58 881 28 58 882 29 58 883 25 58 884 25 58 885 0 58 886 156 58 887 0 58 888 2 58 889 1 58 890 153 58 891 0 58 892 152 58 893 2 58 894 3 58 895 4 58 896 4 58 897 5 58 898 1 58 899 1 58 900 6 58 901 7 58 902 6 58 903 8 58 904 10 58 905 8 58 906 9 58 907 10 58 908 10 58 909 11 58 910 7 58 911 144 58 912 145 58 913 0 58 914 145 58 915 146 58 916 0 58 917 0 58 918 7 58 919 144 58 920 10 58 921 7 58 922 6 58 923 1 58 924 7 58 925 0 58 926 2 58 927 4 58 928 1 58 929 28 58 930 25 58 931 24 58 932 0 58 933 153 58 934 154 58 935 168 58 936 169 58 937 25 58 938 31 58 939 25 58 940 30 58 941 165 58 942 166 58 943 25 58 944 166 58 945 167 58 946 25 58 947 167 58 948 168 58 949 25 58 950 0 58 951 154 58 952 155 58 953 0 58 954 146 58 955 147 58 956 147 58 957 148 58 958 0 58 959 162 58 960 163 58 961 25 58 962 163 58 963 164 58 964 25 58 965 164 58 966 165 58 967 25 58 968 148 58 969 149 58 970 0 58 971 149 58 972 150 58 973 0 58 974 159 79 975 160 79 976 25 79 977 160 80 978 161 80 979 25 80 980 161 79 981 162 79 982 25 79 983 0 58 984 150 58 985 151 58 986 0 58 987 151 58 988 152 58 989 0 81 990 155 81 991 156 81 992 156 82 993 157 82 994 25 82 995 157 58 996 158 58 997 25 58 998 93 78 999 95 78 1000 107 78 1001 91 27 1002 93 27 1003 106 27 1004 89 22 1005 91 22 1006 105 22 1007 87 83 1008 89 83 1009 104 83 1010 84 84 1011 87 84 1012 103 84 1013 81 75 1014 83 75 1015 102 75 1016 79 31 1017 81 31 1018 101 31 1019 77 17 1020 79 17 1021 100 17 1022 75 85 1023 77 85 1024 99 85 1025 72 86 1026 75 86 1027 98 86 1028 69 72 1029 71 72 1030 129 72 1031 67 87 1032 69 87 1033 128 87 1034 65 36 1035 67 36 1036 127 36 1037 63 88 1038 65 88 1039 126 88 1040 60 89 1041 63 89 1042 125 89 1043 57 68 1044 59 68 1045 124 68 1046 55 90 1047 57 90 1048 123 90 1049 53 41 1050 55 41 1051 122 41 1052 51 91 1053 53 91 1054 121 91 1055 48 92 1056 51 92 1057 120 92 1058 129 4 1059 71 4 1060 94 4 1061 130 3 1062 73 3 1063 60 3 1064 102 1 1065 83 1 1066 58 1 1067 131 0 1068 85 0 1069 196 0 1070 37 1 1071 102 1 1072 112 1 1073 118 86 1074 98 86 1075 38 86 1076 98 85 1077 99 85 1078 39 85 1079 99 93 1080 100 93 1081 40 93 1082 100 94 1083 101 94 1084 41 94 1085 101 75 1086 102 75 1087 37 75 1088 119 84 1089 103 84 1090 20 84 1091 103 83 1092 104 83 1093 21 83 1094 104 95 1095 105 95 1096 22 95 1097 105 96 1098 106 96 1099 23 96 1100 106 78 1101 107 78 1102 19 78 1103 116 97 1104 117 97 1105 70 97 1106 115 48 1107 116 48 1108 68 48 1109 114 71 1110 115 71 1111 66 71 1112 113 70 1113 114 70 1114 64 70 1115 97 98 1116 113 98 1117 62 98 1118 111 99 1119 112 99 1120 58 99 1121 110 50 1122 111 50 1123 56 50 1124 109 67 1125 110 67 1126 54 67 1127 108 66 1128 109 66 1129 52 66 1130 96 100 1131 108 100 1132 50 100 1133 70 4 1134 117 4 1135 107 4 1136 72 3 1137 118 3 1138 97 3 1139 84 0 1140 119 0 1141 248 0 1142 7 0 1143 131 0 1144 274 0 1145 25 3 1146 130 3 1147 133 3 1148 1 4 1149 129 4 1150 143 4 1151 132 101 1152 120 101 1153 32 101 1154 120 42 1155 121 42 1156 33 42 1157 121 41 1158 122 41 1159 34 41 1160 122 90 1161 123 90 1162 35 90 1163 123 68 1164 124 68 1165 31 68 1166 133 102 1167 125 102 1168 2 102 1169 125 37 1170 126 37 1171 3 37 1172 126 36 1173 127 36 1174 4 36 1175 127 87 1176 128 87 1177 5 87 1178 128 72 1179 129 72 1180 1 72 1181 142 78 1182 143 78 1183 94 78 1184 141 103 1185 142 103 1186 92 103 1187 140 22 1188 141 22 1189 90 22 1190 139 21 1191 140 21 1192 88 21 1193 131 76 1194 139 76 1195 86 76 1196 137 75 1197 138 75 1198 82 75 1199 136 104 1200 137 104 1201 80 104 1202 135 17 1203 136 17 1204 78 17 1205 134 16 1206 135 16 1207 76 16 1208 130 73 1209 134 73 1210 74 73 1211 82 1 1212 138 1 1213 124 1 1214 169 0 1215 299 0 1216 132 0 1217 168 0 1218 298 0 1219 299 0 1220 167 0 1221 297 0 1222 298 0 1223 166 0 1224 296 0 1225 297 0 1226 165 0 1227 295 0 1228 296 0 1229 164 0 1230 294 0 1231 295 0 1232 163 0 1233 293 0 1234 294 0 1235 162 0 1236 292 0 1237 293 0 1238 161 0 1239 291 0 1240 292 0 1241 160 0 1242 290 0 1243 291 0 1244 159 0 1245 289 0 1246 290 0 1247 158 0 1248 288 0 1249 289 0 1250 157 0 1251 287 0 1252 288 0 1253 156 0 1254 286 0 1255 287 0 1256 155 0 1257 285 0 1258 286 0 1259 154 0 1260 284 0 1261 285 0 1262 153 0 1263 283 0 1264 284 0 1265 152 0 1266 282 0 1267 283 0 1268 151 0 1269 281 0 1270 282 0 1271 150 0 1272 280 0 1273 281 0 1274 149 0 1275 279 0 1276 280 0 1277 148 0 1278 278 0 1279 279 0 1280 147 0 1281 277 0 1282 278 0 1283 146 0 1284 276 0 1285 277 0 1286 145 0 1287 275 0 1288 276 0 1289 144 0 1290 274 0 1291 275 0 1292 247 0 1293 273 0 1294 96 0 1295 319 58 1296 304 58 1297 305 58 1298 245 0 1299 271 0 1300 272 0 1301 244 0 1302 270 0 1303 271 0 1304 243 0 1305 269 0 1306 270 0 1307 242 0 1308 268 0 1309 269 0 1310 241 0 1311 267 0 1312 268 0 1313 240 0 1314 266 0 1315 267 0 1316 239 0 1317 265 0 1318 266 0 1319 238 0 1320 264 0 1321 265 0 1322 237 0 1323 263 0 1324 264 0 1325 236 0 1326 262 0 1327 263 0 1328 235 0 1329 261 0 1330 262 0 1331 234 0 1332 260 0 1333 261 0 1334 233 0 1335 259 0 1336 260 0 1337 232 0 1338 258 0 1339 259 0 1340 231 0 1341 257 0 1342 258 0 1343 230 0 1344 256 0 1345 257 0 1346 229 0 1347 255 0 1348 256 0 1349 228 0 1350 254 0 1351 255 0 1352 227 0 1353 253 0 1354 254 0 1355 226 0 1356 252 0 1357 253 0 1358 225 0 1359 251 0 1360 252 0 1361 224 0 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1453 192 0 1454 268 0 1455 190 0 1456 191 0 1457 267 0 1458 189 0 1459 190 0 1460 266 0 1461 188 0 1462 189 0 1463 265 0 1464 187 0 1465 188 0 1466 264 0 1467 186 0 1468 187 0 1469 263 0 1470 185 0 1471 186 0 1472 262 0 1473 184 0 1474 185 0 1475 261 0 1476 183 0 1477 184 0 1478 260 0 1479 182 0 1480 183 0 1481 259 0 1482 181 0 1483 182 0 1484 258 0 1485 180 0 1486 181 0 1487 257 0 1488 179 0 1489 180 0 1490 256 0 1491 178 0 1492 179 0 1493 255 0 1494 177 0 1495 178 0 1496 254 0 1497 176 0 1498 177 0 1499 253 0 1500 175 0 1501 176 0 1502 252 0 1503 174 0 1504 175 0 1505 251 0 1506 173 0 1507 174 0 1508 250 0 1509 172 0 1510 173 0 1511 249 0 1512 171 0 1513 172 0 1514 248 0 1515 170 0 1516 171 0 1517 306 0 1518 310 0 1519 311 0 1520 304 0 1521 308 0 1522 309 0 1523 314 0 1524 302 0 1525 303 0 1526 312 0 1527 300 0 1528 301 0 1529 274 58 1530 312 58 1531 313 58 1532 220 4 1533 302 4 1534 314 4 1535 246 58 1536 306 58 1537 307 58 1538 298 58 1539 314 58 1540 315 58 1541 320 4 1542 308 4 1543 304 4 1544 196 4 1545 300 4 1546 312 4 1547 248 4 1548 318 4 1549 316 4 1550 222 58 1551 316 58 1552 317 58 1553 318 4 1554 320 4 1555 319 4 1556 324 58 1557 325 58 1558 322 58 1559 319 4 1560 325 4 1561 324 4 1562 316 3 1563 324 3 1564 323 3 1565</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Cube_002" name="Cube.002" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_002-mesh" name="Cube.002">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-              <instance_material symbol="Material_001-material" target="#Material_001-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-              <instance_material symbol="Material_003-material" target="#Material_003-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Cube_001" name="Cube.001" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube_001-mesh" name="Cube.001">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-              <instance_material symbol="Material_001-material" target="#Material_001-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light-light"/>
-      </node>
-      <node id="Cube" name="Cube" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube-mesh" name="Cube">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
index fea26b02d..5f091e8d7 100644
--- a/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
+++ b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
@@ -28,14 +28,14 @@
     <joint name="joint6output_to_joint6" value="0"/>
   </group_state>
 
-  <!-- Gripper ahead of the base and pitched 60 degrees down, clear of a 0.2 m high belt -->
+  <!-- Gripper pointing down 0.22 m ahead of the base and 0.18 m above the floor -->
   <group_state name="ready" group="mycobot_arm">
-    <joint name="joint2_to_joint1" value="0.633"/>
-    <joint name="joint3_to_joint2" value="0.532"/>
-    <joint name="joint4_to_joint3" value="-1.456"/>
-    <joint name="joint5_to_joint4" value="-0.204"/>
-    <joint name="joint6_to_joint5" value="-0.305"/>
-    <joint name="joint6output_to_joint6" value="0.564"/>
+    <joint name="joint2_to_joint1" value="0.359"/>
+    <joint name="joint3_to_joint2" value="-0.138"/>
+    <joint name="joint4_to_joint3" value="-1.994"/>
+    <joint name="joint5_to_joint4" value="0.569"/>
+    <joint name="joint6_to_joint5" value="-0.003"/>
+    <joint name="joint6output_to_joint6" value="0.359"/>
   </group_state>
 
   <group_state name="zero" group="mycobot_arm">
diff --git a/Scenes/mobile_manipulation_warehouse_myagv.world b/Scenes/mobile_manipulation_warehouse_myagv.world
index db285f2d5..cbd3a9f2a 100644
--- a/Scenes/mobile_manipulation_warehouse_myagv.world
+++ b/Scenes/mobile_manipulation_warehouse_myagv.world
@@ -83,97 +83,33 @@
       </link>
     </model>
 
-    <!-- Objects start on conveyor1 and go to the tray of their color -->
-    <model name="conveyor1">
+    <!-- Objects start on the wooden rug and go to the tray of their color -->
+    <model name="pick_rug">
       <static>true</static>
-      <pose>5 0 0 0 0 1.57</pose>
+      <pose>4.8 0 0 0 0 0</pose>
       <link name="link">
         <visual name="visual">
-          <pose>0 0 0.15 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="belt">
-          <pose>0 0 0.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>2.5 1 0.2</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="conveyor2">
-      <static>true</static>
-      <pose>0 5 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.15 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="belt">
-          <pose>0 0 0.1 0 0 0</pose>
+          <pose>0 0 0.0025 0 0 0</pose>
           <geometry>
             <box>
-              <size>2.5 1 0.2</size>
+              <size>0.6 1.2 0.005</size>
             </box>
           </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="conveyor3">
-      <static>true</static>
-      <pose>-5 0 0 0 0 1.57</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.15 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="belt">
-          <pose>0 0 0.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>2.5 1 0.2</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="conveyor4">
-      <static>true</static>
-      <pose>0 -5 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.15 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://conveyor/meshes/conveyor2_low.dae</uri>
-            </mesh>
-          </geometry>
+          <material>
+            <diffuse>1 1 1 1</diffuse>
+            <pbr>
+              <metal>
+                <albedo_map>model://mesa_comedor/meshes/wood.jpg</albedo_map>
+                <roughness>0.8</roughness>
+              </metal>
+            </pbr>
+          </material>
         </visual>
-        <collision name="belt">
-          <pose>0 0 0.1 0 0 0</pose>
+        <collision name="collision">
+          <pose>0 0 0.0025 0 0 0</pose>
           <geometry>
             <box>
-              <size>2.5 1 0.2</size>
+              <size>0.6 1.2 0.005</size>
             </box>
           </geometry>
         </collision>
@@ -182,7 +118,7 @@
 
     <model name="green_tray">
       <static>true</static>
-      <pose>0 4.63 0.2 0 0 0</pose>
+      <pose>0 4.7 0 0 0 0</pose>
       <link name="link">
         <visual name="visual">
           <pose>0 0 0.005 0 0 0</pose>
@@ -238,7 +174,7 @@
 
     <model name="yellow_tray">
       <static>true</static>
-      <pose>-4.63 0 0.2 0 0 0</pose>
+      <pose>-4.7 0 0 0 0 0</pose>
       <link name="link">
         <visual name="visual">
           <pose>0 0 0.005 0 0 0</pose>
@@ -294,7 +230,7 @@
 
     <model name="blue_tray">
       <static>true</static>
-      <pose>0 -4.63 0.2 0 0 0</pose>
+      <pose>0 -4.7 0 0 0 0</pose>
       <link name="link">
         <visual name="visual">
           <pose>0 0 0.005 0 0 0</pose>
@@ -453,7 +389,7 @@
     </model>
 
     <model name="blue_box">
-      <pose>4.6 0 0.215 0 0 0</pose>
+      <pose>4.56 0 0.02 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.02</mass>
@@ -480,7 +416,7 @@
     </model>
 
     <model name="yellow_ball">
-      <pose>4.6 -0.35 0.215 0 0 0</pose>
+      <pose>4.56 -0.35 0.02 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.02</mass>
@@ -507,7 +443,7 @@
     </model>
 
     <model name="green_cylinder">
-      <pose>4.6 0.35 0.22 0 0 0</pose>
+      <pose>4.56 0.35 0.025 0 0 0</pose>
       <link name="link">
         <inertial>
           <mass>0.02</mass>

From c9e1432285be15f422695a9524feeeff39e3d7ac Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Thu, 1 Oct 2026 09:28:18 +0200
Subject: [PATCH 03/13] add myAGV + mechArm 270 robot, keep myCobot version as
 spare

---
 CustomRobots/CMakeLists.txt                   |   3 +
 CustomRobots/myagv_mecharm/LICENSE            |  63 +++
 CustomRobots/myagv_mecharm/NOTICE             |  25 ++
 .../launch/myagv_mecharm.launch.py            | 313 +++++++++++++
 .../myagv_mecharm}/meshes/gripper_base.stl    | Bin
 .../myagv_mecharm}/meshes/gripper_left1.stl   | Bin
 .../myagv_mecharm}/meshes/gripper_left2.stl   | Bin
 .../myagv_mecharm}/meshes/gripper_left3.stl   | Bin
 .../myagv_mecharm}/meshes/gripper_right1.stl  | Bin
 .../myagv_mecharm}/meshes/gripper_right2.stl  | Bin
 .../myagv_mecharm}/meshes/gripper_right3.stl  | Bin
 .../myagv_mecharm/meshes/mecharm_base.stl     | Bin 0 -> 2164284 bytes
 .../myagv_mecharm/meshes/mecharm_link1.stl    | Bin 0 -> 1627184 bytes
 .../myagv_mecharm/meshes/mecharm_link2.stl    | Bin 0 -> 2541234 bytes
 .../myagv_mecharm/meshes/mecharm_link3.stl    | Bin 0 -> 1344284 bytes
 .../myagv_mecharm/meshes/mecharm_link4.stl    | Bin 0 -> 1687384 bytes
 .../myagv_mecharm/meshes/mecharm_link5.stl    | Bin 0 -> 625734 bytes
 .../myagv_mecharm/meshes/mecharm_link6.stl    | Bin 0 -> 473384 bytes
 .../myagv_mecharm}/meshes/myagv_body.stl      | Bin
 .../myagv_mecharm}/meshes/myagv_top.stl       | Bin
 .../meshes/myagv_wheel_back_left.stl          | Bin
 .../meshes/myagv_wheel_back_right.stl         | Bin
 .../meshes/myagv_wheel_front_left.stl         | Bin
 .../meshes/myagv_wheel_front_right.stl        | Bin
 .../myagv_mecharm/myagv_mecharm.urdf.xacro    |  14 +
 .../myagv_mecharm_common.urdf.xacro           | 413 ++++++++++++++++++
 .../myagv_mecharm/myagv_mecharm_gz.urdf.xacro | 135 ++++++
 CustomRobots/myagv_mycobot/NOTICE             |  15 +-
 .../launch/myagv_mycobot.launch.py            |   8 +-
 .../myagv_mycobot_common.urdf.xacro           |  34 +-
 .../CMakeLists.txt                            |  10 +
 .../config/controller_manager.yaml            |  63 +++
 .../config/joint_limits.yaml                  |  36 ++
 .../config/kinematics.yaml                    |   7 +
 .../config/moveit_controllers.yaml            |  25 ++
 .../config/ompl_planning.yaml                 |  70 +++
 .../config/pilz_cartesian_limits.yaml         |   5 +
 .../myagv_mecharm_moveit_config/package.xml   |  25 ++
 .../srdf/myagv_mecharm.srdf                   | 151 +++++++
 .../srdf/myagv_mycobot.srdf                   |   4 +-
 .../mobile_manipulation_warehouse_myagv.world |   4 +-
 database/worlds.sql                           |   5 +-
 42 files changed, 1396 insertions(+), 32 deletions(-)
 create mode 100644 CustomRobots/myagv_mecharm/LICENSE
 create mode 100644 CustomRobots/myagv_mecharm/NOTICE
 create mode 100644 CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_base.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_left1.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_left2.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_left3.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_right1.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_right2.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/gripper_right3.stl (100%)
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_base.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link1.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link2.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link3.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link4.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link5.stl
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link6.stl
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_body.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_top.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_wheel_back_left.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_wheel_back_right.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_wheel_front_left.stl (100%)
 rename CustomRobots/{myagv_mycobot/models/myagv_mycobot => myagv_mecharm/models/myagv_mecharm}/meshes/myagv_wheel_front_right.stl (100%)
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_common.urdf.xacro
 create mode 100644 CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_gz.urdf.xacro
 create mode 100644 Industrial/myagv_mecharm_moveit_config/CMakeLists.txt
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/controller_manager.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/joint_limits.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/kinematics.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/moveit_controllers.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/ompl_planning.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/package.xml
 create mode 100644 Industrial/myagv_mecharm_moveit_config/srdf/myagv_mecharm.srdf

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index be020b6a3..54ce09a2b 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -142,6 +142,9 @@ install(
     myagv_mycobot/models
     myagv_mycobot/launch
 
+    myagv_mecharm/models
+    myagv_mecharm/launch
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)
diff --git a/CustomRobots/myagv_mecharm/LICENSE b/CustomRobots/myagv_mecharm/LICENSE
new file mode 100644
index 000000000..7c2584624
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/LICENSE
@@ -0,0 +1,63 @@
+The mechArm 270 Pi and adaptive gripper meshes and kinematics come from
+mycobot_description in https://github.com/elephantrobotics/mycobot_ros2
+under this license:
+
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+------------------------------------------------------------------------------
+
+The myAGV meshes come from myagv_description in
+https://github.com/elephantrobotics/myagv_ros2 under this license:
+
+BSD 3-Clause License
+
+Copyright (c) 2024, Elephant Robotics
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/CustomRobots/myagv_mecharm/NOTICE b/CustomRobots/myagv_mecharm/NOTICE
new file mode 100644
index 000000000..a1887c98b
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/NOTICE
@@ -0,0 +1,25 @@
+The meshes under models/myagv_mecharm/meshes/ come from Elephant Robotics,
+see LICENSE in this directory for both licenses.
+
+myagv_body, myagv_top and myagv_wheel_* were generated from myagv_base.dae
+and myagv_up.dae in https://github.com/elephantrobotics/myagv_ros2
+(myagv_description), Copyright (c) 2024 Elephant Robotics, BSD-3-Clause.
+The four mecanum wheels were split out of the base mesh so they can turn,
+and everything was converted from inches to meters.
+
+mecharm_* and gripper_* were converted to STL in meters from the mechArm 270 Pi
+and adaptive gripper meshes in https://github.com/elephantrobotics/mycobot_ros2
+(mycobot_description), Copyright (c) 2020 Elephant Robotics, BSD-2-Clause.
+
+The arm and gripper joint origins, axes and limits in
+myagv_mecharm_common.urdf.xacro follow mecharm_270_pi_adaptive_gripper.urdf
+from the same source. The driving gripper joint is renamed from
+gripper_controller to gripper_base_to_gripper_left3 because ros2_control
+cannot activate a controller named like one of its joints. The laser and
+camera frames follow the myAGV bringup in
+https://github.com/elephantrobotics/myagv_ros (myagv_odometry).
+
+The myagv_mycobot robot in this repository reuses the myAGV and gripper
+meshes from this directory.
+
+Everything else in this directory is original work for RoboticsAcademy.
diff --git a/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py b/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
new file mode 100644
index 000000000..43d95f2d6
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
@@ -0,0 +1,313 @@
+import os
+import xacro
+import yaml
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch_ros.actions import Node
+
+
+def load_yaml(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return yaml.safe_load(f)
+
+
+def load_file(package_name, file_path):
+    pkg_path = get_package_share_directory(package_name)
+    with open(os.path.join(pkg_path, file_path), "r") as f:
+        return f.read()
+
+
+def launch_setup(context):
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    R = LaunchConfiguration("R")
+    P = LaunchConfiguration("P")
+    Y = LaunchConfiguration("Y")
+    gz_namespace = LaunchConfiguration("namespace")
+    gz_entity = LaunchConfiguration("entity")
+
+    package_dir = get_package_share_directory("custom_robots")
+
+    namespace = gz_namespace.perform(context)
+    entity = gz_entity.perform(context)
+
+    # Robot description
+    xacro_file = os.path.join(
+        package_dir,
+        "models",
+        "myagv_mecharm",
+        "myagv_mecharm.urdf.xacro",
+    )
+
+    controllers_file = os.path.join(
+        get_package_share_directory("myagv_mecharm_moveit_config"),
+        "config",
+        "controller_manager.yaml",
+    )
+
+    robot_description_content = xacro.process_file(
+        xacro_file,
+        mappings={
+            "namespace": namespace,
+            "simulation_controllers": controllers_file,
+        },
+    ).toxml()
+
+    robot_description = {"robot_description": robot_description_content}
+
+    # MoveIt configuration
+    robot_description_semantic = {
+        "robot_description_semantic": load_file(
+            "myagv_mecharm_moveit_config", "srdf/myagv_mecharm.srdf"
+        )
+    }
+
+    kinematics_yaml = load_yaml("myagv_mecharm_moveit_config", "config/kinematics.yaml")
+    kinematics_yaml = {
+        "robot_description_kinematics": kinematics_yaml["/**"]["ros__parameters"]
+    }
+
+    moveit_controllers = load_yaml(
+        "myagv_mecharm_moveit_config", "config/moveit_controllers.yaml"
+    )
+    moveit_controllers = moveit_controllers["/**"]["ros__parameters"]
+
+    ompl_planning = load_yaml(
+        "myagv_mecharm_moveit_config", "config/ompl_planning.yaml"
+    )
+    ompl_planning = ompl_planning["/**"]["ros__parameters"]
+
+    # Pilz provides the LIN and PTP planners used by Robmove
+    planning_pipelines_config = {
+        "planning_pipelines": ["ompl", "pilz_industrial_motion_planner"],
+        "default_planning_pipeline": "pilz_industrial_motion_planner",
+        "ompl": {
+            "planning_plugin": "ompl_interface/OMPLPlanner",
+        },
+        "pilz_industrial_motion_planner": {
+            "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
+            "request_adapters": "",
+            "start_state_max_bounds_error": 0.1,
+            "default_planner_config": "PTP",
+        },
+    }
+
+    joint_limits_yaml = load_yaml(
+        "myagv_mecharm_moveit_config", "config/joint_limits.yaml"
+    )
+    pilz_cartesian_limits = load_yaml(
+        "myagv_mecharm_moveit_config", "config/pilz_cartesian_limits.yaml"
+    )
+    combined_planning = {
+        "robot_description_planning": {**joint_limits_yaml, **pilz_cartesian_limits}
+    }
+
+    moveit_controller_manager_param = {
+        "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager"
+    }
+
+    # Core nodes
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[robot_description, {"use_sim_time": True}],
+    )
+
+    # No world transform because planning stays relative to base_footprint
+
+    gz_spawn_entity = Node(
+        package="ros_gz_sim",
+        executable="create",
+        namespace=gz_namespace,
+        arguments=[
+            "-topic",
+            f"/{namespace}/robot_description",
+            "-name",
+            entity,
+            "-allow_renaming",
+            "true",
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            R,
+            "-P",
+            P,
+            "-Y",
+            Y,
+        ],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        namespace=gz_namespace,
+        arguments=[
+            f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+            f"/{namespace}/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan",
+            f"/{namespace}/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+        ],
+        output="screen",
+    )
+
+    # Images use ros_gz_image because the parameter bridge does not support them
+    gz_ros2_image_bridge = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        namespace=gz_namespace,
+        arguments=[f"/{namespace}/camera/image_raw"],
+        output="screen",
+    )
+
+    # Controller spawners
+    def controller_spawner(controller_name):
+        return Node(
+            package="controller_manager",
+            executable="spawner",
+            namespace=gz_namespace,
+            # Long timeouts because the scene is still loading
+            arguments=[
+                controller_name,
+                "--switch-timeout",
+                "90",
+                "--controller-manager-timeout",
+                "90",
+                "--service-call-timeout",
+                "90",
+            ],
+            output="screen",
+        )
+
+    joint_state_broadcaster_spawner = controller_spawner("joint_state_broadcaster")
+    arm_controller_spawner = controller_spawner("arm_controller")
+    gripper_controller_spawner = controller_spawner("gripper_controller")
+
+    # MoveIt nodes
+    move_group = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            planning_pipelines_config,
+            moveit_controllers,
+            combined_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+        ],
+    )
+
+    # No move executable because myagv_mecharm has no joint_specifications.yaml
+    robmove = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            moveit_controllers,
+            ompl_planning,
+            moveit_controller_manager_param,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "myagv_mecharm"},
+            {"ROB_GROUP": "mecharm_arm"},
+            {"ACTION_NAME": f"/{namespace}/Robmove"},
+        ],
+    )
+
+    robpose = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        name="robpose",
+        namespace=gz_namespace,
+        output="screen",
+        parameters=[
+            robot_description,
+            robot_description_semantic,
+            kinematics_yaml,
+            ompl_planning,
+            {"use_sim_time": True},
+            {"ROB_PARAM": "myagv_mecharm"},
+            {"ROB_GROUP": "mecharm_arm"},
+        ],
+    )
+
+    moveit_nodes = [move_group, robmove, robpose]
+
+    # Startup order
+    # Each step starts when the previous one exits
+    after_spawn = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gz_spawn_entity,
+            on_exit=[joint_state_broadcaster_spawner],
+        )
+    )
+
+    after_joint_state_broadcaster = RegisterEventHandler(
+        OnProcessExit(
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[arm_controller_spawner],
+        )
+    )
+
+    after_arm = RegisterEventHandler(
+        OnProcessExit(
+            target_action=arm_controller_spawner,
+            on_exit=[gripper_controller_spawner],
+        )
+    )
+
+    after_gripper = RegisterEventHandler(
+        OnProcessExit(
+            target_action=gripper_controller_spawner,
+            on_exit=moveit_nodes,
+        )
+    )
+
+    return [
+        robot_state_publisher_node,
+        gz_spawn_entity,
+        gz_ros2_bridge,
+        gz_ros2_image_bridge,
+        after_spawn,
+        after_joint_state_broadcaster,
+        after_arm,
+        after_gripper,
+    ]
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument("use_sim_time", default_value="true"),
+        DeclareLaunchArgument("x", default_value="0"),
+        DeclareLaunchArgument("y", default_value="0"),
+        DeclareLaunchArgument("z", default_value="0"),
+        DeclareLaunchArgument("R", default_value="0"),
+        DeclareLaunchArgument("P", default_value="0"),
+        DeclareLaunchArgument("Y", default_value="0"),
+        DeclareLaunchArgument("namespace", default_value="myagv_mecharm"),
+        DeclareLaunchArgument("entity", default_value="myagv_mecharm"),
+    ]
+
+    return LaunchDescription(
+        declared_arguments + [OpaqueFunction(function=launch_setup)]
+    )
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_base.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_base.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_base.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_base.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left1.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left1.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left1.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left1.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left2.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left2.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left2.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left2.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left3.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left3.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_left3.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_left3.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right1.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right1.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right1.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right1.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right2.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right2.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right2.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right2.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right3.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right3.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/gripper_right3.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/gripper_right3.stl
diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_base.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_base.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link1.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link1.stl
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link2.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link2.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link3.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link3.stl
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link4.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link4.stl
new file mode 100644
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link5.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link5.stl
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diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link6.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/mecharm_link6.stl
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HcmV?d00001

diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_body.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_body.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_body.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_body.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_top.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_top.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_top.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_top.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_left.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_back_left.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_left.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_back_left.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_right.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_back_right.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_back_right.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_back_right.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_left.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_front_left.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_left.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_front_left.stl
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_right.stl b/CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_front_right.stl
similarity index 100%
rename from CustomRobots/myagv_mycobot/models/myagv_mycobot/meshes/myagv_wheel_front_right.stl
rename to CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/myagv_wheel_front_right.stl
diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro
new file mode 100644
index 000000000..62cbc3314
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="myagv_mecharm">
+
+  <xacro:arg name="namespace" default=""/>
+  <xacro:property name="namespace" value="$(arg namespace)"/>
+
+  <xacro:arg name="simulation_controllers" default=""/>
+  <xacro:property name="simulation_controllers" value="$(arg simulation_controllers)"/>
+
+  <xacro:include filename="$(find custom_robots)/models/myagv_mecharm/myagv_mecharm_common.urdf.xacro"/>
+
+  <xacro:myagv_mecharm namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+</robot>
diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_common.urdf.xacro b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_common.urdf.xacro
new file mode 100644
index 000000000..c5985533b
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_common.urdf.xacro
@@ -0,0 +1,413 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="mesh_dir" value="file://$(find custom_robots)/models/myagv_mecharm/meshes"/>
+  <xacro:property name="wheel_radius" value="0.04"/>
+  <xacro:property name="plate_top" value="0.1322"/>
+  <xacro:property name="arm_x" value="0.03"/>
+  <xacro:property name="arm_effort" value="10.0"/>
+  <xacro:property name="arm_velocity" value="2.8"/>
+  <xacro:property name="gripper_effort" value="2.0"/>
+
+  <!-- Arm folded over the base for driving and used as the SRDF home state -->
+  <xacro:property name="home_j1" value="0.0"/>
+  <xacro:property name="home_j2" value="-0.1"/>
+  <xacro:property name="home_j3" value="0.2"/>
+  <xacro:property name="home_j4" value="0.0"/>
+  <xacro:property name="home_j5" value="1.5"/>
+  <xacro:property name="home_j6" value="0.0"/>
+
+  <xacro:include filename="$(find custom_robots)/models/myagv_mecharm/myagv_mecharm_gz.urdf.xacro"/>
+
+  <material name="myagv_grey">
+    <color rgba="0.25 0.25 0.27 1"/>
+  </material>
+  <material name="myagv_plate">
+    <color rgba="0.12 0.12 0.13 1"/>
+  </material>
+  <material name="myagv_wheel">
+    <color rgba="0.08 0.08 0.08 1"/>
+  </material>
+  <material name="arm_white">
+    <color rgba="0.95 0.95 0.95 1"/>
+  </material>
+  <material name="arm_grey">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="gripper_black">
+    <color rgba="0.15 0.15 0.15 1"/>
+  </material>
+
+  <!-- Link with a mesh visual and a box collision fitted to that mesh -->
+  <xacro:macro name="mesh_link" params="name mesh material vxyz vrpy cxyz csize mass ixx iyy izz dir:=${mesh_dir}">
+    <link name="${name}">
+      <inertial>
+        <origin xyz="${cxyz}"/>
+        <mass value="${mass}"/>
+        <inertia ixx="${ixx}" ixy="0" ixz="0" iyy="${iyy}" iyz="0" izz="${izz}"/>
+      </inertial>
+      <visual>
+        <origin xyz="${vxyz}" rpy="${vrpy}"/>
+        <geometry>
+          <mesh filename="${dir}/${mesh}.stl"/>
+        </geometry>
+        <material name="${material}"/>
+      </visual>
+      <collision>
+        <origin xyz="${cxyz}"/>
+        <geometry>
+          <box size="${csize}"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <!-- Passive mecanum wheels that roll on the floor while VelocityControl drives the base -->
+  <xacro:macro name="mecanum_wheel" params="name xyz">
+    <link name="${name}_link">
+      <inertial>
+        <mass value="0.1"/>
+        <inertia ixx="4.8e-05" ixy="0" ixz="0" iyy="8.0e-05" iyz="0" izz="4.8e-05"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_${name}.stl"/>
+        </geometry>
+        <material name="myagv_wheel"/>
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="${wheel_radius}"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_joint" type="continuous">
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+      <origin xyz="${xyz}"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.001" friction="0.0"/>
+    </joint>
+    <xacro:rolling_wheel link="${name}_link"/>
+    <xacro:hidden_from_laser link="${name}_link"/>
+  </xacro:macro>
+
+  <xacro:macro name="state_only" params="name">
+    <joint name="${name}">
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="arm_joint_control" params="name lower upper initial">
+    <joint name="${name}">
+      <command_interface name="position">
+        <param name="min">${lower}</param>
+        <param name="max">${upper}</param>
+      </command_interface>
+      <state_interface name="position">
+        <param name="initial_value">${initial}</param>
+      </state_interface>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <!-- Humble gz_ros2_control only drives a mimic joint through these params -->
+  <xacro:macro name="mimic_joint_control" params="name multiplier">
+    <joint name="${name}">
+      <param name="mimic">gripper_base_to_gripper_left3</param>
+      <param name="multiplier">${multiplier}</param>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="myagv_mecharm" params="namespace simulation_controllers">
+
+    <!-- myAGV 2023 base -->
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+      <inertial>
+        <origin xyz="0.007 -0.004 0.07"/>
+        <mass value="3.2"/>
+        <inertia ixx="0.0143" ixy="0" ixz="0" iyy="0.0296" iyz="0" izz="0.0368"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_body.stl"/>
+        </geometry>
+        <material name="myagv_grey"/>
+      </visual>
+      <visual>
+        <geometry>
+          <mesh filename="${mesh_dir}/myagv_top.stl"/>
+        </geometry>
+        <material name="myagv_plate"/>
+      </visual>
+      <!-- Box fitted to the body and top plate meshes -->
+      <collision>
+        <origin xyz="0.007 -0.0042 0.0753"/>
+        <geometry>
+          <box size="0.313 0.2 0.1138"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <xacro:hidden_from_laser link="base_link"/>
+
+    <joint name="base_footprint_joint" type="fixed">
+      <parent link="base_footprint"/>
+      <child link="base_link"/>
+      <origin xyz="0 0 0"/>
+    </joint>
+
+    <xacro:mecanum_wheel name="wheel_front_left" xyz="0.1124 0.0946 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_front_right" xyz="0.1124 -0.1029 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_back_left" xyz="-0.1014 0.0946 ${wheel_radius}"/>
+    <xacro:mecanum_wheel name="wheel_back_right" xyz="-0.1014 -0.1029 ${wheel_radius}"/>
+
+    <!-- Sensor frames from the myAGV bringup -->
+    <link name="laser_frame"/>
+    <joint name="laser_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="laser_frame"/>
+      <origin xyz="0.065 0 0.08" rpy="0 0 ${pi}"/>
+    </joint>
+
+    <link name="camera_link"/>
+    <joint name="camera_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="camera_link"/>
+      <origin xyz="0.13 0 0.131" rpy="0 0 0"/>
+    </joint>
+
+    <!-- mechArm 270 Pi with the link and joint names of mycobot_description -->
+    <link name="g_base"/>
+    <joint name="g_base_joint" type="fixed">
+      <parent link="base_link"/>
+      <child link="g_base"/>
+      <origin xyz="${arm_x} 0 ${plate_top}"/>
+    </joint>
+
+    <xacro:mesh_link name="base" mesh="mecharm_base" material="arm_white"
+      vxyz="0 0 0" vrpy="0 0 ${-pi}"
+      cxyz="-0.0050 0 0.0465" csize="0.1029 0.0929 0.0931"
+      mass="0.30" ixx="4.326e-04" iyy="4.816e-04" izz="4.808e-04"/>
+    <xacro:mesh_link name="link1" mesh="mecharm_link1" material="arm_white"
+      vxyz="0 0 -0.132" vrpy="0 0 0"
+      cxyz="-0.0005 0.0021 0.0160" csize="0.0900 0.0900 0.0911"
+      mass="0.15" ixx="2.050e-04" iyy="2.050e-04" izz="2.025e-04"/>
+    <xacro:mesh_link name="link2" mesh="mecharm_link2" material="arm_white"
+      vxyz="-0.005 0.21 0.002" vrpy="1.5708 ${-pi} 0"
+      cxyz="-0.0090 -0.0482 0.0018" csize="0.0679 0.1448 0.0920"
+      mass="0.15" ixx="3.680e-04" iyy="1.635e-04" izz="3.199e-04"/>
+    <xacro:mesh_link name="link3" mesh="mecharm_link3" material="arm_white"
+      vxyz="-0.09 0.306 0.005" vrpy="1.5708 ${pi} 0"
+      cxyz="0.0122 -0.0007 0.0015" csize="0.1100 0.0499 0.0728"
+      mass="0.12" ixx="7.794e-05" iyy="1.740e-04" izz="1.459e-04"/>
+    <xacro:mesh_link name="link4" mesh="mecharm_link4" material="arm_white"
+      vxyz="0.009 -0.311 -0.228" vrpy="0 1.5708 1.5708"
+      cxyz="-0.0021 -0.0009 -0.0150" csize="0.0640 0.0404 0.0718"
+      mass="0.10" ixx="5.659e-05" iyy="7.711e-05" izz="4.775e-05"/>
+    <xacro:mesh_link name="link5" mesh="mecharm_link5" material="arm_white"
+      vxyz="-0.292 -0.318 -0.007" vrpy="1.5708 0 ${pi}"
+      cxyz="0.0092 0 0.0010" csize="0.0844 0.0476 0.0480"
+      mass="0.08" ixx="3.046e-05" iyy="6.288e-05" izz="6.261e-05"/>
+    <xacro:mesh_link name="link6" mesh="mecharm_link6" material="arm_grey"
+      vxyz="-0.1645 0.0536 -0.211" vrpy="0 1.5708 0"
+      cxyz="-0.0010 0.0006 -0.0038" csize="0.0400 0.0400 0.0175"
+      mass="0.03" ixx="4.760e-06" iyy="4.756e-06" izz="7.989e-06"/>
+
+    <joint name="g_base_to_base" type="fixed">
+      <parent link="g_base"/>
+      <child link="base"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="joint1_to_base" type="revolute">
+      <parent link="base"/>
+      <child link="link1"/>
+      <origin xyz="0 0 0.1" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.7925" upper="2.7925" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint2_to_joint1" type="revolute">
+      <parent link="link1"/>
+      <child link="link2"/>
+      <origin xyz="0 0 0.038" rpy="-1.5708 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-1.3089" upper="2.0943" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint3_to_joint2" type="revolute">
+      <parent link="link2"/>
+      <child link="link3"/>
+      <origin xyz="0 -0.1 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-3.0543" upper="1.1344" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint4_to_joint3" type="revolute">
+      <parent link="link3"/>
+      <child link="link4"/>
+      <origin xyz="0.108 -0.005 -0.001" rpy="0 1.5708 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.7052" upper="2.7052" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint5_to_joint4" type="revolute">
+      <parent link="link4"/>
+      <child link="link5"/>
+      <origin xyz="-0.001 0 0" rpy="0 -1.5708 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-2.0071" upper="2.0071" velocity="${arm_velocity}"/>
+    </joint>
+
+    <joint name="joint6_to_joint5" type="revolute">
+      <parent link="link5"/>
+      <child link="link6"/>
+      <origin xyz="0.06 0 0" rpy="0 1.5708 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${arm_effort}" lower="-3.14" upper="3.14" velocity="${arm_velocity}"/>
+    </joint>
+
+    <!-- Adaptive gripper where one joint drives the whole linkage -->
+    <xacro:mesh_link name="gripper_base" mesh="gripper_base" material="gripper_black"
+      vxyz="0 0 -0.012" vrpy="0 0 0"
+      cxyz="0 -0.0012 0.0123" csize="0.0580 0.0622 0.0509"
+      mass="0.06" ixx="3.232e-05" iyy="2.977e-05" izz="3.618e-05"/>
+    <xacro:mesh_link name="gripper_left1" mesh="gripper_left1" material="gripper_black"
+      vxyz="0.039 -0.0133 -0.012" vrpy="0 0 0"
+      cxyz="0.0065 0.0241 -0.0082" csize="0.0244 0.0582 0.0207"
+      mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
+    <xacro:mesh_link name="gripper_left2" mesh="gripper_left2" material="gripper_black"
+      vxyz="0.005 -0.0195 -0.012" vrpy="0 0 0"
+      cxyz="-0.0145 0.0075 -0.0082" csize="0.0359 0.0243 0.0200"
+      mass="0.01" ixx="8.251e-07" iyy="1.409e-06" izz="1.567e-06"/>
+    <xacro:mesh_link name="gripper_left3" mesh="gripper_left3" material="gripper_black"
+      vxyz="0.012 0.0025 -0.012" vrpy="0 0 0"
+      cxyz="-0.0097 0.0025 -0.0007" csize="0.0450 0.0335 0.0050"
+      mass="0.01" ixx="9.578e-07" iyy="1.711e-06" izz="2.627e-06"/>
+    <xacro:mesh_link name="gripper_right1" mesh="gripper_right1" material="gripper_black"
+      vxyz="-0.039 -0.0133 -0.012" vrpy="0 0 0"
+      cxyz="-0.0078 0.0245 -0.0082" csize="0.0244 0.0582 0.0207"
+      mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
+    <xacro:mesh_link name="gripper_right2" mesh="gripper_right2" material="gripper_black"
+      vxyz="-0.005 -0.0195 -0.012" vrpy="0 0 0"
+      cxyz="0.0134 0.0077 -0.0082" csize="0.0357 0.0247 0.0200"
+      mass="0.01" ixx="8.407e-07" iyy="1.397e-06" izz="1.571e-06"/>
+    <xacro:mesh_link name="gripper_right3" mesh="gripper_right3" material="gripper_black"
+      vxyz="-0.012 0.0025 -0.012" vrpy="0 0 0"
+      cxyz="0.0085 0.0027 -0.0007" csize="0.0450 0.0339 0.0050"
+      mass="0.01" ixx="9.801e-07" iyy="1.706e-06" izz="2.645e-06"/>
+
+    <joint name="joint6output_to_gripper_base" type="fixed">
+      <parent link="link6"/>
+      <child link="gripper_base"/>
+      <origin xyz="0 0 0.038" rpy="1.579 0 0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_left3" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_left3"/>
+      <origin xyz="-0.012 0.005 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.74" upper="0.15" velocity="1.5"/>
+    </joint>
+
+    <!-- Mimic limits follow the driving joint range times the multiplier -->
+    <joint name="gripper_base_to_gripper_left2" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_left2"/>
+      <origin xyz="-0.005 0.027 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.79" upper="0.2" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_left3_to_gripper_left1" type="revolute">
+      <parent link="gripper_left3"/>
+      <child link="gripper_left1"/>
+      <origin xyz="-0.027 0.016 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_right3" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_right3"/>
+      <origin xyz="0.012 0.005 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_base_to_gripper_right2" type="revolute">
+      <parent link="gripper_base"/>
+      <child link="gripper_right2"/>
+      <origin xyz="0.005 0.027 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.2" upper="0.79" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="-1.0" offset="0"/>
+    </joint>
+
+    <joint name="gripper_right3_to_gripper_right1" type="revolute">
+      <parent link="gripper_right3"/>
+      <child link="gripper_right1"/>
+      <origin xyz="0.027 0.016 0" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="${gripper_effort}" lower="-0.79" upper="0.2" velocity="1.5"/>
+      <mimic joint="gripper_base_to_gripper_left3" multiplier="1.0" offset="0"/>
+    </joint>
+
+    <!-- Point between the finger pads used as the arm tip with z pointing out of the gripper -->
+    <link name="gripper_tcp"/>
+    <joint name="gripper_tcp_joint" type="fixed">
+      <parent link="gripper_base"/>
+      <child link="gripper_tcp"/>
+      <origin xyz="0 0.07 -0.0082" rpy="-1.5708 0 0"/>
+    </joint>
+
+    <xacro:velocity namespace="${namespace}"/>
+    <xacro:odom namespace="${namespace}"/>
+    <xacro:gpu_laser link="laser_frame" namespace="${namespace}"/>
+    <xacro:camera link="camera_link" namespace="${namespace}"/>
+    <xacro:suction_contact link="gripper_left1"/>
+
+    <ros2_control name="mecharm" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+      <xacro:arm_joint_control name="joint1_to_base" lower="-2.7925" upper="2.7925" initial="${home_j1}"/>
+      <xacro:arm_joint_control name="joint2_to_joint1" lower="-1.3089" upper="2.0943" initial="${home_j2}"/>
+      <xacro:arm_joint_control name="joint3_to_joint2" lower="-3.0543" upper="1.1344" initial="${home_j3}"/>
+      <xacro:arm_joint_control name="joint4_to_joint3" lower="-2.7052" upper="2.7052" initial="${home_j4}"/>
+      <xacro:arm_joint_control name="joint5_to_joint4" lower="-2.0071" upper="2.0071" initial="${home_j5}"/>
+      <xacro:arm_joint_control name="joint6_to_joint5" lower="-3.14" upper="3.14" initial="${home_j6}"/>
+      <xacro:arm_joint_control name="gripper_base_to_gripper_left3" lower="-0.74" upper="0.15" initial="0.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_left2" multiplier="1.0"/>
+      <xacro:mimic_joint_control name="gripper_left3_to_gripper_left1" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_right3" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_base_to_gripper_right2" multiplier="-1.0"/>
+      <xacro:mimic_joint_control name="gripper_right3_to_gripper_right1" multiplier="1.0"/>
+    </ros2_control>
+
+    <!-- Wheels are state only because MoveIt waits for every joint of the URDF -->
+    <ros2_control name="myagv_wheels" type="system">
+      <hardware>
+        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+      </hardware>
+      <xacro:state_only name="wheel_front_left_joint"/>
+      <xacro:state_only name="wheel_front_right_joint"/>
+      <xacro:state_only name="wheel_back_left_joint"/>
+      <xacro:state_only name="wheel_back_right_joint"/>
+    </ros2_control>
+
+    <xacro:ros2_control_plugin namespace="${namespace}" simulation_controllers="${simulation_controllers}"/>
+
+  </xacro:macro>
+
+</robot>
diff --git a/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_gz.urdf.xacro b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_gz.urdf.xacro
new file mode 100644
index 000000000..7d0bdcb8e
--- /dev/null
+++ b/CustomRobots/myagv_mecharm/models/myagv_mecharm/myagv_mecharm_gz.urdf.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
+
+  <!-- Friction only across the wheel axis so the wheels roll and still slide sideways -->
+  <xacro:macro name="rolling_wheel" params="link">
+    <gazebo reference="${link}">
+      <collision>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.0</mu>
+              <mu2>1.0</mu2>
+              <fdir1 gz:expressed_in="${link}">0 1 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Visuals the laser does not see because it sits inside the chassis -->
+  <xacro:macro name="hidden_from_laser" params="link">
+    <gazebo reference="${link}">
+      <visual>
+        <visibility_flags>1</visibility_flags>
+      </visual>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="velocity" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-velocity-control-system" name="gz::sim::systems::VelocityControl">
+        <topic>/${namespace}/cmd_vel</topic>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="odom" params="namespace">
+    <gazebo>
+      <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+        <odom_frame>odom</odom_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
+        <odom_publish_frequency>50</odom_publish_frequency>
+        <odom_topic>/${namespace}/odom</odom_topic>
+        <dimensions>3</dimensions>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- YDLidar X2 with the range used by the myAGV driver -->
+  <xacro:macro name="gpu_laser" params="link namespace">
+    <gazebo reference="${link}">
+      <sensor name="laser" type="gpu_lidar">
+        <always_on>1</always_on>
+        <visualize>0</visualize>
+        <update_rate>10</update_rate>
+        <topic>/${namespace}/scan</topic>
+        <gz_frame_id>${link}</gz_frame_id>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1</resolution>
+              <min_angle>-3.14159</min_angle>
+              <max_angle>3.14159</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.12</min>
+            <max>8.0</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+          <!-- Skips the base visuals around the sensor -->
+          <visibility_mask>4294967294</visibility_mask>
+        </lidar>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="camera" params="link namespace">
+    <gazebo reference="${link}">
+      <sensor name="camera" type="camera">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <update_rate>15</update_rate>
+        <topic>/${namespace}/camera/image_raw</topic>
+        <gz_frame_id>${link}</gz_frame_id>
+        <camera name="camera">
+          <camera_info_topic>/${namespace}/camera/camera_info</camera_info_topic>
+          <horizontal_fov>1.047</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10.0</far>
+          </clip>
+        </camera>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Contact sensor on one finger for gz_link_attacher -->
+  <xacro:macro name="suction_contact" params="link">
+    <gazebo reference="${link}">
+      <sensor name="suction_contact" type="contact">
+        <always_on>true</always_on>
+        <update_rate>30</update_rate>
+        <contact>
+          <collision>${link}_collision</collision>
+        </contact>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="ros2_control_plugin" params="namespace simulation_controllers">
+    <gazebo>
+      <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+        <!-- Same namespace as robot_state_publisher -->
+        <ros>
+          <namespace>${namespace}</namespace>
+        </ros>
+        <parameters>${simulation_controllers}</parameters>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+</robot>
diff --git a/CustomRobots/myagv_mycobot/NOTICE b/CustomRobots/myagv_mycobot/NOTICE
index 4d36f92e9..29098998b 100644
--- a/CustomRobots/myagv_mycobot/NOTICE
+++ b/CustomRobots/myagv_mycobot/NOTICE
@@ -1,14 +1,12 @@
 The meshes under models/myagv_mycobot/meshes/ come from Elephant Robotics,
 see LICENSE in this directory for both licenses.
 
-myagv_body, myagv_top and myagv_wheel_* were generated from myagv_base.dae
-and myagv_up.dae in https://github.com/elephantrobotics/myagv_ros2
-(myagv_description), Copyright (c) 2024 Elephant Robotics, BSD-3-Clause.
-The four mecanum wheels were split out of the base mesh so they can turn,
-and everything was converted from inches to meters.
+The myAGV and adaptive gripper meshes are shared with the myagv_mecharm robot
+and live in CustomRobots/myagv_mecharm/models/myagv_mecharm/meshes/, see the
+NOTICE in that directory for their origin.
 
-joint1_pi, joint2 to joint7 and gripper_* were converted to STL in meters from
-the myCobot 280 Pi and adaptive gripper meshes in
+joint1_pi and joint2 to joint7 were converted to STL in meters from
+the myCobot 280 Pi meshes in
 https://github.com/elephantrobotics/mycobot_ros2 (mycobot_description),
 Copyright (c) 2020 Elephant Robotics, BSD-2-Clause.
 
@@ -16,7 +14,8 @@ The arm and gripper joint origins, axes and limits in
 myagv_mycobot_common.urdf.xacro follow mycobot_280_pi_adaptive_gripper.urdf
 from the same source. The driving gripper joint is renamed from
 gripper_controller to gripper_base_to_gripper_left3 because ros2_control
-cannot activate a controller named like one of its joints. The laser and camera frames follow the myAGV bringup in
+cannot activate a controller named like one of its joints. The laser and
+camera frames follow the myAGV bringup in
 https://github.com/elephantrobotics/myagv_ros (myagv_odometry).
 
 Everything else in this directory is original work for RoboticsAcademy.
diff --git a/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
index ae194ea3b..bbe9a8af9 100644
--- a/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
+++ b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
@@ -78,7 +78,9 @@ def launch_setup(context):
     )
     moveit_controllers = moveit_controllers["/**"]["ros__parameters"]
 
-    ompl_planning = load_yaml("myagv_mycobot_moveit_config", "config/ompl_planning.yaml")
+    ompl_planning = load_yaml(
+        "myagv_mycobot_moveit_config", "config/ompl_planning.yaml"
+    )
     ompl_planning = ompl_planning["/**"]["ros__parameters"]
 
     # Pilz provides the LIN and PTP planners used by Robmove
@@ -96,7 +98,9 @@ def launch_setup(context):
         },
     }
 
-    joint_limits_yaml = load_yaml("myagv_mycobot_moveit_config", "config/joint_limits.yaml")
+    joint_limits_yaml = load_yaml(
+        "myagv_mycobot_moveit_config", "config/joint_limits.yaml"
+    )
     pilz_cartesian_limits = load_yaml(
         "myagv_mycobot_moveit_config", "config/pilz_cartesian_limits.yaml"
     )
diff --git a/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
index b393a3358..9b893c0a2 100644
--- a/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
+++ b/CustomRobots/myagv_mycobot/models/myagv_mycobot/myagv_mycobot_common.urdf.xacro
@@ -2,6 +2,8 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:property name="mesh_dir" value="file://$(find custom_robots)/models/myagv_mycobot/meshes"/>
+  <!-- The myAGV and gripper meshes are shared with myagv_mecharm -->
+  <xacro:property name="shared_mesh_dir" value="file://$(find custom_robots)/models/myagv_mecharm/meshes"/>
   <xacro:property name="wheel_radius" value="0.04"/>
   <xacro:property name="plate_top" value="0.1322"/>
   <xacro:property name="arm_x" value="0.03"/>
@@ -9,7 +11,7 @@
   <xacro:property name="arm_velocity" value="2.8"/>
   <xacro:property name="gripper_effort" value="2.0"/>
 
-  <!-- Driving pose folded above the base, also used as the MoveIt home state -->
+  <!-- Arm folded over the base for driving and used as the SRDF home state -->
   <xacro:property name="home_j1" value="0.0"/>
   <xacro:property name="home_j2" value="1.0"/>
   <xacro:property name="home_j3" value="-2.3"/>
@@ -39,7 +41,7 @@
   </material>
 
   <!-- Link with a mesh visual and a box collision fitted to that mesh -->
-  <xacro:macro name="mesh_link" params="name mesh material vxyz vrpy cxyz csize mass ixx iyy izz">
+  <xacro:macro name="mesh_link" params="name mesh material vxyz vrpy cxyz csize mass ixx iyy izz dir:=${mesh_dir}">
     <link name="${name}">
       <inertial>
         <origin xyz="${cxyz}"/>
@@ -49,7 +51,7 @@
       <visual>
         <origin xyz="${vxyz}" rpy="${vrpy}"/>
         <geometry>
-          <mesh filename="${mesh_dir}/${mesh}.stl"/>
+          <mesh filename="${dir}/${mesh}.stl"/>
         </geometry>
         <material name="${material}"/>
       </visual>
@@ -71,7 +73,7 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="${mesh_dir}/myagv_${name}.stl"/>
+          <mesh filename="${shared_mesh_dir}/myagv_${name}.stl"/>
         </geometry>
         <material name="myagv_wheel"/>
       </visual>
@@ -135,13 +137,13 @@
       </inertial>
       <visual>
         <geometry>
-          <mesh filename="${mesh_dir}/myagv_body.stl"/>
+          <mesh filename="${shared_mesh_dir}/myagv_body.stl"/>
         </geometry>
         <material name="myagv_grey"/>
       </visual>
       <visual>
         <geometry>
-          <mesh filename="${mesh_dir}/myagv_top.stl"/>
+          <mesh filename="${shared_mesh_dir}/myagv_top.stl"/>
         </geometry>
         <material name="myagv_plate"/>
       </visual>
@@ -182,7 +184,7 @@
       <origin xyz="0.13 0 0.131" rpy="0 0 0"/>
     </joint>
 
-    <!-- myCobot 280 Pi, link and joint names kept from mycobot_description -->
+    <!-- myCobot 280 Pi with the link and joint names of mycobot_description -->
     <link name="g_base"/>
     <joint name="g_base_joint" type="fixed">
       <parent link="base_link"/>
@@ -273,32 +275,32 @@
       <limit effort="${arm_effort}" lower="-3.14159" upper="3.14159" velocity="${arm_velocity}"/>
     </joint>
 
-    <!-- Adaptive gripper, closed at -0.74 and fully open at 0.15 -->
-    <xacro:mesh_link name="gripper_base" mesh="gripper_base" material="gripper_black"
+    <!-- Adaptive gripper where one joint drives the whole linkage -->
+    <xacro:mesh_link name="gripper_base" mesh="gripper_base" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="0 0 -0.012" vrpy="0 0 0"
       cxyz="0 -0.0012 0.0123" csize="0.0580 0.0622 0.0509"
       mass="0.06" ixx="3.232e-05" iyy="2.977e-05" izz="3.618e-05"/>
-    <xacro:mesh_link name="gripper_left1" mesh="gripper_left1" material="gripper_black"
+    <xacro:mesh_link name="gripper_left1" mesh="gripper_left1" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="0.039 -0.0133 -0.012" vrpy="0 0 0"
       cxyz="0.0065 0.0241 -0.0082" csize="0.0244 0.0582 0.0207"
       mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
-    <xacro:mesh_link name="gripper_left2" mesh="gripper_left2" material="gripper_black"
+    <xacro:mesh_link name="gripper_left2" mesh="gripper_left2" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="0.005 -0.0195 -0.012" vrpy="0 0 0"
       cxyz="-0.0145 0.0075 -0.0082" csize="0.0359 0.0243 0.0200"
       mass="0.01" ixx="8.251e-07" iyy="1.409e-06" izz="1.567e-06"/>
-    <xacro:mesh_link name="gripper_left3" mesh="gripper_left3" material="gripper_black"
+    <xacro:mesh_link name="gripper_left3" mesh="gripper_left3" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="0.012 0.0025 -0.012" vrpy="0 0 0"
       cxyz="-0.0097 0.0025 -0.0007" csize="0.0450 0.0335 0.0050"
       mass="0.01" ixx="9.578e-07" iyy="1.711e-06" izz="2.627e-06"/>
-    <xacro:mesh_link name="gripper_right1" mesh="gripper_right1" material="gripper_black"
+    <xacro:mesh_link name="gripper_right1" mesh="gripper_right1" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="-0.039 -0.0133 -0.012" vrpy="0 0 0"
       cxyz="-0.0078 0.0245 -0.0082" csize="0.0244 0.0582 0.0207"
       mass="0.01" ixx="3.178e-06" iyy="8.535e-07" izz="3.320e-06"/>
-    <xacro:mesh_link name="gripper_right2" mesh="gripper_right2" material="gripper_black"
+    <xacro:mesh_link name="gripper_right2" mesh="gripper_right2" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="-0.005 -0.0195 -0.012" vrpy="0 0 0"
       cxyz="0.0134 0.0077 -0.0082" csize="0.0357 0.0247 0.0200"
       mass="0.01" ixx="8.407e-07" iyy="1.397e-06" izz="1.571e-06"/>
-    <xacro:mesh_link name="gripper_right3" mesh="gripper_right3" material="gripper_black"
+    <xacro:mesh_link name="gripper_right3" mesh="gripper_right3" material="gripper_black" dir="${shared_mesh_dir}"
       vxyz="-0.012 0.0025 -0.012" vrpy="0 0 0"
       cxyz="0.0085 0.0027 -0.0007" csize="0.0450 0.0339 0.0050"
       mass="0.01" ixx="9.801e-07" iyy="1.706e-06" izz="2.645e-06"/>
@@ -363,7 +365,7 @@
       <mimic joint="gripper_base_to_gripper_left3" multiplier="1.0" offset="0"/>
     </joint>
 
-    <!-- Point between the finger pads that MoveIt uses as the arm tip, z points out of the gripper -->
+    <!-- Point between the finger pads used as the arm tip with z pointing out of the gripper -->
     <link name="gripper_tcp"/>
     <joint name="gripper_tcp_joint" type="fixed">
       <parent link="gripper_base"/>
diff --git a/Industrial/myagv_mecharm_moveit_config/CMakeLists.txt b/Industrial/myagv_mecharm_moveit_config/CMakeLists.txt
new file mode 100644
index 000000000..8d9270968
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.8)
+project(myagv_mecharm_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY config srdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/Industrial/myagv_mecharm_moveit_config/config/controller_manager.yaml b/Industrial/myagv_mecharm_moveit_config/config/controller_manager.yaml
new file mode 100644
index 000000000..87d8b95e6
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/controller_manager.yaml
@@ -0,0 +1,63 @@
+/**/controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+/**/arm_controller:
+  ros__parameters:
+    joints:
+      - joint1_to_base
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_nonzero_velocity_at_trajectory_end: true
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+
+/**/gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_base_to_gripper_left3
+
+    command_interfaces:
+      - position
+
+    state_interfaces:
+      - position
+      - velocity
+
+    state_publish_rate: 100.0
+    action_monitor_rate: 20.0
+    allow_partial_joints_goal: false
+    allow_integration_in_goal_trajectories: true
+
+    constraints:
+      stopped_velocity_tolerance: 0.01
+      goal_time: 0.0
+      gripper_base_to_gripper_left3:
+        trajectory: 0.5
+        goal: 0.5
diff --git a/Industrial/myagv_mecharm_moveit_config/config/joint_limits.yaml b/Industrial/myagv_mecharm_moveit_config/config/joint_limits.yaml
new file mode 100644
index 000000000..0264fd8d7
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,36 @@
+joint_limits:
+  joint1_to_base:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint2_to_joint1:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint3_to_joint2:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint4_to_joint3:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint5_to_joint4:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  joint6_to_joint5:
+    has_velocity_limits: true
+    max_velocity: 2.0
+    has_acceleration_limits: true
+    max_acceleration: 4.0
+  gripper_base_to_gripper_left3:
+    has_velocity_limits: true
+    max_velocity: 1.0
+    has_acceleration_limits: true
+    max_acceleration: 5.0
diff --git a/Industrial/myagv_mecharm_moveit_config/config/kinematics.yaml b/Industrial/myagv_mecharm_moveit_config/config/kinematics.yaml
new file mode 100644
index 000000000..7390589ad
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/kinematics.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    mecharm_arm:
+      kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+      kinematics_solver_search_resolution: 0.005
+      kinematics_solver_timeout: 0.1
+      kinematics_solver_attempts: 10
diff --git a/Industrial/myagv_mecharm_moveit_config/config/moveit_controllers.yaml b/Industrial/myagv_mecharm_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 000000000..0b54865a6
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    moveit_simple_controller_manager:
+      controller_names:
+        - arm_controller
+        - gripper_controller
+
+      arm_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - joint1_to_base
+          - joint2_to_joint1
+          - joint3_to_joint2
+          - joint4_to_joint3
+          - joint5_to_joint4
+          - joint6_to_joint5
+
+      gripper_controller:
+        type: FollowJointTrajectory
+        action_ns: follow_joint_trajectory
+        default: true
+        joints:
+          - gripper_base_to_gripper_left3
diff --git a/Industrial/myagv_mecharm_moveit_config/config/ompl_planning.yaml b/Industrial/myagv_mecharm_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..4cb39df6d
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,70 @@
+/**:
+  ros__parameters:
+    planner_configs:
+      SBLkConfigDefault:
+        type: geometric::SBL
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      ESTkConfigDefault:
+        type: geometric::EST
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+      LBKPIECEkConfigDefault:
+        type: geometric::LBKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      BKPIECEkConfigDefault:
+        type: geometric::BKPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      KPIECEkConfigDefault:
+        type: geometric::KPIECE
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+        border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+        failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+        min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+      RRTkConfigDefault:
+        type: geometric::RRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+      RRTConnectkConfigDefault:
+        type: geometric::RRTConnect
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+      RRTstarkConfigDefault:
+        type: geometric::RRTstar
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+      TRRTkConfigDefault:
+        type: geometric::TRRT
+        range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+        goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+        max_states_failed: 10  # when to start increasing temp. default: 10
+        temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+        min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+        init_temperature: 10e-6  # initial temperature. default: 10e-6
+        frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+        frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+        k_constant: 0.0  # value used to normalize expression. default: 0.0 set in setup()
+      PRMkConfigDefault:
+        type: geometric::PRM
+        max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+      PRMstarkConfigDefault:
+        type: geometric::PRMstar
+    mecharm_arm:
+      planner_configs:
+        - SBLkConfigDefault
+        - ESTkConfigDefault
+        - LBKPIECEkConfigDefault
+        - BKPIECEkConfigDefault
+        - KPIECEkConfigDefault
+        - RRTkConfigDefault
+        - RRTConnectkConfigDefault
+        - RRTstarkConfigDefault
+        - TRRTkConfigDefault
+        - PRMkConfigDefault
+        - PRMstarkConfigDefault
+      longest_valid_segment_fraction: 0.01
diff --git a/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 000000000..cddce52d8
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 0.15
+  max_trans_acc: 0.15
+  max_trans_dec: 0.15
+  max_rot_vel: 2.0
diff --git a/Industrial/myagv_mecharm_moveit_config/package.xml b/Industrial/myagv_mecharm_moveit_config/package.xml
new file mode 100644
index 000000000..636d58441
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>myagv_mecharm_moveit_config</name>
+  <version>0.0.0</version>
+  <description>MoveIt2 configuration for the Elephant Robotics myAGV with a mechArm 270 Pi</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/Industrial/myagv_mecharm_moveit_config/srdf/myagv_mecharm.srdf b/Industrial/myagv_mecharm_moveit_config/srdf/myagv_mecharm.srdf
new file mode 100644
index 000000000..88c2e5e3e
--- /dev/null
+++ b/Industrial/myagv_mecharm_moveit_config/srdf/myagv_mecharm.srdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="myagv_mecharm">
+
+  <!-- No virtual joint so planning stays relative to base_footprint while the base drives -->
+
+  <group name="mecharm_arm">
+    <chain base_link="g_base" tip_link="gripper_tcp"/>
+  </group>
+
+  <group name="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3"/>
+    <joint name="gripper_base_to_gripper_left2"/>
+    <joint name="gripper_left3_to_gripper_left1"/>
+    <joint name="gripper_base_to_gripper_right3"/>
+    <joint name="gripper_base_to_gripper_right2"/>
+    <joint name="gripper_right3_to_gripper_right1"/>
+  </group>
+
+  <end_effector name="gripper" parent_link="gripper_tcp" group="adaptive_gripper" parent_group="mecharm_arm"/>
+
+  <!-- Arm folded over the base for driving -->
+  <group_state name="home" group="mecharm_arm">
+    <joint name="joint1_to_base" value="0"/>
+    <joint name="joint2_to_joint1" value="-0.1"/>
+    <joint name="joint3_to_joint2" value="0.2"/>
+    <joint name="joint4_to_joint3" value="0"/>
+    <joint name="joint5_to_joint4" value="1.5"/>
+    <joint name="joint6_to_joint5" value="0"/>
+  </group_state>
+
+  <!-- Gripper 70 degrees below the horizon 0.2 m ahead of the base and 0.16 m above the floor -->
+  <group_state name="ready" group="mecharm_arm">
+    <joint name="joint1_to_base" value="0"/>
+    <joint name="joint2_to_joint1" value="0.236"/>
+    <joint name="joint3_to_joint2" value="0.255"/>
+    <joint name="joint4_to_joint3" value="0"/>
+    <joint name="joint5_to_joint4" value="0.739"/>
+    <joint name="joint6_to_joint5" value="0"/>
+  </group_state>
+
+  <group_state name="zero" group="mecharm_arm">
+    <joint name="joint1_to_base" value="0"/>
+    <joint name="joint2_to_joint1" value="0"/>
+    <joint name="joint3_to_joint2" value="0"/>
+    <joint name="joint4_to_joint3" value="0"/>
+    <joint name="joint5_to_joint4" value="0"/>
+    <joint name="joint6_to_joint5" value="0"/>
+  </group_state>
+
+  <group_state name="GripperOpen" group="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3" value="0.15"/>
+  </group_state>
+
+  <!-- Closes just past a 25 mm object so the fingers do not sink into it -->
+  <group_state name="GripperClose" group="adaptive_gripper">
+    <joint name="gripper_base_to_gripper_left3" value="-0.4"/>
+  </group_state>
+
+  <!-- Pairs that are always in contact or never collide over 20000 random arm poses -->
+  <disable_collisions link1="base" link2="base_link" reason="Adjacent"/>
+  <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+  <disable_collisions link1="base" link2="wheel_back_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base" link2="wheel_back_right_link" reason="Adjacent"/>
+  <disable_collisions link1="base" link2="wheel_front_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base" link2="wheel_front_right_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="link2" reason="Never"/>
+  <disable_collisions link1="base_link" link2="link3" reason="Never"/>
+  <disable_collisions link1="base_link" link2="wheel_back_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_back_right_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_front_left_link" reason="Adjacent"/>
+  <disable_collisions link1="base_link" link2="wheel_front_right_link" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Default"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Default"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_base" link2="link5" reason="Adjacent"/>
+  <disable_collisions link1="gripper_base" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_left2" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Default"/>
+  <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_left3" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
+  <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
+  <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_right2" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
+  <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
+  <disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
+  <disable_collisions link1="gripper_right3" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+  <disable_collisions link1="link1" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="link1" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="link1" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="link1" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+  <disable_collisions link1="link2" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="link2" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="link2" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="link2" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+  <disable_collisions link1="link3" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="link3" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="link3" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="link3" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
+  <disable_collisions link1="link4" link2="link6" reason="Never"/>
+  <disable_collisions link1="link4" link2="wheel_back_left_link" reason="Never"/>
+  <disable_collisions link1="link4" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="link4" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="link4" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
+  <disable_collisions link1="link5" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_back_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_left_link" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="wheel_front_left_link" reason="Never"/>
+  <disable_collisions link1="wheel_back_right_link" link2="wheel_front_right_link" reason="Never"/>
+  <disable_collisions link1="wheel_front_left_link" link2="wheel_front_right_link" reason="Never"/>
+
+</robot>
diff --git a/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
index 5f091e8d7..29bae22b0 100644
--- a/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
+++ b/Industrial/myagv_mycobot_moveit_config/srdf/myagv_mycobot.srdf
@@ -18,7 +18,7 @@
 
   <end_effector name="gripper" parent_link="gripper_tcp" group="adaptive_gripper" parent_group="mycobot_arm"/>
 
-  <!-- Folded above the base, safe for driving -->
+  <!-- Arm folded over the base for driving -->
   <group_state name="home" group="mycobot_arm">
     <joint name="joint2_to_joint1" value="0"/>
     <joint name="joint3_to_joint2" value="1.0"/>
@@ -55,7 +55,7 @@
     <joint name="gripper_base_to_gripper_left3" value="-0.74"/>
   </group_state>
 
-  <!-- Adjacent, Default and Never pairs from 20000 random samples of the arm and gripper -->
+  <!-- Pairs that are always in contact or never collide over 20000 random arm poses -->
   <disable_collisions link1="base_link" link2="joint1" reason="Adjacent"/>
   <disable_collisions link1="base_link" link2="joint2" reason="Adjacent"/>
   <disable_collisions link1="base_link" link2="joint3" reason="Never"/>
diff --git a/Scenes/mobile_manipulation_warehouse_myagv.world b/Scenes/mobile_manipulation_warehouse_myagv.world
index cbd3a9f2a..2273af1aa 100644
--- a/Scenes/mobile_manipulation_warehouse_myagv.world
+++ b/Scenes/mobile_manipulation_warehouse_myagv.world
@@ -19,9 +19,9 @@
     </plugin>
     <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
     </plugin>
-    <!-- Suction mode on one finger of the myCobot adaptive gripper -->
+    <!-- Suction mode on one finger of the adaptive gripper -->
     <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
-      <robot_model_name>myagv_mycobot</robot_model_name>
+      <robot_model_name>myagv_mecharm</robot_model_name>
       <gripper_link_name>gripper_left1</gripper_link_name>
     </plugin>
 
diff --git a/database/worlds.sql b/database/worlds.sql
index 4e66b8e4a..bee2426f2 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -210,7 +210,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 85	XLeRobot Warehouse	58
 86	XLeRobot Home	81
 87	MMO-500 Warehouse	82
-88	myAGV myCobot Warehouse	83
+88	myAGV mechArm Warehouse	83
 \.
 
 --
@@ -285,7 +285,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 63	85	40	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 64	86	40	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
 65	87	41	{{0.0,0.0,0.02,0.0,0.0,0.0}}
-66	88	42	{{0.0,0.0,0.01,0.0,0.0,0.0}}
+66	88	43	{{0.0,0.0,0.01,0.0,0.0,0.0}}
 \.
 
 --
@@ -387,6 +387,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 40	XLeRobot	/home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py	xlerobot	namespace:=logistic_robot	xlerobot/models/xlerobot/xlerobot.urdf.xacro
 41	MMO-500	/home/ws/src/CustomRobots/mmo500/launch/mmo500.launch.py	mmo500	namespace:=mmo500	mmo500/models/mmo500/mmo500.urdf.xacro
 42	myAGV myCobot	/home/ws/src/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py	myagv_mycobot	namespace:=myagv_mycobot	myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
+43	myAGV mechArm	/home/ws/src/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py	myagv_mecharm	namespace:=myagv_mecharm	myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro
 \.
 
 --

From 0c4960afd6301fed442d86beefd4d69950171681 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 2 Oct 2026 10:30:07 +0200
Subject: [PATCH 04/13] myagv warehouse delivery exercise

---
 CustomRobots/warehouse_delivery/blue_ball.sdf |  36 +
 .../warehouse_delivery/blue_marker.sdf        |  18 +
 .../warehouse_delivery/delivery_manager.py    | 280 ++++++
 .../warehouse_delivery/green_marker.sdf       |  18 +
 CustomRobots/warehouse_delivery/red_ball.sdf  |  36 +
 .../warehouse_delivery/red_marker.sdf         |  18 +
 .../visualization/warehouse_delivery.config   | 157 +++
 Launchers/warehouse_delivery.launch.py        |  58 ++
 Scenes/warehouse_delivery.world               | 925 ++++++++++++++++++
 database/worlds.sql                           |   4 +-
 10 files changed, 1548 insertions(+), 2 deletions(-)
 create mode 100644 CustomRobots/warehouse_delivery/blue_ball.sdf
 create mode 100644 CustomRobots/warehouse_delivery/blue_marker.sdf
 create mode 100755 CustomRobots/warehouse_delivery/delivery_manager.py
 create mode 100644 CustomRobots/warehouse_delivery/green_marker.sdf
 create mode 100644 CustomRobots/warehouse_delivery/red_ball.sdf
 create mode 100644 CustomRobots/warehouse_delivery/red_marker.sdf
 create mode 100644 Launchers/visualization/warehouse_delivery.config
 create mode 100644 Launchers/warehouse_delivery.launch.py
 create mode 100644 Scenes/warehouse_delivery.world

diff --git a/CustomRobots/warehouse_delivery/blue_ball.sdf b/CustomRobots/warehouse_delivery/blue_ball.sdf
new file mode 100644
index 000000000..439f8d155
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/blue_ball.sdf
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="blue_ball">
+    <link name="link">
+      <inertial>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>1.8e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>1.8e-06</iyy><iyz>0</iyz><izz>1.8e-06</izz>
+        </inertia>
+      </inertial>
+      <!-- No bounce so the ball settles in the cup -->
+      <collision name="collision">
+        <geometry>
+          <sphere><radius>0.015</radius></sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode><mu>1.0</mu><mu2>1.0</mu2></ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.0</restitution_coefficient>
+          </bounce>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <sphere><radius>0.015</radius></sphere>
+        </geometry>
+        <material>
+          <ambient>0 0.2 0.8 1</ambient>
+          <diffuse>0 0.2 0.8 1</diffuse>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/warehouse_delivery/blue_marker.sdf b/CustomRobots/warehouse_delivery/blue_marker.sdf
new file mode 100644
index 000000000..737ebe6f9
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/blue_marker.sdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="blue_marker">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <geometry>
+          <box><size>0.5 0.5 0.004</size></box>
+        </geometry>
+        <material>
+          <ambient>0 0.2 0.8 1</ambient>
+          <diffuse>0 0.2 0.8 1</diffuse>
+          <emissive>0 0.2 0.8 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/warehouse_delivery/delivery_manager.py b/CustomRobots/warehouse_delivery/delivery_manager.py
new file mode 100755
index 000000000..00f6c7ef4
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/delivery_manager.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python3
+
+import os
+import random
+import subprocess
+import threading
+import time
+
+import rclpy
+from rclpy.node import Node as RclpyNode
+from rclpy.qos import QoSProfile, DurabilityPolicy
+from rosgraph_msgs.msg import Clock
+from std_msgs.msg import Bool, Empty, Int32
+
+from gz.msgs10.pose_v_pb2 import Pose_V
+from gz.transport13 import Node as GzNode, SubscribeOptions
+
+WORLD = "default"
+MODELS_DIR = os.path.dirname(os.path.abspath(__file__))
+
+# Must match the dispensers and delivery stations in warehouse_delivery.world
+CUP_X = 6.671
+DISPENSERS = {"red": (CUP_X, -2.0), "blue": (CUP_X, -6.0)}
+SPAWN_Z = 0.26
+STATIONS = {
+    1: (-3.6, 6.0),
+    2: (-3.6, -3.5),
+    3: (1.5, -8.6),
+    4: (1.0, 5.5),
+    5: (4.0, 0.8),
+}
+MARKER_Z = 0.008
+
+# A delivered ball lies inside the box walls below their top
+BOX_INNER_HALF = 0.095
+BOX_TOP_Z = 0.072
+# and has been released and still for this long
+SETTLE_TIME = 1.0
+SETTLE_MOTION = 0.003
+GREEN_FLASH_TIME = 2.0
+
+
+class DeliveryManager(RclpyNode):
+    def __init__(self):
+        super().__init__("delivery_manager")
+
+        self.counters = {"red": 0, "blue": 0}
+        self.scores = {"red": 0, "blue": 0}
+        # One ball waiting for delivery and one target station per color
+        self.active_ball = {"red": None, "blue": None}
+        self.target = {"red": 0, "blue": 0}
+        self.all_balls = []
+        self.released = True
+        self.settle = {}
+        self._lock = threading.Lock()
+        self._last_sim_time = 0.0
+
+        self.create_subscription(
+            Empty, "/warehouse_delivery/spawn_red_ball", self._spawn_cb("red"), 10
+        )
+        self.create_subscription(
+            Empty, "/warehouse_delivery/spawn_blue_ball", self._spawn_cb("blue"), 10
+        )
+        self.create_subscription(Bool, "/gripper_auto_attach", self._on_gripper, 10)
+        self.create_subscription(Clock, "/clock", self._on_clock, 10)
+
+        # Latched so the HAL and the GUI get the current value when they start
+        latched = QoSProfile(depth=1, durability=DurabilityPolicy.TRANSIENT_LOCAL)
+        self.target_pub = {
+            c: self.create_publisher(Int32, f"/warehouse_delivery/{c}_target", latched)
+            for c in ("red", "blue")
+        }
+        self.score_pub = {
+            c: self.create_publisher(Int32, f"/warehouse_delivery/{c}_score", latched)
+            for c in ("red", "blue")
+        }
+        for c in ("red", "blue"):
+            self.target_pub[c].publish(Int32(data=0))
+            self.score_pub[c].publish(Int32(data=0))
+
+        self._gz_node = GzNode()
+        options = SubscribeOptions()
+        options.msgs_per_sec = 20
+        self._gz_node.subscribe(
+            Pose_V, f"/world/{WORLD}/dynamic_pose/info", self._on_poses, options
+        )
+
+        self.get_logger().info("delivery_manager ready")
+
+    def _spawn_cb(self, color):
+        def callback(_msg):
+            threading.Thread(
+                target=self._spawn_ball, args=(color,), daemon=True
+            ).start()
+
+        return callback
+
+    def _on_gripper(self, msg):
+        # The HAL closes the gripper and arms auto attach together
+        self.released = not msg.data
+
+    def _on_clock(self, msg):
+        # Sim time going backwards means the world was reset
+        t = msg.clock.sec + msg.clock.nanosec * 1e-9
+        if t < self._last_sim_time:
+            threading.Thread(target=self._on_reset, daemon=True).start()
+        self._last_sim_time = t
+
+    def _on_reset(self):
+        self.get_logger().info("world reset, clearing balls and scores")
+        with self._lock:
+            balls = list(self.all_balls)
+            self.all_balls = []
+            self.active_ball = {"red": None, "blue": None}
+            self.target = {"red": 0, "blue": 0}
+            self.scores = {"red": 0, "blue": 0}
+            self.settle = {}
+        for ball in balls:
+            self._gz_remove(ball)
+        for name in ("red_marker", "blue_marker", "green_marker"):
+            self._gz_remove(name)
+        for c in ("red", "blue"):
+            self.target_pub[c].publish(Int32(data=0))
+            self.score_pub[c].publish(Int32(data=0))
+
+    def _spawn_ball(self, color):
+        with self._lock:
+            old_ball = self.active_ball[color]
+            self.active_ball[color] = None
+        # Only one ball per color waits for delivery at a time
+        if old_ball is not None:
+            self._gz_remove(old_ball)
+
+        name = f"{color}_ball_{self.counters[color]}"
+        self.counters[color] += 1
+        x, y = DISPENSERS[color]
+        if not self._gz_create(f"{color}_ball.sdf", name, x, y, SPAWN_Z):
+            return
+
+        station = self._pick_station(color)
+        with self._lock:
+            self.all_balls.append(name)
+            self.active_ball[color] = name
+            self.target[color] = station
+            self.settle.pop(name, None)
+        self.target_pub[color].publish(Int32(data=station))
+        self.get_logger().info(f"{name} dropped, deliver it to station {station}")
+
+    def _pick_station(self, color):
+        other = "blue" if color == "red" else "red"
+        with self._lock:
+            excluded = {self.target[other], self.target[color]}
+        station = random.choice([s for s in STATIONS if s not in excluded])
+        self._gz_remove(f"{color}_marker")
+        sx, sy = STATIONS[station]
+        self._gz_create(f"{color}_marker.sdf", f"{color}_marker", sx, sy, MARKER_Z)
+        return station
+
+    def _on_poses(self, message):
+        with self._lock:
+            watched = {
+                self.active_ball[c]: c
+                for c in ("red", "blue")
+                if self.active_ball[c] is not None
+            }
+        if not watched:
+            return
+
+        now = time.monotonic()
+        for pose in message.pose:
+            color = watched.get(pose.name)
+            if color is None:
+                continue
+            p = (pose.position.x, pose.position.y, pose.position.z)
+            if self._settled_in_box(pose.name, color, p, now):
+                self._deliver(color, pose.name)
+
+    def _settled_in_box(self, name, color, p, now):
+        station = self.target[color]
+        if station == 0:
+            return False
+        sx, sy = STATIONS[station]
+        inside = (
+            abs(p[0] - sx) < BOX_INNER_HALF
+            and abs(p[1] - sy) < BOX_INNER_HALF
+            and p[2] < BOX_TOP_Z
+        )
+        if not inside or not self.released:
+            self.settle.pop(name, None)
+            return False
+
+        start = self.settle.get(name)
+        if (
+            start is None
+            or max(abs(a - b) for a, b in zip(p, start[1])) > SETTLE_MOTION
+        ):
+            self.settle[name] = (now, p)
+            return False
+        return now - start[0] >= SETTLE_TIME
+
+    def _deliver(self, color, ball):
+        with self._lock:
+            if self.active_ball[color] != ball:
+                return
+            station = self.target[color]
+            self.active_ball[color] = None
+            self.target[color] = 0
+            self.scores[color] += 1
+            score = self.scores[color]
+        self.target_pub[color].publish(Int32(data=0))
+        self.score_pub[color].publish(Int32(data=score))
+        self.get_logger().info(
+            f"{ball} delivered to station {station}, {color} score {score}"
+        )
+        self._gz_remove(f"{color}_marker")
+        # The ball stays in the box and the station flashes green
+        threading.Thread(target=self._flash_green, args=(station,), daemon=True).start()
+
+    def _flash_green(self, station):
+        sx, sy = STATIONS[station]
+        self._gz_create("green_marker.sdf", "green_marker", sx, sy, MARKER_Z)
+        time.sleep(GREEN_FLASH_TIME)
+        self._gz_remove("green_marker")
+
+    def _gz_create(self, sdf_file, name, x, y, z):
+        cmd = [
+            "ros2",
+            "run",
+            "ros_gz_sim",
+            "create",
+            "-name",
+            name,
+            "-x",
+            str(x),
+            "-y",
+            str(y),
+            "-z",
+            str(z),
+            "-file",
+            os.path.join(MODELS_DIR, sdf_file),
+        ]
+        result = subprocess.run(cmd, check=False, capture_output=True, text=True)
+        if result.returncode != 0:
+            self.get_logger().error(f"failed to spawn {name}: {result.stderr.strip()}")
+            return False
+        return True
+
+    def _gz_remove(self, name):
+        cmd = [
+            "gz",
+            "service",
+            "-s",
+            f"/world/{WORLD}/remove",
+            "--reqtype",
+            "gz.msgs.Entity",
+            "--reptype",
+            "gz.msgs.Boolean",
+            "--timeout",
+            "2000",
+            "--req",
+            f"name: '{name}', type: MODEL",
+        ]
+        subprocess.run(cmd, check=False, capture_output=True, text=True)
+
+
+def main():
+    rclpy.init()
+    node = DeliveryManager()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/CustomRobots/warehouse_delivery/green_marker.sdf b/CustomRobots/warehouse_delivery/green_marker.sdf
new file mode 100644
index 000000000..46993c49a
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/green_marker.sdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="green_marker">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <geometry>
+          <box><size>0.5 0.5 0.004</size></box>
+        </geometry>
+        <material>
+          <ambient>0 0.8 0.1 1</ambient>
+          <diffuse>0 0.8 0.1 1</diffuse>
+          <emissive>0 0.8 0.1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/warehouse_delivery/red_ball.sdf b/CustomRobots/warehouse_delivery/red_ball.sdf
new file mode 100644
index 000000000..1b2fa33f1
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/red_ball.sdf
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="red_ball">
+    <link name="link">
+      <inertial>
+        <mass>0.02</mass>
+        <inertia>
+          <ixx>1.8e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>1.8e-06</iyy><iyz>0</iyz><izz>1.8e-06</izz>
+        </inertia>
+      </inertial>
+      <!-- No bounce so the ball settles in the cup -->
+      <collision name="collision">
+        <geometry>
+          <sphere><radius>0.015</radius></sphere>
+        </geometry>
+        <surface>
+          <friction>
+            <ode><mu>1.0</mu><mu2>1.0</mu2></ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.0</restitution_coefficient>
+          </bounce>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <sphere><radius>0.015</radius></sphere>
+        </geometry>
+        <material>
+          <ambient>0.8 0 0 1</ambient>
+          <diffuse>0.8 0 0 1</diffuse>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/CustomRobots/warehouse_delivery/red_marker.sdf b/CustomRobots/warehouse_delivery/red_marker.sdf
new file mode 100644
index 000000000..b37e15f0f
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/red_marker.sdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <model name="red_marker">
+    <static>true</static>
+    <link name="link">
+      <visual name="visual">
+        <geometry>
+          <box><size>0.5 0.5 0.004</size></box>
+        </geometry>
+        <material>
+          <ambient>0.8 0 0 1</ambient>
+          <diffuse>0.8 0 0 1</diffuse>
+          <emissive>0.8 0 0 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/Launchers/visualization/warehouse_delivery.config b/Launchers/visualization/warehouse_delivery.config
new file mode 100644
index 000000000..841f31fdc
--- /dev/null
+++ b/Launchers/visualization/warehouse_delivery.config
@@ -0,0 +1,157 @@
+<?xml version="1.0"?>
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="false"/>
+
+<!-- Window -->
+<window>
+    <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/>
+    <menus>
+        <drawer visible="false">
+        </drawer>
+        <plugins visible="true">
+        </plugins>
+    </menus>
+    <dialog_on_exit>false</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+    <gz-gui>
+        <title>3D View</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="string" key="state">docked</property>
+    </gz-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>0.4 0.4 0.4</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>12 -14 10 0 0.55 2.2</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="GzSceneManager" name="Scene Manager">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="TransformControl" name="Transform Control">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">250</property>
+        <property key="height" type="double">100</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">true</property>
+    </gz-gui>
+</plugin>
+
+<!-- Plugins that add tracking functionality -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+    <gz-gui>
+        <property key="state" type="string">floating</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="CameraTracking" name="Camera Tracking">
+    <gz-gui>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+    <follow_offset>0 0 2</follow_offset>
+    <follow_pgain>1</follow_pgain>
+</plugin>
+
+
+<plugin filename="SelectEntities" name="Select Entities">
+    <gz-gui>
+        <anchors target="Select entities">
+            <line own="right" target="right"/>
+            <line own="top" target="top"/>
+        </anchors>
+        <property key="resizable" type="bool">false</property>
+        <property key="width" type="double">5</property>
+        <property key="height" type="double">5</property>
+        <property key="state" type="string">floating</property>
+        <property key="showTitleBar" type="bool">false</property>
+    </gz-gui>
+</plugin>
+
+<plugin filename="WorldStats" name="World stats">
+    <gz-gui>
+        <title>World stats</title>
+        <property type="bool" key="showTitleBar">false</property>
+        <property type="bool" key="resizable">false</property>
+        <property type="double" key="height">110</property>
+        <property type="double" key="width">290</property>
+        <property type="double" key="z">1</property>
+
+        <property type="string" key="state">floating</property>
+        <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+        </anchors>
+    </gz-gui>
+
+    <sim_time>true</sim_time>
+    <real_time>true</real_time>
+    <real_time_factor>true</real_time_factor>
+    <iterations>true</iterations>
+    <topic>/world/world_demo/stats</topic>
+
+</plugin>
\ No newline at end of file
diff --git a/Launchers/warehouse_delivery.launch.py b/Launchers/warehouse_delivery.launch.py
new file mode 100644
index 000000000..196537fb5
--- /dev/null
+++ b/Launchers/warehouse_delivery.launch.py
@@ -0,0 +1,58 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    ros_gz_sim = get_package_share_directory("ros_gz_sim")
+
+    world_file_name = "warehouse_delivery.world"
+    worlds_dir = "/opt/jderobot/Scenes"
+    world_path = os.path.join(worlds_dir, world_file_name)
+
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
+        launch_arguments={
+            "gz_args": ["-s -v4 ", world_path],
+            "on_exit_shutdown": "true",
+        }.items(),
+    )
+
+    world_entity_cmd = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-name", "world", "-file", world_path],
+        output="screen",
+    )
+
+    gz_ros2_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+        ],
+        output="screen",
+    )
+
+    # Drops the balls, lights the target station and keeps the score
+    delivery_manager = ExecuteProcess(
+        cmd=[
+            "python3",
+            "/home/ws/src/CustomRobots/warehouse_delivery/delivery_manager.py",
+        ],
+        output="screen",
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gazebo_server)
+    ld.add_action(world_entity_cmd)
+    ld.add_action(gz_ros2_bridge)
+    ld.add_action(delivery_manager)
+
+    return ld
diff --git a/Scenes/warehouse_delivery.world b/Scenes/warehouse_delivery.world
new file mode 100644
index 000000000..c3d93feb9
--- /dev/null
+++ b/Scenes/warehouse_delivery.world
@@ -0,0 +1,925 @@
+<?xml version="1.0"?>
+<sdf version="1.8">
+  <world name="default">
+    <!-- 2 ms step keeps the 10 ms controller period an exact multiple of the step -->
+    <physics name="2ms" type="ignored">
+      <max_step_size>0.002</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
+    </plugin>
+    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
+    </plugin>
+    <!-- Suction mode on one finger of the adaptive gripper -->
+    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
+      <robot_model_name>myagv_mecharm</robot_model_name>
+      <gripper_link_name>gripper_left1</gripper_link_name>
+    </plugin>
+
+    <scene>
+      <grid>false</grid>
+    </scene>
+
+    <light type="directional" name="sun">
+      <cast_shadows>false</cast_shadows>
+      <pose>0 0 18 0 0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>80</range>
+        <constant>0.01</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.1 0.1 -1</direction>
+    </light>
+
+        <model name="ground_plane">
+            <static>true</static>
+            <link name="link">
+                <collision name="collision">
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                        </plane>
+                    </geometry>
+                </collision>
+                <visual name="visual">
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                            <size>100 100</size>
+                        </plane>
+                    </geometry>
+                    <material>
+                        <ambient>0.8 0.8 0.8 1</ambient>
+                        <diffuse>0.8 0.8 0.8 1</diffuse>
+                        <specular>0.8 0.8 0.8 1</specular>
+                    </material>
+                </visual>
+            </link>
+        </model>
+
+        <include>
+            <name>aws_robomaker_warehouse_GroundB_01_001</name>
+            <uri>model://aws_robomaker_warehouse_GroundB_01</uri>
+            <pose>0.0 0.0 -0.124 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ShelfF_01_001</name>
+            <uri>model://aws_robomaker_warehouse_ShelfF_01</uri>
+            <pose>-5.795143 -0.956635 0 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_WallB_01_001</name>
+            <uri>model://aws_robomaker_warehouse_WallB_01</uri>
+            <pose>0.0 0.0 0 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_Bucket_01_020</name>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+            <pose>0.433449 9.631706 0 0 0 -1.563161</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_Bucket_01_021</name>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+            <pose>-1.8321 -6.3752 0 0 0 -1.563161</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_Bucket_01_022</name>
+            <uri>model://aws_robomaker_warehouse_Bucket_01</uri>
+            <pose>0.433449 8.59 0 0 0 -1.563161</pose>
+        </include>
+
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringA_01_016</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+            <pose>5.708138 8.616844 -0.017477 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringA_01_017</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+            <pose>3.408638 8.616844 -0.017477 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringA_01_018</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringA_01</uri>
+            <pose>-1.491287 5.222435 -0.017477 0 0 -1.583185</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_027</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>3.324959 3.822449 -0.012064 0 0 1.563871</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_028</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>5.54171 3.816475 -0.015663 0 0 -1.583191</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_029</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>5.384239 6.137154 0 0 0 3.150000</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_030</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>3.236 6.137154 0 0 0 3.150000</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_031</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>-1.573677 2.301994 -0.015663 0 0 -3.133191</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringC_01_032</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringC_01</uri>
+            <pose>-1.2196 9.407 -0.015663 0 0 1.563871</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_ClutteringD_01_005</name>
+            <uri>model://aws_robomaker_warehouse_ClutteringD_01</uri>
+            <pose>-1.634682 -7.811813 -0.319559 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_TrashCanC_01_002</name>
+            <uri>model://aws_robomaker_warehouse_TrashCanC_01</uri>
+            <pose>-1.592441 7.715420 0 0 0 0</pose>
+        </include>
+
+        <include>
+            <name>aws_robomaker_warehouse_PalletJackB_01_001</name>
+            <uri>model://aws_robomaker_warehouse_PalletJackB_01</uri>
+            <pose>-0.276098 -9.481944 0.023266 0 0 0</pose>
+        </include>
+
+        <!-- Red ball dispenser, the ball drops from the spout into the cup -->
+        <model name="red_dispenser">
+          <static>true</static>
+          <pose>0 -2.0 0 0 0 0</pose>
+          <link name="link">
+          <visual name="plate">
+            <pose>6.8410 0.0000 0.9000 0 0 0.0000</pose>
+            <geometry><box><size>0.02 0.5 1.6</size></box></geometry>
+            <material><ambient>0.8 0 0 1</ambient><diffuse>0.8 0 0 1</diffuse></material>
+          </visual>
+          <visual name="pipe">
+            <pose>6.801 0.000 1.150 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>1.5</length></cylinder></geometry>
+            <material><ambient>0.8 0 0 1</ambient><diffuse>0.8 0 0 1</diffuse></material>
+          </visual>
+          <collision name="pipe_collision">
+            <pose>6.801 0.000 1.150 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>1.5</length></cylinder></geometry>
+          </collision>
+          <visual name="elbow">
+            <pose>6.736 0.000 0.400 0.0 1.5708 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.13</length></cylinder></geometry>
+            <material><ambient>0.8 0 0 1</ambient><diffuse>0.8 0 0 1</diffuse></material>
+          </visual>
+          <collision name="elbow_collision">
+            <pose>6.736 0.000 0.400 0.0 1.5708 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.13</length></cylinder></geometry>
+          </collision>
+          <visual name="spout">
+            <pose>6.671 0.000 0.350 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.1</length></cylinder></geometry>
+            <material><ambient>0.8 0 0 1</ambient><diffuse>0.8 0 0 1</diffuse></material>
+          </visual>
+          <collision name="spout_collision">
+            <pose>6.671 0.000 0.350 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.1</length></cylinder></geometry>
+          </collision>
+          <visual name="cup_floor">
+            <pose>6.671 0.000 0.005 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_floor_collision">
+            <pose>6.671 0.000 0.005 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
+          </collision>
+          <visual name="cup_wall_0">
+            <pose>6.7460 0.0000 0.0225 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_0_collision">
+            <pose>6.7460 0.0000 0.0225 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_1">
+            <pose>6.7423 0.0232 0.0225 0 0 0.3142</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_1_collision">
+            <pose>6.7423 0.0232 0.0225 0 0 0.3142</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_2">
+            <pose>6.7317 0.0441 0.0225 0 0 0.6283</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_2_collision">
+            <pose>6.7317 0.0441 0.0225 0 0 0.6283</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_3">
+            <pose>6.7151 0.0607 0.0225 0 0 0.9425</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_3_collision">
+            <pose>6.7151 0.0607 0.0225 0 0 0.9425</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_4">
+            <pose>6.6942 0.0713 0.0225 0 0 1.2566</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_4_collision">
+            <pose>6.6942 0.0713 0.0225 0 0 1.2566</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_5">
+            <pose>6.6710 0.0750 0.0225 0 0 1.5708</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_5_collision">
+            <pose>6.6710 0.0750 0.0225 0 0 1.5708</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_6">
+            <pose>6.6478 0.0713 0.0225 0 0 1.8850</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_6_collision">
+            <pose>6.6478 0.0713 0.0225 0 0 1.8850</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_7">
+            <pose>6.6269 0.0607 0.0225 0 0 2.1991</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_7_collision">
+            <pose>6.6269 0.0607 0.0225 0 0 2.1991</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_8">
+            <pose>6.6103 0.0441 0.0225 0 0 2.5133</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_8_collision">
+            <pose>6.6103 0.0441 0.0225 0 0 2.5133</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_9">
+            <pose>6.5997 0.0232 0.0225 0 0 2.8274</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_9_collision">
+            <pose>6.5997 0.0232 0.0225 0 0 2.8274</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_10">
+            <pose>6.5960 0.0000 0.0225 0 0 3.1416</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_10_collision">
+            <pose>6.5960 0.0000 0.0225 0 0 3.1416</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_11">
+            <pose>6.5997 -0.0232 0.0225 0 0 3.4558</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_11_collision">
+            <pose>6.5997 -0.0232 0.0225 0 0 3.4558</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_12">
+            <pose>6.6103 -0.0441 0.0225 0 0 3.7699</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_12_collision">
+            <pose>6.6103 -0.0441 0.0225 0 0 3.7699</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_13">
+            <pose>6.6269 -0.0607 0.0225 0 0 4.0841</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_13_collision">
+            <pose>6.6269 -0.0607 0.0225 0 0 4.0841</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_14">
+            <pose>6.6478 -0.0713 0.0225 0 0 4.3982</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_14_collision">
+            <pose>6.6478 -0.0713 0.0225 0 0 4.3982</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_15">
+            <pose>6.6710 -0.0750 0.0225 0 0 4.7124</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_15_collision">
+            <pose>6.6710 -0.0750 0.0225 0 0 4.7124</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_16">
+            <pose>6.6942 -0.0713 0.0225 0 0 5.0265</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_16_collision">
+            <pose>6.6942 -0.0713 0.0225 0 0 5.0265</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_17">
+            <pose>6.7151 -0.0607 0.0225 0 0 5.3407</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_17_collision">
+            <pose>6.7151 -0.0607 0.0225 0 0 5.3407</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_18">
+            <pose>6.7317 -0.0441 0.0225 0 0 5.6549</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_18_collision">
+            <pose>6.7317 -0.0441 0.0225 0 0 5.6549</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          <visual name="cup_wall_19">
+            <pose>6.7423 -0.0232 0.0225 0 0 5.9690</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_wall_19_collision">
+            <pose>6.7423 -0.0232 0.0225 0 0 5.9690</pose>
+            <geometry><box><size>0.01 0.026 0.025</size></box></geometry>
+          </collision>
+          </link>
+        </model>
+
+        <!-- Blue ball dispenser, the ball drops from the spout into the cup -->
+        <model name="blue_dispenser">
+          <static>true</static>
+          <pose>0 -6.0 0 0 0 0</pose>
+          <link name="link">
+          <visual name="plate">
+            <pose>6.8410 0.0000 0.9000 0 0 0.0000</pose>
+            <geometry><box><size>0.02 0.5 1.6</size></box></geometry>
+            <material><ambient>0 0.2 0.8 1</ambient><diffuse>0 0.2 0.8 1</diffuse></material>
+          </visual>
+          <visual name="pipe">
+            <pose>6.801 0.000 1.150 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>1.5</length></cylinder></geometry>
+            <material><ambient>0 0.2 0.8 1</ambient><diffuse>0 0.2 0.8 1</diffuse></material>
+          </visual>
+          <collision name="pipe_collision">
+            <pose>6.801 0.000 1.150 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>1.5</length></cylinder></geometry>
+          </collision>
+          <visual name="elbow">
+            <pose>6.736 0.000 0.400 0.0 1.5708 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.13</length></cylinder></geometry>
+            <material><ambient>0 0.2 0.8 1</ambient><diffuse>0 0.2 0.8 1</diffuse></material>
+          </visual>
+          <collision name="elbow_collision">
+            <pose>6.736 0.000 0.400 0.0 1.5708 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.13</length></cylinder></geometry>
+          </collision>
+          <visual name="spout">
+            <pose>6.671 0.000 0.350 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.1</length></cylinder></geometry>
+            <material><ambient>0 0.2 0.8 1</ambient><diffuse>0 0.2 0.8 1</diffuse></material>
+          </visual>
+          <collision name="spout_collision">
+            <pose>6.671 0.000 0.350 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.045</radius><length>0.1</length></cylinder></geometry>
+          </collision>
+          <visual name="cup_floor">
+            <pose>6.671 0.000 0.005 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
+            <material><ambient>0.55 0.55 0.58 1</ambient><diffuse>0.55 0.55 0.58 1</diffuse></material>
+          </visual>
+          <collision name="cup_floor_collision">
+            <pose>6.671 0.000 0.005 0.0 0.0 0</pose>
+            <geometry><cylinder><radius>0.08</radius><length>0.01</length></cylinder></geometry>
+          </collision>
+          <visual name="cup_wall_0">
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+            <pose>0.0000 -0.1050 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.01 0.06</size></box></geometry>
+          </collision>
+          <visual name="box_east">
+            <pose>0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_east_collision">
+            <pose>0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+          </collision>
+          <visual name="box_west">
+            <pose>-0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_west_collision">
+            <pose>-0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+          </collision>
+          </link>
+        </model>
+
+        <model name="delivery_5">
+          <static>true</static>
+          <pose>4.0 0.8 0 0 0 0</pose>
+          <link name="link">
+          <visual name="mat">
+            <pose>0.0000 0.0000 0.0030 0 0 0.0000</pose>
+            <geometry><box><size>0.5 0.5 0.006</size></box></geometry>
+            <material><ambient>0.5 0.5 0.5 1</ambient><diffuse>0.5 0.5 0.5 1</diffuse></material>
+          </visual>
+          <visual name="box_floor">
+            <pose>0.0000 0.0000 0.0090 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.22 0.006</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_floor_collision">
+            <pose>0.0000 0.0000 0.0090 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.22 0.006</size></box></geometry>
+          </collision>
+          <visual name="box_north">
+            <pose>0.0000 0.1050 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.01 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_north_collision">
+            <pose>0.0000 0.1050 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.01 0.06</size></box></geometry>
+          </collision>
+          <visual name="box_south">
+            <pose>0.0000 -0.1050 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.01 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_south_collision">
+            <pose>0.0000 -0.1050 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.22 0.01 0.06</size></box></geometry>
+          </collision>
+          <visual name="box_east">
+            <pose>0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_east_collision">
+            <pose>0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+          </collision>
+          <visual name="box_west">
+            <pose>-0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+            <material><ambient>0.62 0.45 0.28 1</ambient><diffuse>0.62 0.45 0.28 1</diffuse></material>
+          </visual>
+          <collision name="box_west_collision">
+            <pose>-0.1050 0.0000 0.0420 0 0 0.0000</pose>
+            <geometry><box><size>0.01 0.2 0.06</size></box></geometry>
+          </collision>
+          </link>
+        </model>
+  </world>
+</sdf>
diff --git a/database/worlds.sql b/database/worlds.sql
index bee2426f2..2e5dc89ab 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -210,7 +210,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 85	XLeRobot Warehouse	58
 86	XLeRobot Home	81
 87	MMO-500 Warehouse	82
-88	myAGV mechArm Warehouse	83
+88	myAGV mechArm Warehouse Delivery	83
 \.
 
 --
@@ -337,7 +337,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
 81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
 82	Mobile Manipulation Warehouse	/opt/jderobot/Launchers/mobile_manipulation_warehouse.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse.config"}	ROS2	gz	mobile_manipulation_warehouse.urdf
-83	Mobile Manipulation Warehouse myAGV	/opt/jderobot/Launchers/mobile_manipulation_warehouse_myagv.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse_myagv.config"}	ROS2	gz	mobile_manipulation_warehouse_myagv.urdf
+83	Warehouse Delivery	/opt/jderobot/Launchers/warehouse_delivery.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/warehouse_delivery.config"}	ROS2	gz	warehouse_delivery.urdf
 \.
 
 --

From a60a0431786feafa1179f9ffc449e2ac101a533d Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 2 Oct 2026 11:39:40 +0200
Subject: [PATCH 05/13] warehouse delivery myagv update

---
 .../warehouse_delivery/delivery_manager.py    |  96 ++++----
 .../gz_link_attacher/src/gz_link_attacher.cpp |   7 +-
 Scenes/warehouse_delivery.world               | 215 +++++++++++++++++-
 database/worlds.sql                           |   2 +-
 4 files changed, 276 insertions(+), 44 deletions(-)

diff --git a/CustomRobots/warehouse_delivery/delivery_manager.py b/CustomRobots/warehouse_delivery/delivery_manager.py
index 00f6c7ef4..e37a47e8c 100755
--- a/CustomRobots/warehouse_delivery/delivery_manager.py
+++ b/CustomRobots/warehouse_delivery/delivery_manager.py
@@ -25,7 +25,7 @@
 STATIONS = {
     1: (-3.6, 6.0),
     2: (-3.6, -3.5),
-    3: (1.5, -8.6),
+    3: (1.0, -8.6),
     4: (1.0, 5.5),
     5: (4.0, 0.8),
 }
@@ -52,7 +52,10 @@ def __init__(self):
         self.all_balls = []
         self.released = True
         self.settle = {}
+        self.last_pose = {}
         self._lock = threading.Lock()
+        # Spawns and resets run one at a time so they never interleave
+        self._ops = threading.Lock()
         self._last_sim_time = 0.0
 
         self.create_subscription(
@@ -85,6 +88,9 @@ def __init__(self):
             Pose_V, f"/world/{WORLD}/dynamic_pose/info", self._on_poses, options
         )
 
+        # Checked on a timer because a still ball may stop getting pose updates
+        self.create_timer(0.2, self._check_deliveries)
+
         self.get_logger().info("delivery_manager ready")
 
     def _spawn_cb(self, color):
@@ -107,6 +113,10 @@ def _on_clock(self, msg):
         self._last_sim_time = t
 
     def _on_reset(self):
+        with self._ops:
+            self._clear_all()
+
+    def _clear_all(self):
         self.get_logger().info("world reset, clearing balls and scores")
         with self._lock:
             balls = list(self.all_balls)
@@ -115,6 +125,7 @@ def _on_reset(self):
             self.target = {"red": 0, "blue": 0}
             self.scores = {"red": 0, "blue": 0}
             self.settle = {}
+            self.last_pose = {}
         for ball in balls:
             self._gz_remove(ball)
         for name in ("red_marker", "blue_marker", "green_marker"):
@@ -124,6 +135,10 @@ def _on_reset(self):
             self.score_pub[c].publish(Int32(data=0))
 
     def _spawn_ball(self, color):
+        with self._ops:
+            self._spawn_ball_locked(color)
+
+    def _spawn_ball_locked(self, color):
         with self._lock:
             old_ball = self.active_ball[color]
             self.active_ball[color] = None
@@ -158,22 +173,23 @@ def _pick_station(self, color):
 
     def _on_poses(self, message):
         with self._lock:
-            watched = {
-                self.active_ball[c]: c
-                for c in ("red", "blue")
-                if self.active_ball[c] is not None
-            }
-        if not watched:
-            return
+            watched = {b for b in self.active_ball.values() if b is not None}
+            for pose in message.pose:
+                if pose.name in watched:
+                    p = pose.position
+                    self.last_pose[pose.name] = (p.x, p.y, p.z)
 
+    def _check_deliveries(self):
         now = time.monotonic()
-        for pose in message.pose:
-            color = watched.get(pose.name)
-            if color is None:
-                continue
-            p = (pose.position.x, pose.position.y, pose.position.z)
-            if self._settled_in_box(pose.name, color, p, now):
-                self._deliver(color, pose.name)
+        with self._lock:
+            balls = [
+                (c, b, self.last_pose.get(b))
+                for c, b in self.active_ball.items()
+                if b is not None
+            ]
+        for color, ball, p in balls:
+            if p is not None and self._settled_in_box(ball, color, p, now):
+                self._deliver(color, ball)
 
     def _settled_in_box(self, name, color, p, now):
         station = self.target[color]
@@ -223,44 +239,42 @@ def _flash_green(self, station):
         self._gz_remove("green_marker")
 
     def _gz_create(self, sdf_file, name, x, y, z):
-        cmd = [
-            "ros2",
-            "run",
-            "ros_gz_sim",
-            "create",
-            "-name",
-            name,
-            "-x",
-            str(x),
-            "-y",
-            str(y),
-            "-z",
-            str(z),
-            "-file",
-            os.path.join(MODELS_DIR, sdf_file),
-        ]
-        result = subprocess.run(cmd, check=False, capture_output=True, text=True)
-        if result.returncode != 0:
-            self.get_logger().error(f"failed to spawn {name}: {result.stderr.strip()}")
-            return False
-        return True
+        sdf = os.path.join(MODELS_DIR, sdf_file)
+        req = (
+            f"sdf_filename: '{sdf}', name: '{name}', "
+            f"pose: {{position: {{x: {x}, y: {y}, z: {z}}}}}"
+        )
+        ok = self._gz_service("create", "gz.msgs.EntityFactory", req)
+        if not ok:
+            self.get_logger().error(f"failed to spawn {name}")
+        return ok
 
     def _gz_remove(self, name):
+        self._gz_service("remove", "gz.msgs.Entity", f"name: '{name}', type: MODEL")
+
+    def _gz_service(self, service, req_type, req):
+        # Timeouts so a call made during a world reset never blocks the manager
         cmd = [
             "gz",
             "service",
             "-s",
-            f"/world/{WORLD}/remove",
+            f"/world/{WORLD}/{service}",
             "--reqtype",
-            "gz.msgs.Entity",
+            req_type,
             "--reptype",
             "gz.msgs.Boolean",
             "--timeout",
-            "2000",
+            "3000",
             "--req",
-            f"name: '{name}', type: MODEL",
+            req,
         ]
-        subprocess.run(cmd, check=False, capture_output=True, text=True)
+        try:
+            result = subprocess.run(
+                cmd, check=False, capture_output=True, text=True, timeout=6
+            )
+        except subprocess.TimeoutExpired:
+            return False
+        return result.returncode == 0 and "data: true" in result.stdout
 
 
 def main():
diff --git a/Industrial/gz_link_attacher/src/gz_link_attacher.cpp b/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
index ef8d3e076..425e688ed 100644
--- a/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
+++ b/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
@@ -13,6 +13,7 @@
 #include <std_msgs/msg/string.hpp>
 
 #include <thread>
+#include <atomic>
 #include <mutex>
 #include <chrono>
 #include <iostream>
@@ -47,6 +48,9 @@ LinkAttacher()
 {
   std::cout << "[LinkAttacher] Destructor called" << std::endl;
 
+  // A world reset destroys the plugin, the ROS thread must stop before the join
+  stopRequested = true;
+
   if (executor)
   {
     std::cout << "[LinkAttacher] Stopping executor" << std::endl;
@@ -191,7 +195,7 @@ void Configure(
   {
     std::cout << "[LinkAttacher] ROS thread started" << std::endl;
 
-    while (rclcpp::ok())
+    while (rclcpp::ok() && !stopRequested)
     {
       executor->spin_some();
 
@@ -578,6 +582,7 @@ rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr gripperStateSub;
 rclcpp::Subscription<std_msgs::msg::String>::SharedPtr graspableObjectsSub;
 
 std::thread rosThread;
+std::atomic<bool> stopRequested{false};
 
 Entity worldEntity{kNullEntity};
 
diff --git a/Scenes/warehouse_delivery.world b/Scenes/warehouse_delivery.world
index c3d93feb9..d1a8b7769 100644
--- a/Scenes/warehouse_delivery.world
+++ b/Scenes/warehouse_delivery.world
@@ -179,6 +179,219 @@
             <pose>-0.276098 -9.481944 0.023266 0 0 0</pose>
         </include>
 
+        <!-- Guide tape and its nodes, every node is a stop and every tape a straight drive -->
+        <model name="guide_tape">
+          <static>true</static>
+          <pose>0 0 0 0 0 0</pose>
+          <link name="link">
+          <visual name="tape_0">
+            <pose>5.905 -2.000 0.001 0 0 3.1416</pose>
+            <geometry><box><size>1.011 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_1">
+            <pose>5.400 -3.000 0.001 0 0 -1.5708</pose>
+            <geometry><box><size>2.000 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_2">
+            <pose>5.400 -5.000 0.001 0 0 -1.5708</pose>
+            <geometry><box><size>2.000 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_3">
+            <pose>5.905 -6.000 0.001 0 0 0.0000</pose>
+            <geometry><box><size>1.011 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_4">
+            <pose>4.700 -4.000 0.001 0 0 3.1416</pose>
+            <geometry><box><size>1.400 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_5">
+            <pose>4.000 -1.750 0.001 0 0 1.5708</pose>
+            <geometry><box><size>4.500 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_6">
+            <pose>2.500 -4.000 0.001 0 0 3.1416</pose>
+            <geometry><box><size>3.000 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_7">
+            <pose>1.000 -6.150 0.001 0 0 -1.5708</pose>
+            <geometry><box><size>4.300 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_8">
+            <pose>1.000 -2.000 0.001 0 0 1.5708</pose>
+            <geometry><box><size>4.000 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_9">
+            <pose>1.000 2.600 0.001 0 0 1.5708</pose>
+            <geometry><box><size>5.200 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_10">
+            <pose>-1.300 0.000 0.001 0 0 3.1416</pose>
+            <geometry><box><size>4.600 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_11">
+            <pose>-3.600 2.850 0.001 0 0 1.5708</pose>
+            <geometry><box><size>5.700 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="tape_12">
+            <pose>-3.600 -1.600 0.001 0 0 -1.5708</pose>
+            <geometry><box><size>3.200 0.05 0.002</size></box></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="red_dispenser_ring">
+            <pose>6.411 -2.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="red_dispenser_dot">
+            <pose>6.411 -2.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="blue_dispenser_ring">
+            <pose>6.411 -6.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="blue_dispenser_dot">
+            <pose>6.411 -6.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="red_turn_ring">
+            <pose>5.4 -2.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="red_turn_dot">
+            <pose>5.4 -2.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="dispensers_ring">
+            <pose>5.4 -4.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="dispensers_dot">
+            <pose>5.4 -4.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="blue_turn_ring">
+            <pose>5.4 -6.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="blue_turn_dot">
+            <pose>5.4 -6.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="east_ring">
+            <pose>4.0 -4.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="east_dot">
+            <pose>4.0 -4.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="station_5_ring">
+            <pose>4.0 0.5 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="station_5_dot">
+            <pose>4.0 0.5 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="south_ring">
+            <pose>1.0 -4.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="south_dot">
+            <pose>1.0 -4.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="station_3_ring">
+            <pose>1.0 -8.3 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="station_3_dot">
+            <pose>1.0 -8.3 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="center_ring">
+            <pose>1.0 0.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="center_dot">
+            <pose>1.0 0.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="station_4_ring">
+            <pose>1.0 5.2 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="station_4_dot">
+            <pose>1.0 5.2 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="west_ring">
+            <pose>-3.6 0.0 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="west_dot">
+            <pose>-3.6 0.0 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="station_1_ring">
+            <pose>-3.6 5.7 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="station_1_dot">
+            <pose>-3.6 5.7 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          <visual name="station_2_ring">
+            <pose>-3.6 -3.2 0.0015 0 0 0</pose>
+            <geometry><cylinder><radius>0.11</radius><length>0.003</length></cylinder></geometry>
+            <material><ambient>0.12 0.12 0.13 1</ambient><diffuse>0.12 0.12 0.13 1</diffuse></material>
+          </visual>
+          <visual name="station_2_dot">
+            <pose>-3.6 -3.2 0.002 0 0 0</pose>
+            <geometry><cylinder><radius>0.075</radius><length>0.004</length></cylinder></geometry>
+            <material><ambient>0.95 0.95 0.95 1</ambient><diffuse>0.95 0.95 0.95 1</diffuse></material>
+          </visual>
+          </link>
+        </model>
+
         <!-- Red ball dispenser, the ball drops from the spout into the cup -->
         <model name="red_dispenser">
           <static>true</static>
@@ -753,7 +966,7 @@
 
         <model name="delivery_3">
           <static>true</static>
-          <pose>1.5 -8.6 0 0 0 0</pose>
+          <pose>1.0 -8.6 0 0 0 0</pose>
           <link name="link">
           <visual name="mat">
             <pose>0.0000 0.0000 0.0030 0 0 0.0000</pose>
diff --git a/database/worlds.sql b/database/worlds.sql
index 2e5dc89ab..3115167a0 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -285,7 +285,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 63	85	40	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 64	86	40	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
 65	87	41	{{0.0,0.0,0.02,0.0,0.0,0.0}}
-66	88	43	{{0.0,0.0,0.01,0.0,0.0,0.0}}
+66	88	43	{{1.0,0.0,0.01,0.0,0.0,0.0}}
 \.
 
 --

From bdb7e9c28dbefdf4b69dd497510ba83918a61b04 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 2 Oct 2026 12:19:00 +0200
Subject: [PATCH 06/13] warehouse delivery

---
 .../config/pilz_cartesian_limits.yaml                       | 6 +++---
 Launchers/visualization/warehouse_delivery.config           | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml b/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
index cddce52d8..04070b53a 100644
--- a/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
+++ b/Industrial/myagv_mecharm_moveit_config/config/pilz_cartesian_limits.yaml
@@ -1,5 +1,5 @@
 cartesian_limits:
-  max_trans_vel: 0.15
-  max_trans_acc: 0.15
-  max_trans_dec: 0.15
+  max_trans_vel: 0.3
+  max_trans_acc: 0.5
+  max_trans_dec: 0.5
   max_rot_vel: 2.0
diff --git a/Launchers/visualization/warehouse_delivery.config b/Launchers/visualization/warehouse_delivery.config
index 841f31fdc..69314d581 100644
--- a/Launchers/visualization/warehouse_delivery.config
+++ b/Launchers/visualization/warehouse_delivery.config
@@ -26,7 +26,7 @@
     <scene>scene</scene>
     <ambient_light>0.4 0.4 0.4</ambient_light>
     <background_color>0.8 0.8 0.8</background_color>
-    <camera_pose>12 -14 10 0 0.55 2.2</camera_pose>
+    <camera_pose>-2 2 2.8 0 0.452 -0.629</camera_pose>
 </plugin>
 
 <!-- Plugins that add functionality to the scene -->

From a35f592028c2c30a9a00fb21558cf63b96dadcd9 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Sat, 3 Oct 2026 09:35:48 +0200
Subject: [PATCH 07/13] myagv controllers wait for play and comment cleanup

---
 CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py | 8 ++++----
 CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py | 8 ++++----
 Industrial/gz_link_attacher/src/gz_link_attacher.cpp      | 2 +-
 Scenes/warehouse_delivery.world                           | 6 +++---
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py b/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
index 43d95f2d6..ab3ea837f 100644
--- a/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
+++ b/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py
@@ -179,15 +179,15 @@ def controller_spawner(controller_name):
             package="controller_manager",
             executable="spawner",
             namespace=gz_namespace,
-            # Long timeouts because the scene is still loading
+            # The simulation starts paused so the switch waits until play is pressed
             arguments=[
                 controller_name,
                 "--switch-timeout",
-                "90",
+                "3600",
                 "--controller-manager-timeout",
-                "90",
+                "3600",
                 "--service-call-timeout",
-                "90",
+                "3660",
             ],
             output="screen",
         )
diff --git a/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
index bbe9a8af9..4b9427ab8 100644
--- a/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
+++ b/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py
@@ -179,15 +179,15 @@ def controller_spawner(controller_name):
             package="controller_manager",
             executable="spawner",
             namespace=gz_namespace,
-            # Long timeouts because the scene is still loading
+            # The simulation starts paused so the switch waits until play is pressed
             arguments=[
                 controller_name,
                 "--switch-timeout",
-                "90",
+                "3600",
                 "--controller-manager-timeout",
-                "90",
+                "3600",
                 "--service-call-timeout",
-                "90",
+                "3660",
             ],
             output="screen",
         )
diff --git a/Industrial/gz_link_attacher/src/gz_link_attacher.cpp b/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
index 425e688ed..106d9848c 100644
--- a/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
+++ b/Industrial/gz_link_attacher/src/gz_link_attacher.cpp
@@ -48,7 +48,7 @@ LinkAttacher()
 {
   std::cout << "[LinkAttacher] Destructor called" << std::endl;
 
-  // A world reset destroys the plugin, the ROS thread must stop before the join
+  // A world reset destroys the plugin so the ROS thread has to stop before the join
   stopRequested = true;
 
   if (executor)
diff --git a/Scenes/warehouse_delivery.world b/Scenes/warehouse_delivery.world
index d1a8b7769..27e88f16f 100644
--- a/Scenes/warehouse_delivery.world
+++ b/Scenes/warehouse_delivery.world
@@ -179,7 +179,7 @@
             <pose>-0.276098 -9.481944 0.023266 0 0 0</pose>
         </include>
 
-        <!-- Guide tape and its nodes, every node is a stop and every tape a straight drive -->
+        <!-- Guide tape graph where every node is a stop and every tape a straight drive -->
         <model name="guide_tape">
           <static>true</static>
           <pose>0 0 0 0 0 0</pose>
@@ -392,7 +392,7 @@
           </link>
         </model>
 
-        <!-- Red ball dispenser, the ball drops from the spout into the cup -->
+        <!-- Red ball dispenser where the ball drops from the spout into the cup -->
         <model name="red_dispenser">
           <static>true</static>
           <pose>0 -2.0 0 0 0 0</pose>
@@ -621,7 +621,7 @@
           </link>
         </model>
 
-        <!-- Blue ball dispenser, the ball drops from the spout into the cup -->
+        <!-- Blue ball dispenser where the ball drops from the spout into the cup -->
         <model name="blue_dispenser">
           <static>true</static>
           <pose>0 -6.0 0 0 0 0</pose>

From b52155a9175844106b40b409a93b62304f0cfeaf Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 5 Oct 2026 11:54:23 +0200
Subject: [PATCH 08/13] warehouse actors update

---
 CustomRobots/CMakeLists.txt                   |    3 +
 .../warehouse_delivery/CMakeLists.txt         |   13 +
 .../models/warehouse_worker/NOTICE            |    6 +
 .../warehouse_worker/make_animations.py       |  144 ++
 .../models/warehouse_worker/meshes/carry.dae  | 1439 +++++++++++++++++
 .../models/warehouse_worker/meshes/stand.dae  | 1439 +++++++++++++++++
 .../warehouse_worker/meshes/stand_carry.dae   | 1439 +++++++++++++++++
 .../models/warehouse_worker/meshes/walk.dae   | 1439 +++++++++++++++++
 .../models/warehouse_worker/model.config      |    8 +
 .../src/warehouse_workers.cpp                 |  977 +++++++++++
 .../warehouse_delivery/workers_map.pgm        |  Bin 0 -> 140815 bytes
 Scenes/warehouse_delivery.world               |  226 +++
 12 files changed, 7133 insertions(+)
 create mode 100644 CustomRobots/warehouse_delivery/CMakeLists.txt
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/NOTICE
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/carry.dae
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand.dae
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand_carry.dae
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/walk.dae
 create mode 100644 CustomRobots/warehouse_delivery/models/warehouse_worker/model.config
 create mode 100644 CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
 create mode 100644 CustomRobots/warehouse_delivery/workers_map.pgm

diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt
index 54ce09a2b..69f3fb957 100755
--- a/CustomRobots/CMakeLists.txt
+++ b/CustomRobots/CMakeLists.txt
@@ -36,6 +36,7 @@ foreach(dependency ${PROJECT_DEPENDENCIES})
 endforeach()
 
 add_subdirectory(follow_person_harmonic)
+add_subdirectory(warehouse_delivery)
 
 # ============================================================================
 # Person plugin
@@ -145,6 +146,8 @@ install(
     myagv_mecharm/models
     myagv_mecharm/launch
 
+    warehouse_delivery/models
+
   DESTINATION share/${PROJECT_NAME})
 
 # Palletizing box feeder node (ament_cmake package: install python node explicitly)
diff --git a/CustomRobots/warehouse_delivery/CMakeLists.txt b/CustomRobots/warehouse_delivery/CMakeLists.txt
new file mode 100644
index 000000000..087a1178b
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/CMakeLists.txt
@@ -0,0 +1,13 @@
+find_package(gz-sim8 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+
+# Workers that carry boxes around the warehouse delivery world
+add_library(warehouse_workers SHARED src/warehouse_workers.cpp)
+target_compile_features(warehouse_workers PRIVATE cxx_std_17)
+target_link_libraries(warehouse_workers
+  gz-sim8::gz-sim8
+  gz-plugin2::gz-plugin2)
+
+install(
+  TARGETS warehouse_workers
+  LIBRARY DESTINATION lib)
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/NOTICE b/CustomRobots/warehouse_delivery/models/warehouse_worker/NOTICE
new file mode 100644
index 000000000..0ea788a62
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/NOTICE
@@ -0,0 +1,6 @@
+meshes/walk.dae is the "Walking actor" model by chapulina on Gazebo Fuel,
+released under Creative Commons Zero v1.0 Universal
+https://fuel.gazebosim.org/1.0/chapulina/models/Walking%20actor
+
+meshes/carry.dae, meshes/stand.dae and meshes/stand_carry.dae are derived
+from walk.dae by make_animations.py, only the joint animation curves change
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py b/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
new file mode 100644
index 000000000..215e5af69
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python3
+# Builds the carry and stand animations from meshes/walk.dae
+# Only the joint curves change so every file keeps the same skeleton
+import os
+import re
+import xml.etree.ElementTree as ET
+
+import numpy as np
+
+MESHES = os.path.join(os.path.dirname(os.path.abspath(__file__)), "meshes")
+NS = "{http://www.collada.org/2005/11/COLLADASchema}"
+
+# Wrist targets on the box sides that kCarryAhead and kCarryZ in warehouse_workers.cpp follow
+AHEAD = 0.35
+HALF_WIDTH = 0.23
+HAND_Z = 1.0
+# Walk frame that gives the upper body of the still pose
+STAND_FRAME = 35
+LEGS = ["LHipJoint", "LeftUpLeg", "LeftLeg", "LeftFoot", "LeftToeBase",
+        "RHipJoint", "RightUpLeg", "RightLeg", "RightFoot", "RightToeBase"]
+
+
+def load(path):
+    root = ET.parse(path).getroot()
+    joints, order, ids = {}, [], {}
+
+    def visit(node, parent):
+        if node.get("type") == "JOINT":
+            name = node.get("sid")
+            ids[node.get("id")] = name
+            matrix = np.array(node.find(NS + "matrix").text.split(), float).reshape(4, 4)
+            joints[name] = {"parent": parent, "bind": matrix}
+            order.append(name)
+            parent = name
+        for child in node.findall(NS + "node"):
+            visit(child, parent)
+
+    for scene in root.iter(NS + "visual_scene"):
+        for node in scene.findall(NS + "node"):
+            visit(node, None)
+
+    anims = {}
+    for anim in root.iter(NS + "animation"):
+        channel = anim.find(NS + "channel")
+        if channel is None:
+            continue
+        sources = {s.get("id"): s for s in anim.findall(NS + "source")}
+        inputs = {i.get("semantic"): i.get("source")[1:]
+                  for i in anim.find(NS + "sampler").findall(NS + "input")}
+        out = sources[inputs["OUTPUT"]].find(NS + "float_array")
+        name = ids[channel.get("target").split("/")[0]]
+        anims[name] = {"id": out.get("id"),
+                       "M": np.array(out.text.split(), float).reshape(-1, 4, 4)}
+    return joints, order, anims
+
+
+def forward(joints, order, local):
+    world = {}
+    for j in order:
+        parent = joints[j]["parent"]
+        world[j] = (world[parent] if parent else np.eye(4)) @ local[j]
+    return world
+
+
+def rotation_between(a, b):
+    a = a / np.linalg.norm(a)
+    b = b / np.linalg.norm(b)
+    v = np.cross(a, b)
+    c = np.dot(a, b)
+    if np.linalg.norm(v) < 1e-9:
+        return np.eye(3)
+    k = np.array([[0, -v[2], v[1]], [v[2], 0, -v[0]], [-v[1], v[0], 0]])
+    return np.eye(3) + k + k @ k * ((1 - c) / np.dot(v, v))
+
+
+joints, order, anims = load(os.path.join(MESHES, "walk.dae"))
+frames = len(anims["Hips"]["M"])
+hips_y = np.mean(anims["Hips"]["M"][:, 1, 3])
+
+
+def frame(k):
+    return {j: (anims[j]["M"][k] if j in anims else joints[j]["bind"]).copy() for j in order}
+
+
+def hold_box(local):
+    """Two bone IK of both arms with the elbows down and out."""
+    world = forward(joints, order, local)
+    hips_x = world["Hips"][0, 3]
+    for side, sign in (("Left", 1), ("Right", -1)):
+        arm, fore, hand = side + "Arm", side + "ForeArm", side + "Hand"
+        shoulder = world[arm][:3, 3]
+        upper = np.linalg.norm(local[fore][:3, 3])
+        lower = np.linalg.norm(local[hand][:3, 3])
+        target = np.array([hips_x + AHEAD, hips_y + sign * HALF_WIDTH, HAND_Z])
+        u = (target - shoulder) / np.linalg.norm(target - shoulder)
+        d = min(np.linalg.norm(target - shoulder), upper + lower - 1e-3)
+        pole = np.array([-0.4, sign * 0.6, -1.0])
+        v = pole - np.dot(pole, u) * u
+        v /= np.linalg.norm(v)
+        angle = np.arccos(np.clip((upper**2 + d**2 - lower**2) / (2 * upper * d), -1, 1))
+        elbow = shoulder + upper * (np.cos(angle) * u + np.sin(angle) * v)
+        wrist = shoulder + d * u
+
+        parent = world[joints[arm]["parent"]]
+        arm_world = parent @ local[arm]
+        arm_world[:3, :3] = rotation_between(arm_world[:3, :3] @ local[fore][:3, 3],
+                                             elbow - shoulder) @ arm_world[:3, :3]
+        arm_local = np.linalg.inv(parent) @ arm_world
+        arm_local[:3, 3] = local[arm][:3, 3]
+        local[arm] = arm_local
+        arm_world = parent @ arm_local
+
+        fore_world = arm_world @ local[fore]
+        fore_world[:3, :3] = rotation_between(fore_world[:3, :3] @ local[hand][:3, 3],
+                                              wrist - elbow) @ fore_world[:3, :3]
+        fore_local = np.linalg.inv(arm_world) @ fore_world
+        fore_local[:3, 3] = local[fore][:3, 3]
+        local[fore] = fore_local
+    return local
+
+
+def stand():
+    local = frame(STAND_FRAME)
+    hips = joints["Hips"]["bind"].copy()
+    hips[:3, 3] = [0.0, hips_y, local["Hips"][2, 3]]
+    local["Hips"] = hips
+    for j in LEGS:
+        local[j] = joints[j]["bind"].copy()
+    return local
+
+
+def write(name, poses):
+    text = open(os.path.join(MESHES, "walk.dae")).read()
+    for j, anim in anims.items():
+        values = " ".join("%.7g" % v for pose in poses for v in pose[j].reshape(-1))
+        pattern = r'(<float_array id="%s"[^>]*>)[^<]*(</float_array>)' % re.escape(anim["id"])
+        text, count = re.subn(pattern, lambda m: m.group(1) + values + m.group(2), text)
+        assert count == 1, anim["id"]
+    open(os.path.join(MESHES, name), "w").write(text)
+
+
+write("carry.dae", [hold_box(frame(k)) for k in range(frames)])
+write("stand.dae", [stand() for _ in range(frames)])
+write("stand_carry.dae", [hold_box(stand()) for _ in range(frames)])
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/carry.dae b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/carry.dae
new file mode 100644
index 000000000..32e869553
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/carry.dae
@@ -0,0 +1,1439 @@
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.63.5 r46744</authoring_tool>
+    </contributor>
+    <created>2012-05-19T18:37:55</created>
+    <modified>2012-05-19T18:37:55</modified>
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+    <up_axis>Z_UP</up_axis>
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5094 19988 1915 5058 19989 2269 5093 19990 2273 5230 19991 2266 5151 19992 2268 5096 19993 6337 5227 19994 6338 5226 19995 3199 5141 19996 6312 5149 19997 6313 5176 19998 2564 5170 19999 2270 5207 20000 2279 5121 20001 2512 5223 20002 2514 5225 20003 1901 5179 20004 1914 5094 20005 2273 5230 20006 2274 5183 20007 1912 5051 20008 1913 5097 20009 2268 5096 20010 2266 5151 20011 2564 5170 20012 6313 5176 20013 6314 5181 20014 2555 5165 20015 2269 5093 20016 2516 5116 20017 2513 5224 20018 2273 5230 20019 1896 5167 20020 1900 5231 20021 1914 5094 20022 1901 5179 20023 2289 5132 20024 2371 5125 20025 2523 5128 20026 2522 5129 20027 2555 5165 20028 6314 5181 20029 6315 5229 20030 2554 5166 20031 2267 5110 20032 2270 5207 20033 2514 5225 20034 2515 5115 20035 1893 5120 20036 1898 5119 20037 1900 5231 20038 1896 5167 20039 1891 5232 20040 1889 5215 20041 1895 5147 20042 1897 5133 20043 3197 5233 20044 6317 5234 20045 6311 5235 20046 3179 5236 20047 1884 5237 20048 1883 5238 20049 1898 5119 20050 1899 5118 20051 1882 5239 20052 1900 5231 20053 1898 5119 20054 1883 5238 20055 3203 5240 20056 3204 5241 20057 6317 5234 20058 6316 5242 20059 1882 5239 20060 1908 5095 20061 1914 5094 20062 1900 5231 20063 3187 5243 20064 6311 5235 20065 6317 5234 20066 3204 5241 20067 1882 5239 20068 1887 5244 20069 1907 5099 20070 1908 5095 20071 3176 5245 20072 6309 5246 20073 6310 5247 20074 3177 5248 20075 1884 5237 20076 1885 5249 20077 1886 5250 20078 1883 5238 20079 3175 5251 20080 6308 5252 20081 6309 5246 20082 3176 5245 20083 1891 5232 20084 1890 5253 20085 1888 5254 20086 1889 5215 20087 3174 5105 20088 6307 5109 20089 6308 5252 20090 3175 5251 20091 1890 5253 20092 1891 5232 20093 2275 5092 20094 2276 5107 20095 1891 5232 20096 1897 5133 20097 1903 5090 20098 2275 5092 20099 1886 5250 20100 3167 5255 20101 3166 5256 20102 1887 5244 20103 2553 5257 20104 1884 5237 20105 1899 5118 20106 2554 5166 20107 3167 5255 20108 2297 5258 20109 2296 5259 20110 3166 5256 20111 2276 5107 20112 3161 5076 20113 3164 5260 20114 1890 5253 20115 2292 5075 20116 3174 5105 20117 3175 5251 20118 2294 5261 20119 3161 5076 20120 2292 5075 20121 2294 5261 20122 3164 5260 20123 2294 5261 20124 3175 5251 20125 3176 5245 20126 2295 5262 20127 1890 5253 20128 3164 5260 20129 3165 5263 20130 1888 5254 20131 2297 5258 20132 3167 5255 20133 3180 5264 20134 3179 5236 20135 3164 5260 20136 2294 5261 20137 2295 5262 20138 3165 5263 20139 1885 5249 20140 3180 5264 20141 3167 5255 20142 1886 5250 20143 1888 5254 20144 3182 5265 20145 3183 5216 20146 1889 5215 20147 3166 5256 20148 2296 5259 20149 2293 5072 20150 3163 5071 20151 1888 5254 20152 3165 5263 20153 3181 5266 20154 3182 5265 20155 3177 5248 20156 6310 5247 20157 6311 5235 20158 3187 5243 20159 3202 5228 20160 3203 5240 20161 6316 5242 20162 6315 5229 20163 2295 5262 20164 3186 5267 20165 3181 5266 20166 3165 5263 20167 2295 5262 20168 3176 5245 20169 3177 5248 20170 3186 5267 20171 1887 5244 20172 3166 5256 20173 3163 5071 20174 1907 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+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_RHipJoint_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RHipJoint_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RHipJoint_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_RHipJoint_pose_matrix-sampler" target="RHipJoint/transform"/>
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+        <technique_common>
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+            <param name="TIME" type="float"/>
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+            <param name="TRANSFORM" type="float4x4"/>
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+        </technique_common>
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+        <technique_common>
+          <accessor source="#_6_15_t_RightUpLeg_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        </technique_common>
+      </source>
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+        <input semantic="INPUT" source="#_6_15_t_RightUpLeg_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RightUpLeg_pose_matrix-output"/>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+            <param name="TIME" type="float"/>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_LeftHand_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftHand_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftHand_pose_matrix-interpolation"/>
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+            <param name="TIME" type="float"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_RightArm_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="OUTPUT" source="#_6_15_t_RightArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RightArm_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_RightArm_pose_matrix-sampler" target="RightArm/transform"/>
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+            <param name="TIME" type="float"/>
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+            <param name="TRANSFORM" type="float4x4"/>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_RightForeArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RightForeArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RightForeArm_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_RightForeArm_pose_matrix-sampler" target="RightForeArm/transform"/>
+    </animation>
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+        </vertex_weights>
+      </skin>
+    </controller>
+  </library_controllers>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_6_15_t" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <node id="Hips" name="Hips" sid="Hips" type="JOINT">
+          <matrix sid="transform">1.87856e-15 3.25841e-7 1 0 1 1.42109e-14 1.23323e-14 0 -1.42109e-14 1 -3.25841e-7 0 0 0 0 1</matrix>
+          <node id="LHipJoint" name="LHipJoint" sid="LHipJoint" type="JOINT">
+            <matrix sid="transform">-0.4072819 0.635349 -0.6560891 2.6511e-15 -0.6353492 -0.7131573 -0.296206 0 -0.6560889 0.2962064 0.6941245 1.62921e-8 0 0 0 1</matrix>
+            <node id="LeftUpLeg" name="LeftUpLeg" sid="LeftUpLeg" type="JOINT">
+              <matrix sid="transform">0.3961309 0.6423606 -0.6560892 3.23847e-9 -0.6476991 0.7019598 0.2962062 0.1535566 0.6508196 0.3076119 0.6941245 -1.32855e-10 0 0 0 1</matrix>
+              <node id="LeftLeg" name="LeftLeg" sid="LeftLeg" type="JOINT">
+                <matrix sid="transform">0.999999 0.001428954 -1.04076e-7 0 -0.001428956 0.999999 6.21187e-8 0.4361505 1.04164e-7 -6.19699e-8 1 0 0 0 0 1</matrix>
+                <node id="LeftFoot" name="LeftFoot" sid="LeftFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996988 -3.92556e-4 -0.02454413 0 -0.02369912 0.2759955 0.9608667 0.4459705 0.006396872 0.9611592 -0.2759216 3.72529e-9 0 0 0 1</matrix>
+                  <node id="LeftToeBase" name="LeftToeBase" sid="LeftToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999679 0.006396692 -0.004818773 7.45058e-9 -0.004818633 0.9611588 0.2759538 0.1370783 0.006396799 -0.2759217 0.9611589 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="RHipJoint" name="RHipJoint" sid="RHipJoint" type="JOINT">
+            <matrix sid="transform">-0.3918986 -0.6153328 0.6839452 2.6511e-15 0.6153329 -0.7279726 -0.3023594 0 0.6839451 0.3023597 0.6639261 1.62921e-8 0 0 0 1</matrix>
+            <node id="RightUpLeg" name="RightUpLeg" sid="RightUpLeg" type="JOINT">
+              <matrix sid="transform">0.3810995 -0.6220791 0.6839451 -1.11429e-8 0.6279444 0.7171224 0.3023596 0.1504315 -0.6785638 0.3142503 0.6639259 4.08443e-9 0 0 0 1</matrix>
+              <node id="RightLeg" name="RightLeg" sid="RightLeg" type="JOINT">
+                <matrix sid="transform">0.9999989 -0.001447959 3.10888e-7 0 0.001447957 0.9999988 4.42563e-8 0.4417033 -3.10953e-7 -4.38061e-8 1 3.72529e-9 0 0 0 1</matrix>
+                <node id="RightFoot" name="RightFoot" sid="RightFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996686 4.65921e-4 0.02573219 0 0.02451391 0.3217286 0.9465144 0.4401536 -0.007837783 0.9468316 -0.3216336 0 0 0 0 1</matrix>
+                  <node id="RightToeBase" name="RightToeBase" sid="RightToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999535 -0.007837749 0.005614891 0 0.005615086 0.9468315 0.3216804 0.1452782 -0.007837608 -0.3216339 0.9468316 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="LowerBack" name="LowerBack" sid="LowerBack" type="JOINT">
+            <matrix sid="transform">1 -1.56995e-4 4.0764e-5 2.6511e-15 1.61937e-4 0.9806549 -0.1957447 0 -9.24456e-6 0.1957447 0.9806549 1.62921e-8 0 0 0 1</matrix>
+            <node id="Spine" name="Spine" sid="Spine" type="JOINT">
+              <matrix sid="transform">0.9996557 0.026244 1.95057e-4 -1.67103e-12 -0.02569488 0.9771715 0.2108924 0.1342848 0.00534405 -0.2108248 0.9775093 -1.07573e-9 0 0 0 1</matrix>
+              <node id="Spine1" name="Spine1" sid="Spine1" type="JOINT">
+                <matrix sid="transform">0.999709 -0.02412176 -1.9127e-7 4.65661e-10 0.02412175 0.999709 4.79817e-6 0.1329761 7.5428e-8 -4.8019e-6 1 -3.72529e-9 0 0 0 1</matrix>
+                <node id="Neck" name="Neck" sid="Neck" type="JOINT">
+                  <matrix sid="transform">0.9999886 0.003125201 0.003613005 -4.65661e-10 -0.002560858 0.9891588 -0.146828 0 -0.004032701 0.1468171 0.9891555 1.67638e-8 0 0 0 1</matrix>
+                  <node id="Neck1" name="Neck1" sid="Neck1" type="JOINT">
+                    <matrix sid="transform">0.9999827 -0.005846279 8.18527e-4 0 0.005378973 0.9594907 0.2816895 0.1141579 -0.002432205 -0.2816802 0.9595054 0 0 0 0 1</matrix>
+                    <node id="Head" name="Head" sid="Head" type="JOINT">
+                      <matrix sid="transform">0.9999867 0.001334366 -0.004975973 -4.65661e-10 -0.001781469 0.9958531 -0.09095962 0.09175077 0.004833965 0.0909673 0.9958422 0 0 0 0 1</matrix>
+                    </node>
+                  </node>
+                </node>
+                <node id="LeftShoulder" name="LeftShoulder" sid="LeftShoulder" type="JOINT">
+                  <matrix sid="transform">0.2634423 0.9525584 0.1524157 -4.65661e-10 -0.9547163 0.2348038 0.1827129 0 0.1382569 -0.1936481 0.9712804 1.67638e-8 0 0 0 1</matrix>
+                  <node id="LeftArm" name="LeftArm" sid="LeftArm" type="JOINT">
+                    <matrix sid="transform">0.9529779 0.2615977 0.1529698 0 -0.229908 0.952978 -0.1974218 0.2141151 -0.197422 0.1529697 0.9683102 0 0 0 0 1</matrix>
+                    <node id="LeftForeArm" name="LeftForeArm" sid="LeftForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 2.88103e-8 0 0 1 0 0.3194921 -2.88103e-8 1.7486e-15 1 0 0 0 0 1</matrix>
+                      <node id="LeftHand" name="LeftHand" sid="LeftHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 0 0.232586 0 -3.80059e-15 1 1.86265e-9 0 0 0 1</matrix>
+                        <node id="LeftFingerBase" name="LeftFingerBase" sid="LeftFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 -2.84217e-14 -2.98023e-8 0 1 0 0 2.84217e-14 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          <node id="LeftHandIndex1" name="LeftHandIndex1" sid="LeftHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 0 0.03280848 0 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="LThumb" name="LThumb" sid="LThumb" type="JOINT">
+                          <matrix sid="transform">0.7071065 -8.9407e-8 0.7071071 -2.98023e-8 0.5000002 0.7071066 -0.4999999 0 -0.5000001 0.7071068 0.4999999 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+                <node id="RightShoulder" name="RightShoulder" sid="RightShoulder" type="JOINT">
+                  <matrix sid="transform">0.3357229 -0.9370582 -0.09597921 -4.65661e-10 0.938474 0.3239804 0.1195967 0 -0.08097371 -0.1302254 0.9881724 1.67638e-8 0 0 0 1</matrix>
+                  <node id="RightArm" name="RightArm" sid="RightArm" type="JOINT">
+                    <matrix sid="transform">0.9364473 -0.3375461 -0.09554496 -2.98023e-8 0.3237658 0.9364476 -0.1350626 0.2035319 0.1350627 0.0955449 0.9862196 3.72529e-9 0 0 0 1</matrix>
+                    <node id="RightForeArm" name="RightForeArm" sid="RightForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 1.58932e-8 0 0 1 1.21384e-15 0.32836 -1.58932e-8 -1.23235e-14 1 0 0 0 0 1</matrix>
+                      <node id="RightHand" name="RightHand" sid="RightHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.233209 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                        <node id="RightFingerBase" name="RightFingerBase" sid="RightFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 0 -2.98023e-8 0 1 1.21384e-15 0 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          <node id="RightHandIndex1" name="RightHandIndex1" sid="RightHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.04633379 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="RThumb" name="RThumb" sid="RThumb" type="JOINT">
+                          <matrix sid="transform">0.7071069 2.38419e-7 -0.7071065 -2.98023e-8 -0.4999997 0.7071069 -0.4999998 0 0.4999999 0.7071064 0.5000004 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
+      </node>
+      <node id="human" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_controller url="#_6_15_t_human-skin">
+          <skeleton>#Hips</skeleton>
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+              </instance_material>
+              <instance_material symbol="eyes-black" target="#eyes-black-material">
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+              <instance_material symbol="skin-mat" target="#skin-mat-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="sweater-green" target="#sweater-green-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="jeans-blue" target="#jeans-blue-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_controller>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand.dae b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand.dae
new file mode 100644
index 000000000..504bbb312
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand.dae
@@ -0,0 +1,1439 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.63.5 r46744</authoring_tool>
+    </contributor>
+    <created>2012-05-19T18:37:55</created>
+    <modified>2012-05-19T18:37:55</modified>
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+            </ambient>
+            <diffuse>
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+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">23</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+        <technique sid="common">
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+            </emission>
+            <ambient>
+              <color sid="ambient">0.1969495 0.07701492 0.03641987 1</color>
+            </ambient>
+            <diffuse>
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+            </diffuse>
+            <specular>
+              <color sid="specular">0.7712766 0.7712766 0.7712766 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
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+    </effect>
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+            <ambient>
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5094 19988 1915 5058 19989 2269 5093 19990 2273 5230 19991 2266 5151 19992 2268 5096 19993 6337 5227 19994 6338 5226 19995 3199 5141 19996 6312 5149 19997 6313 5176 19998 2564 5170 19999 2270 5207 20000 2279 5121 20001 2512 5223 20002 2514 5225 20003 1901 5179 20004 1914 5094 20005 2273 5230 20006 2274 5183 20007 1912 5051 20008 1913 5097 20009 2268 5096 20010 2266 5151 20011 2564 5170 20012 6313 5176 20013 6314 5181 20014 2555 5165 20015 2269 5093 20016 2516 5116 20017 2513 5224 20018 2273 5230 20019 1896 5167 20020 1900 5231 20021 1914 5094 20022 1901 5179 20023 2289 5132 20024 2371 5125 20025 2523 5128 20026 2522 5129 20027 2555 5165 20028 6314 5181 20029 6315 5229 20030 2554 5166 20031 2267 5110 20032 2270 5207 20033 2514 5225 20034 2515 5115 20035 1893 5120 20036 1898 5119 20037 1900 5231 20038 1896 5167 20039 1891 5232 20040 1889 5215 20041 1895 5147 20042 1897 5133 20043 3197 5233 20044 6317 5234 20045 6311 5235 20046 3179 5236 20047 1884 5237 20048 1883 5238 20049 1898 5119 20050 1899 5118 20051 1882 5239 20052 1900 5231 20053 1898 5119 20054 1883 5238 20055 3203 5240 20056 3204 5241 20057 6317 5234 20058 6316 5242 20059 1882 5239 20060 1908 5095 20061 1914 5094 20062 1900 5231 20063 3187 5243 20064 6311 5235 20065 6317 5234 20066 3204 5241 20067 1882 5239 20068 1887 5244 20069 1907 5099 20070 1908 5095 20071 3176 5245 20072 6309 5246 20073 6310 5247 20074 3177 5248 20075 1884 5237 20076 1885 5249 20077 1886 5250 20078 1883 5238 20079 3175 5251 20080 6308 5252 20081 6309 5246 20082 3176 5245 20083 1891 5232 20084 1890 5253 20085 1888 5254 20086 1889 5215 20087 3174 5105 20088 6307 5109 20089 6308 5252 20090 3175 5251 20091 1890 5253 20092 1891 5232 20093 2275 5092 20094 2276 5107 20095 1891 5232 20096 1897 5133 20097 1903 5090 20098 2275 5092 20099 1886 5250 20100 3167 5255 20101 3166 5256 20102 1887 5244 20103 2553 5257 20104 1884 5237 20105 1899 5118 20106 2554 5166 20107 3167 5255 20108 2297 5258 20109 2296 5259 20110 3166 5256 20111 2276 5107 20112 3161 5076 20113 3164 5260 20114 1890 5253 20115 2292 5075 20116 3174 5105 20117 3175 5251 20118 2294 5261 20119 3161 5076 20120 2292 5075 20121 2294 5261 20122 3164 5260 20123 2294 5261 20124 3175 5251 20125 3176 5245 20126 2295 5262 20127 1890 5253 20128 3164 5260 20129 3165 5263 20130 1888 5254 20131 2297 5258 20132 3167 5255 20133 3180 5264 20134 3179 5236 20135 3164 5260 20136 2294 5261 20137 2295 5262 20138 3165 5263 20139 1885 5249 20140 3180 5264 20141 3167 5255 20142 1886 5250 20143 1888 5254 20144 3182 5265 20145 3183 5216 20146 1889 5215 20147 3166 5256 20148 2296 5259 20149 2293 5072 20150 3163 5071 20151 1888 5254 20152 3165 5263 20153 3181 5266 20154 3182 5265 20155 3177 5248 20156 6310 5247 20157 6311 5235 20158 3187 5243 20159 3202 5228 20160 3203 5240 20161 6316 5242 20162 6315 5229 20163 2295 5262 20164 3186 5267 20165 3181 5266 20166 3165 5263 20167 2295 5262 20168 3176 5245 20169 3177 5248 20170 3186 5267 20171 1887 5244 20172 3166 5256 20173 3163 5071 20174 1907 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+            <param name="TRANSFORM" type="float4x4"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_Hips_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_Hips_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_Hips_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_Hips_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_Hips_pose_matrix-sampler" target="Hips/transform"/>
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+        <technique_common>
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+            <param name="TIME" type="float"/>
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+        <input semantic="OUTPUT" source="#_6_15_t_LHipJoint_pose_matrix-output"/>
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+            <param name="TIME" type="float"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="OUTPUT" source="#_6_15_t_RHipJoint_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RHipJoint_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_RHipJoint_pose_matrix-sampler" target="RHipJoint/transform"/>
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+            <param name="TIME" type="float"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_LeftArm_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_LeftArm_pose_matrix-interpolation">
+        <Name_array id="_6_15_t_LeftArm_pose_matrix-interpolation-array" count="139">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#_6_15_t_LeftArm_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <sampler id="_6_15_t_LeftArm_pose_matrix-sampler">
+        <input semantic="INPUT" source="#_6_15_t_LeftArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftArm_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_LeftArm_pose_matrix-sampler" target="LeftArm/transform"/>
+    </animation>
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+        <technique_common>
+          <accessor source="#_6_15_t_LeftForeArm_pose_matrix-input-array" count="139" stride="1">
+            <param name="TIME" type="float"/>
+          </accessor>
+        </technique_common>
+      </source>
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+        <technique_common>
+          <accessor source="#_6_15_t_LeftForeArm_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_LeftForeArm_pose_matrix-interpolation">
+        <Name_array id="_6_15_t_LeftForeArm_pose_matrix-interpolation-array" count="139">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#_6_15_t_LeftForeArm_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <sampler id="_6_15_t_LeftForeArm_pose_matrix-sampler">
+        <input semantic="INPUT" source="#_6_15_t_LeftForeArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftForeArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftForeArm_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_LeftForeArm_pose_matrix-sampler" target="LeftForeArm/transform"/>
+    </animation>
+    <animation id="_6_15_t_LeftHand_pose_matrix">
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+        <technique_common>
+          <accessor source="#_6_15_t_LeftHand_pose_matrix-input-array" count="139" stride="1">
+            <param name="TIME" type="float"/>
+          </accessor>
+        </technique_common>
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+            <param name="TRANSFORM" type="float4x4"/>
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+      <source id="_6_15_t_LeftHand_pose_matrix-interpolation">
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+          <accessor source="#_6_15_t_LeftHand_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_LeftHand_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftHand_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftHand_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_LeftHand_pose_matrix-sampler" target="LeftHand/transform"/>
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+            <param name="TIME" type="float"/>
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+            <param name="TRANSFORM" type="float4x4"/>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_RightForeArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RightForeArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RightForeArm_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_RightForeArm_pose_matrix-sampler" target="RightForeArm/transform"/>
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+        <technique_common>
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+            <param name="TIME" type="float"/>
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+        </technique_common>
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+            <param name="TRANSFORM" type="float4x4"/>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_RThumb_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RThumb_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RThumb_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_RThumb_pose_matrix-sampler" target="RThumb/transform"/>
+    </animation>
+  </library_animations>
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+        <bind_shape_matrix>1.94707e-7 -1 0 0.03407181 1 1.94707e-7 0 -2.57235e-9 0 0 1 -0.2026376 0 0 0 1</bind_shape_matrix>
+        <source id="_6_15_t_human-skin-joints">
+          <Name_array id="_6_15_t_human-skin-joints-array" count="31">Hips LHipJoint LeftUpLeg LeftLeg LeftFoot LeftToeBase RHipJoint RightUpLeg RightLeg RightFoot RightToeBase LowerBack Spine Spine1 Neck1 Head LeftShoulder LeftArm LeftForeArm LeftHand LeftFingerBase LeftHandIndex1 LThumb RightShoulder RightArm RightForeArm RightHand RightFingerBase RightHandIndex1 RThumb Neck</Name_array>
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+              <param name="JOINT" type="name"/>
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+        </vertex_weights>
+      </skin>
+    </controller>
+  </library_controllers>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_6_15_t" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <node id="Hips" name="Hips" sid="Hips" type="JOINT">
+          <matrix sid="transform">1.87856e-15 3.25841e-7 1 0 1 1.42109e-14 1.23323e-14 0 -1.42109e-14 1 -3.25841e-7 0 0 0 0 1</matrix>
+          <node id="LHipJoint" name="LHipJoint" sid="LHipJoint" type="JOINT">
+            <matrix sid="transform">-0.4072819 0.635349 -0.6560891 2.6511e-15 -0.6353492 -0.7131573 -0.296206 0 -0.6560889 0.2962064 0.6941245 1.62921e-8 0 0 0 1</matrix>
+            <node id="LeftUpLeg" name="LeftUpLeg" sid="LeftUpLeg" type="JOINT">
+              <matrix sid="transform">0.3961309 0.6423606 -0.6560892 3.23847e-9 -0.6476991 0.7019598 0.2962062 0.1535566 0.6508196 0.3076119 0.6941245 -1.32855e-10 0 0 0 1</matrix>
+              <node id="LeftLeg" name="LeftLeg" sid="LeftLeg" type="JOINT">
+                <matrix sid="transform">0.999999 0.001428954 -1.04076e-7 0 -0.001428956 0.999999 6.21187e-8 0.4361505 1.04164e-7 -6.19699e-8 1 0 0 0 0 1</matrix>
+                <node id="LeftFoot" name="LeftFoot" sid="LeftFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996988 -3.92556e-4 -0.02454413 0 -0.02369912 0.2759955 0.9608667 0.4459705 0.006396872 0.9611592 -0.2759216 3.72529e-9 0 0 0 1</matrix>
+                  <node id="LeftToeBase" name="LeftToeBase" sid="LeftToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999679 0.006396692 -0.004818773 7.45058e-9 -0.004818633 0.9611588 0.2759538 0.1370783 0.006396799 -0.2759217 0.9611589 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="RHipJoint" name="RHipJoint" sid="RHipJoint" type="JOINT">
+            <matrix sid="transform">-0.3918986 -0.6153328 0.6839452 2.6511e-15 0.6153329 -0.7279726 -0.3023594 0 0.6839451 0.3023597 0.6639261 1.62921e-8 0 0 0 1</matrix>
+            <node id="RightUpLeg" name="RightUpLeg" sid="RightUpLeg" type="JOINT">
+              <matrix sid="transform">0.3810995 -0.6220791 0.6839451 -1.11429e-8 0.6279444 0.7171224 0.3023596 0.1504315 -0.6785638 0.3142503 0.6639259 4.08443e-9 0 0 0 1</matrix>
+              <node id="RightLeg" name="RightLeg" sid="RightLeg" type="JOINT">
+                <matrix sid="transform">0.9999989 -0.001447959 3.10888e-7 0 0.001447957 0.9999988 4.42563e-8 0.4417033 -3.10953e-7 -4.38061e-8 1 3.72529e-9 0 0 0 1</matrix>
+                <node id="RightFoot" name="RightFoot" sid="RightFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996686 4.65921e-4 0.02573219 0 0.02451391 0.3217286 0.9465144 0.4401536 -0.007837783 0.9468316 -0.3216336 0 0 0 0 1</matrix>
+                  <node id="RightToeBase" name="RightToeBase" sid="RightToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999535 -0.007837749 0.005614891 0 0.005615086 0.9468315 0.3216804 0.1452782 -0.007837608 -0.3216339 0.9468316 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="LowerBack" name="LowerBack" sid="LowerBack" type="JOINT">
+            <matrix sid="transform">1 -1.56995e-4 4.0764e-5 2.6511e-15 1.61937e-4 0.9806549 -0.1957447 0 -9.24456e-6 0.1957447 0.9806549 1.62921e-8 0 0 0 1</matrix>
+            <node id="Spine" name="Spine" sid="Spine" type="JOINT">
+              <matrix sid="transform">0.9996557 0.026244 1.95057e-4 -1.67103e-12 -0.02569488 0.9771715 0.2108924 0.1342848 0.00534405 -0.2108248 0.9775093 -1.07573e-9 0 0 0 1</matrix>
+              <node id="Spine1" name="Spine1" sid="Spine1" type="JOINT">
+                <matrix sid="transform">0.999709 -0.02412176 -1.9127e-7 4.65661e-10 0.02412175 0.999709 4.79817e-6 0.1329761 7.5428e-8 -4.8019e-6 1 -3.72529e-9 0 0 0 1</matrix>
+                <node id="Neck" name="Neck" sid="Neck" type="JOINT">
+                  <matrix sid="transform">0.9999886 0.003125201 0.003613005 -4.65661e-10 -0.002560858 0.9891588 -0.146828 0 -0.004032701 0.1468171 0.9891555 1.67638e-8 0 0 0 1</matrix>
+                  <node id="Neck1" name="Neck1" sid="Neck1" type="JOINT">
+                    <matrix sid="transform">0.9999827 -0.005846279 8.18527e-4 0 0.005378973 0.9594907 0.2816895 0.1141579 -0.002432205 -0.2816802 0.9595054 0 0 0 0 1</matrix>
+                    <node id="Head" name="Head" sid="Head" type="JOINT">
+                      <matrix sid="transform">0.9999867 0.001334366 -0.004975973 -4.65661e-10 -0.001781469 0.9958531 -0.09095962 0.09175077 0.004833965 0.0909673 0.9958422 0 0 0 0 1</matrix>
+                    </node>
+                  </node>
+                </node>
+                <node id="LeftShoulder" name="LeftShoulder" sid="LeftShoulder" type="JOINT">
+                  <matrix sid="transform">0.2634423 0.9525584 0.1524157 -4.65661e-10 -0.9547163 0.2348038 0.1827129 0 0.1382569 -0.1936481 0.9712804 1.67638e-8 0 0 0 1</matrix>
+                  <node id="LeftArm" name="LeftArm" sid="LeftArm" type="JOINT">
+                    <matrix sid="transform">0.9529779 0.2615977 0.1529698 0 -0.229908 0.952978 -0.1974218 0.2141151 -0.197422 0.1529697 0.9683102 0 0 0 0 1</matrix>
+                    <node id="LeftForeArm" name="LeftForeArm" sid="LeftForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 2.88103e-8 0 0 1 0 0.3194921 -2.88103e-8 1.7486e-15 1 0 0 0 0 1</matrix>
+                      <node id="LeftHand" name="LeftHand" sid="LeftHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 0 0.232586 0 -3.80059e-15 1 1.86265e-9 0 0 0 1</matrix>
+                        <node id="LeftFingerBase" name="LeftFingerBase" sid="LeftFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 -2.84217e-14 -2.98023e-8 0 1 0 0 2.84217e-14 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          <node id="LeftHandIndex1" name="LeftHandIndex1" sid="LeftHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 0 0.03280848 0 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="LThumb" name="LThumb" sid="LThumb" type="JOINT">
+                          <matrix sid="transform">0.7071065 -8.9407e-8 0.7071071 -2.98023e-8 0.5000002 0.7071066 -0.4999999 0 -0.5000001 0.7071068 0.4999999 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+                <node id="RightShoulder" name="RightShoulder" sid="RightShoulder" type="JOINT">
+                  <matrix sid="transform">0.3357229 -0.9370582 -0.09597921 -4.65661e-10 0.938474 0.3239804 0.1195967 0 -0.08097371 -0.1302254 0.9881724 1.67638e-8 0 0 0 1</matrix>
+                  <node id="RightArm" name="RightArm" sid="RightArm" type="JOINT">
+                    <matrix sid="transform">0.9364473 -0.3375461 -0.09554496 -2.98023e-8 0.3237658 0.9364476 -0.1350626 0.2035319 0.1350627 0.0955449 0.9862196 3.72529e-9 0 0 0 1</matrix>
+                    <node id="RightForeArm" name="RightForeArm" sid="RightForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 1.58932e-8 0 0 1 1.21384e-15 0.32836 -1.58932e-8 -1.23235e-14 1 0 0 0 0 1</matrix>
+                      <node id="RightHand" name="RightHand" sid="RightHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.233209 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                        <node id="RightFingerBase" name="RightFingerBase" sid="RightFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 0 -2.98023e-8 0 1 1.21384e-15 0 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          <node id="RightHandIndex1" name="RightHandIndex1" sid="RightHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.04633379 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="RThumb" name="RThumb" sid="RThumb" type="JOINT">
+                          <matrix sid="transform">0.7071069 2.38419e-7 -0.7071065 -2.98023e-8 -0.4999997 0.7071069 -0.4999998 0 0.4999999 0.7071064 0.5000004 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
+      </node>
+      <node id="human" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_controller url="#_6_15_t_human-skin">
+          <skeleton>#Hips</skeleton>
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="eyes-white" target="#eyes-white-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-brown" target="#eyes-brown-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-black" target="#eyes-black-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="skin-mat" target="#skin-mat-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="sweater-green" target="#sweater-green-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="jeans-blue" target="#jeans-blue-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_controller>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand_carry.dae b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand_carry.dae
new file mode 100644
index 000000000..9c8d73104
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/stand_carry.dae
@@ -0,0 +1,1439 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.63.5 r46744</authoring_tool>
+    </contributor>
+    <created>2012-05-19T18:37:55</created>
+    <modified>2012-05-19T18:37:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="eyes-white-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.6220113 0.6209189 0.64 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.6220113 0.6209189 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">23</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="eyes-brown-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1969495 0.07701492 0.03641987 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1969495 0.07701492 0.03641987 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7712766 0.7712766 0.7712766 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="eyes-black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="skin-mat-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.8 0.5508701 0.3938254 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.5508701 0.3938254 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.106383 0.106383 0.106383 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="sweater-green-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.09837106 0.254824 0.07500499 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.09837106 0.254824 0.07500499 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.05319149 0.05319149 0.05319149 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
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19676 2266 5151 19677 2267 5110 19678 1916 5052 19679 3194 5152 19680 3198 5153 19681 3205 5154 19682 3195 5155 19683 2526 5138 19684 2488 5156 19685 2487 5150 19686 2525 5127 19687 1893 5120 19688 2487 5150 19689 2488 5156 19690 1892 5117 19691 2601 5157 19692 2604 5158 19693 2605 5159 19694 2602 5160 19695 6321 5161 19696 2566 5162 19697 2565 5163 19698 6322 5164 19699 1892 5117 19700 2555 5165 19701 2554 5166 19702 1899 5118 19703 1896 5167 19704 2489 5139 19705 2487 5150 19706 1893 5120 19707 6322 5164 19708 2565 5163 19709 3178 5168 19710 6323 5169 19711 2555 5165 19712 1892 5117 19713 2488 5156 19714 2564 5170 19715 2277 5134 19716 2491 5171 19717 2490 5111 19718 2278 5135 19719 3198 5153 19720 6312 5149 19721 6318 5148 19722 3205 5154 19723 2566 5162 19724 2370 5172 19725 2528 5173 19726 2565 5163 19727 1894 5146 19728 2492 5174 19729 2491 5171 19730 2277 5134 19731 3198 5153 19732 3200 5175 19733 6313 5176 19734 6312 5149 19735 2281 5177 19736 2528 5173 19737 2584 5178 19738 2582 5112 19739 1896 5167 19740 1901 5179 19741 2499 5130 19742 2489 5139 19743 3200 5175 19744 3201 5180 19745 6314 5181 19746 6313 5176 19747 2370 5172 19748 2585 5182 19749 2584 5178 19750 2528 5173 19751 1901 5179 19752 2274 5183 19753 2498 5131 19754 2499 5130 19755 1894 5146 19756 3185 5184 19757 6324 5185 19758 2492 5174 19759 2580 5186 19760 2581 5187 19761 2584 5178 19762 2585 5182 19763 2486 5188 19764 2485 5189 19765 2501 5190 19766 2502 5191 19767 3185 5184 19768 3190 5192 19769 3194 5152 19770 6324 5185 19771 2581 5187 19772 2583 5113 19773 2582 5112 19774 2584 5178 19775 2502 5191 19776 2501 5190 19777 2504 5193 19778 2503 5194 19779 2281 5177 19780 2491 5171 19781 2492 5174 19782 3178 5168 19783 2583 5113 19784 2598 5195 19785 2603 5196 19786 2606 5114 19787 2271 5197 19788 2504 5193 19789 2501 5190 19790 2280 5198 19791 2486 5188 19792 2502 5191 19793 2602 5160 19794 2603 5196 19795 2485 5189 19796 2500 5144 19797 2280 5198 19798 2501 5190 19799 2492 5174 19800 6324 5185 19801 6323 5169 19802 3178 5168 19803 2602 5160 19804 2605 5159 19805 2606 5114 19806 2603 5196 19807 2493 5143 19808 2494 5123 19809 2506 5122 19810 2505 5199 19811 2266 5151 19812 2510 5200 19813 2509 5201 19814 2267 5110 19815 3194 5152 19816 3195 5155 19817 6323 5169 19818 6324 5185 19819 2278 5135 19820 2490 5111 19821 2606 5114 19822 2605 5159 19823 2505 5199 19824 2506 5122 19825 2508 5202 19826 2507 5203 19827 2272 5136 19828 2278 5135 19829 2605 5159 19830 2604 5158 19831 2507 5203 19832 2508 5202 19833 2509 5201 19834 2510 5200 19835 3205 5154 19836 6318 5148 19837 6334 5204 19838 6332 5205 19839 2502 5191 19840 2503 5194 19841 2601 5157 19842 2602 5160 19843 3195 5155 19844 3205 5154 19845 6332 5205 19846 6333 5206 19847 2270 5207 19848 2508 5202 19849 2506 5122 19850 2279 5121 19851 3195 5155 19852 6333 5206 19853 6322 5164 19854 6323 5169 19855 2599 5208 19856 2604 5158 19857 2601 5157 19858 2600 5209 19859 2267 5110 19860 2509 5201 19861 2508 5202 19862 2270 5207 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3161 5076 20113 3164 5260 20114 1890 5253 20115 2292 5075 20116 3174 5105 20117 3175 5251 20118 2294 5261 20119 3161 5076 20120 2292 5075 20121 2294 5261 20122 3164 5260 20123 2294 5261 20124 3175 5251 20125 3176 5245 20126 2295 5262 20127 1890 5253 20128 3164 5260 20129 3165 5263 20130 1888 5254 20131 2297 5258 20132 3167 5255 20133 3180 5264 20134 3179 5236 20135 3164 5260 20136 2294 5261 20137 2295 5262 20138 3165 5263 20139 1885 5249 20140 3180 5264 20141 3167 5255 20142 1886 5250 20143 1888 5254 20144 3182 5265 20145 3183 5216 20146 1889 5215 20147 3166 5256 20148 2296 5259 20149 2293 5072 20150 3163 5071 20151 1888 5254 20152 3165 5263 20153 3181 5266 20154 3182 5265 20155 3177 5248 20156 6310 5247 20157 6311 5235 20158 3187 5243 20159 3202 5228 20160 3203 5240 20161 6316 5242 20162 6315 5229 20163 2295 5262 20164 3186 5267 20165 3181 5266 20166 3165 5263 20167 2295 5262 20168 3176 5245 20169 3177 5248 20170 3186 5267 20171 1887 5244 20172 3166 5256 20173 3163 5071 20174 1907 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_animations>
+    <animation id="_6_15_t_Hips_pose_matrix">
+      <source id="_6_15_t_Hips_pose_matrix-input">
+        <float_array id="_6_15_t_Hips_pose_matrix-input-array" count="139">0.04166662 0.08333331 0.125 0.1666666 0.2083333 0.25 0.2916666 0.3333333 0.375 0.4166666 0.4583333 0.5 0.5416667 0.5833333 0.625 0.6666667 0.7083333 0.75 0.7916667 0.8333333 0.875 0.9166667 0.9583333 1 1.041667 1.083333 1.125 1.166667 1.208333 1.25 1.291667 1.333333 1.375 1.416667 1.458333 1.5 1.541667 1.583333 1.625 1.666667 1.708333 1.75 1.791667 1.833333 1.875 1.916667 1.958333 2 2.041667 2.083333 2.125 2.166667 2.208333 2.25 2.291667 2.333333 2.375 2.416667 2.458333 2.5 2.541667 2.583333 2.625 2.666667 2.708333 2.75 2.791667 2.833333 2.875 2.916667 2.958333 3 3.041667 3.083333 3.125 3.166667 3.208333 3.25 3.291667 3.333333 3.375 3.416667 3.458333 3.5 3.541667 3.583333 3.625 3.666667 3.708333 3.75 3.791667 3.833333 3.875 3.916667 3.958333 4 4.041666 4.083333 4.125 4.166666 4.208333 4.25 4.291666 4.333333 4.375 4.416666 4.458333 4.5 4.541666 4.583333 4.625 4.666666 4.708333 4.75 4.791666 4.833333 4.875 4.916666 4.958333 5 5.041666 5.083333 5.125 5.166666 5.208333 5.25 5.291666 5.333333 5.375 5.416666 5.458333 5.5 5.541666 5.583333 5.625 5.666666 5.708333 5.75 5.791666</float_array>
+        <technique_common>
+          <accessor source="#_6_15_t_Hips_pose_matrix-input-array" count="139" stride="1">
+            <param name="TIME" type="float"/>
+          </accessor>
+        </technique_common>
+      </source>
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+            <param name="TIME" type="float"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_RHipJoint_pose_matrix-interpolation">
+        <Name_array id="_6_15_t_RHipJoint_pose_matrix-interpolation-array" count="139">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <sampler id="_6_15_t_RHipJoint_pose_matrix-sampler">
+        <input semantic="INPUT" source="#_6_15_t_RHipJoint_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RHipJoint_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RHipJoint_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_RHipJoint_pose_matrix-sampler" target="RHipJoint/transform"/>
+    </animation>
+    <animation id="_6_15_t_RightUpLeg_pose_matrix">
+      <source id="_6_15_t_RightUpLeg_pose_matrix-input">
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+        <technique_common>
+          <accessor source="#_6_15_t_RightUpLeg_pose_matrix-input-array" count="139" stride="1">
+            <param name="TIME" type="float"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_RightUpLeg_pose_matrix-output">
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+        <technique_common>
+          <accessor source="#_6_15_t_RightUpLeg_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_RightUpLeg_pose_matrix-interpolation">
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+          <accessor source="#_6_15_t_Spine_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="OUTPUT" source="#_6_15_t_LeftShoulder_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftShoulder_pose_matrix-interpolation"/>
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+        <technique_common>
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+        <technique_common>
+          <accessor source="#_6_15_t_LeftArm_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <source id="_6_15_t_LeftArm_pose_matrix-interpolation">
+        <Name_array id="_6_15_t_LeftArm_pose_matrix-interpolation-array" count="139">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#_6_15_t_LeftArm_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
+          </accessor>
+        </technique_common>
+      </source>
+      <sampler id="_6_15_t_LeftArm_pose_matrix-sampler">
+        <input semantic="INPUT" source="#_6_15_t_LeftArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftArm_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_LeftArm_pose_matrix-sampler" target="LeftArm/transform"/>
+    </animation>
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+            <param name="TRANSFORM" type="float4x4"/>
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+        <technique_common>
+          <accessor source="#_6_15_t_RightArm_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_RightArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RightArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RightArm_pose_matrix-interpolation"/>
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+      <channel source="#_6_15_t_RightArm_pose_matrix-sampler" target="RightArm/transform"/>
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+            <param name="TIME" type="float"/>
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+            <param name="TRANSFORM" type="float4x4"/>
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+            <param name="INTERPOLATION" type="name"/>
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+      <channel source="#_6_15_t_RightForeArm_pose_matrix-sampler" target="RightForeArm/transform"/>
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+        </vertex_weights>
+      </skin>
+    </controller>
+  </library_controllers>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_6_15_t" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <node id="Hips" name="Hips" sid="Hips" type="JOINT">
+          <matrix sid="transform">1.87856e-15 3.25841e-7 1 0 1 1.42109e-14 1.23323e-14 0 -1.42109e-14 1 -3.25841e-7 0 0 0 0 1</matrix>
+          <node id="LHipJoint" name="LHipJoint" sid="LHipJoint" type="JOINT">
+            <matrix sid="transform">-0.4072819 0.635349 -0.6560891 2.6511e-15 -0.6353492 -0.7131573 -0.296206 0 -0.6560889 0.2962064 0.6941245 1.62921e-8 0 0 0 1</matrix>
+            <node id="LeftUpLeg" name="LeftUpLeg" sid="LeftUpLeg" type="JOINT">
+              <matrix sid="transform">0.3961309 0.6423606 -0.6560892 3.23847e-9 -0.6476991 0.7019598 0.2962062 0.1535566 0.6508196 0.3076119 0.6941245 -1.32855e-10 0 0 0 1</matrix>
+              <node id="LeftLeg" name="LeftLeg" sid="LeftLeg" type="JOINT">
+                <matrix sid="transform">0.999999 0.001428954 -1.04076e-7 0 -0.001428956 0.999999 6.21187e-8 0.4361505 1.04164e-7 -6.19699e-8 1 0 0 0 0 1</matrix>
+                <node id="LeftFoot" name="LeftFoot" sid="LeftFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996988 -3.92556e-4 -0.02454413 0 -0.02369912 0.2759955 0.9608667 0.4459705 0.006396872 0.9611592 -0.2759216 3.72529e-9 0 0 0 1</matrix>
+                  <node id="LeftToeBase" name="LeftToeBase" sid="LeftToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999679 0.006396692 -0.004818773 7.45058e-9 -0.004818633 0.9611588 0.2759538 0.1370783 0.006396799 -0.2759217 0.9611589 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="RHipJoint" name="RHipJoint" sid="RHipJoint" type="JOINT">
+            <matrix sid="transform">-0.3918986 -0.6153328 0.6839452 2.6511e-15 0.6153329 -0.7279726 -0.3023594 0 0.6839451 0.3023597 0.6639261 1.62921e-8 0 0 0 1</matrix>
+            <node id="RightUpLeg" name="RightUpLeg" sid="RightUpLeg" type="JOINT">
+              <matrix sid="transform">0.3810995 -0.6220791 0.6839451 -1.11429e-8 0.6279444 0.7171224 0.3023596 0.1504315 -0.6785638 0.3142503 0.6639259 4.08443e-9 0 0 0 1</matrix>
+              <node id="RightLeg" name="RightLeg" sid="RightLeg" type="JOINT">
+                <matrix sid="transform">0.9999989 -0.001447959 3.10888e-7 0 0.001447957 0.9999988 4.42563e-8 0.4417033 -3.10953e-7 -4.38061e-8 1 3.72529e-9 0 0 0 1</matrix>
+                <node id="RightFoot" name="RightFoot" sid="RightFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996686 4.65921e-4 0.02573219 0 0.02451391 0.3217286 0.9465144 0.4401536 -0.007837783 0.9468316 -0.3216336 0 0 0 0 1</matrix>
+                  <node id="RightToeBase" name="RightToeBase" sid="RightToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999535 -0.007837749 0.005614891 0 0.005615086 0.9468315 0.3216804 0.1452782 -0.007837608 -0.3216339 0.9468316 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="LowerBack" name="LowerBack" sid="LowerBack" type="JOINT">
+            <matrix sid="transform">1 -1.56995e-4 4.0764e-5 2.6511e-15 1.61937e-4 0.9806549 -0.1957447 0 -9.24456e-6 0.1957447 0.9806549 1.62921e-8 0 0 0 1</matrix>
+            <node id="Spine" name="Spine" sid="Spine" type="JOINT">
+              <matrix sid="transform">0.9996557 0.026244 1.95057e-4 -1.67103e-12 -0.02569488 0.9771715 0.2108924 0.1342848 0.00534405 -0.2108248 0.9775093 -1.07573e-9 0 0 0 1</matrix>
+              <node id="Spine1" name="Spine1" sid="Spine1" type="JOINT">
+                <matrix sid="transform">0.999709 -0.02412176 -1.9127e-7 4.65661e-10 0.02412175 0.999709 4.79817e-6 0.1329761 7.5428e-8 -4.8019e-6 1 -3.72529e-9 0 0 0 1</matrix>
+                <node id="Neck" name="Neck" sid="Neck" type="JOINT">
+                  <matrix sid="transform">0.9999886 0.003125201 0.003613005 -4.65661e-10 -0.002560858 0.9891588 -0.146828 0 -0.004032701 0.1468171 0.9891555 1.67638e-8 0 0 0 1</matrix>
+                  <node id="Neck1" name="Neck1" sid="Neck1" type="JOINT">
+                    <matrix sid="transform">0.9999827 -0.005846279 8.18527e-4 0 0.005378973 0.9594907 0.2816895 0.1141579 -0.002432205 -0.2816802 0.9595054 0 0 0 0 1</matrix>
+                    <node id="Head" name="Head" sid="Head" type="JOINT">
+                      <matrix sid="transform">0.9999867 0.001334366 -0.004975973 -4.65661e-10 -0.001781469 0.9958531 -0.09095962 0.09175077 0.004833965 0.0909673 0.9958422 0 0 0 0 1</matrix>
+                    </node>
+                  </node>
+                </node>
+                <node id="LeftShoulder" name="LeftShoulder" sid="LeftShoulder" type="JOINT">
+                  <matrix sid="transform">0.2634423 0.9525584 0.1524157 -4.65661e-10 -0.9547163 0.2348038 0.1827129 0 0.1382569 -0.1936481 0.9712804 1.67638e-8 0 0 0 1</matrix>
+                  <node id="LeftArm" name="LeftArm" sid="LeftArm" type="JOINT">
+                    <matrix sid="transform">0.9529779 0.2615977 0.1529698 0 -0.229908 0.952978 -0.1974218 0.2141151 -0.197422 0.1529697 0.9683102 0 0 0 0 1</matrix>
+                    <node id="LeftForeArm" name="LeftForeArm" sid="LeftForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 2.88103e-8 0 0 1 0 0.3194921 -2.88103e-8 1.7486e-15 1 0 0 0 0 1</matrix>
+                      <node id="LeftHand" name="LeftHand" sid="LeftHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 0 0.232586 0 -3.80059e-15 1 1.86265e-9 0 0 0 1</matrix>
+                        <node id="LeftFingerBase" name="LeftFingerBase" sid="LeftFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 -2.84217e-14 -2.98023e-8 0 1 0 0 2.84217e-14 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          <node id="LeftHandIndex1" name="LeftHandIndex1" sid="LeftHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 0 0.03280848 0 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="LThumb" name="LThumb" sid="LThumb" type="JOINT">
+                          <matrix sid="transform">0.7071065 -8.9407e-8 0.7071071 -2.98023e-8 0.5000002 0.7071066 -0.4999999 0 -0.5000001 0.7071068 0.4999999 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+                <node id="RightShoulder" name="RightShoulder" sid="RightShoulder" type="JOINT">
+                  <matrix sid="transform">0.3357229 -0.9370582 -0.09597921 -4.65661e-10 0.938474 0.3239804 0.1195967 0 -0.08097371 -0.1302254 0.9881724 1.67638e-8 0 0 0 1</matrix>
+                  <node id="RightArm" name="RightArm" sid="RightArm" type="JOINT">
+                    <matrix sid="transform">0.9364473 -0.3375461 -0.09554496 -2.98023e-8 0.3237658 0.9364476 -0.1350626 0.2035319 0.1350627 0.0955449 0.9862196 3.72529e-9 0 0 0 1</matrix>
+                    <node id="RightForeArm" name="RightForeArm" sid="RightForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 1.58932e-8 0 0 1 1.21384e-15 0.32836 -1.58932e-8 -1.23235e-14 1 0 0 0 0 1</matrix>
+                      <node id="RightHand" name="RightHand" sid="RightHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.233209 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                        <node id="RightFingerBase" name="RightFingerBase" sid="RightFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 0 -2.98023e-8 0 1 1.21384e-15 0 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          <node id="RightHandIndex1" name="RightHandIndex1" sid="RightHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.04633379 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="RThumb" name="RThumb" sid="RThumb" type="JOINT">
+                          <matrix sid="transform">0.7071069 2.38419e-7 -0.7071065 -2.98023e-8 -0.4999997 0.7071069 -0.4999998 0 0.4999999 0.7071064 0.5000004 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
+      </node>
+      <node id="human" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_controller url="#_6_15_t_human-skin">
+          <skeleton>#Hips</skeleton>
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="eyes-white" target="#eyes-white-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-brown" target="#eyes-brown-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-black" target="#eyes-black-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="skin-mat" target="#skin-mat-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="sweater-green" target="#sweater-green-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="jeans-blue" target="#jeans-blue-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_controller>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/walk.dae b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/walk.dae
new file mode 100644
index 000000000..494d01f15
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/meshes/walk.dae
@@ -0,0 +1,1439 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.63.5 r46744</authoring_tool>
+    </contributor>
+    <created>2012-05-19T18:37:55</created>
+    <modified>2012-05-19T18:37:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.6220113 0.6209189 0.64 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.6220113 0.6209189 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">23</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="eyes-brown-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1969495 0.07701492 0.03641987 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1969495 0.07701492 0.03641987 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7712766 0.7712766 0.7712766 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="eyes-black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
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+    </effect>
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+      <profile_COMMON>
+        <technique sid="common">
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+            <emission>
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+            </emission>
+            <ambient>
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+            <diffuse>
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+            </diffuse>
+            <specular>
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+            <shininess>
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+            <index_of_refraction>
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+            </specular>
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+    </material>
+    <material id="eyes-brown-material" name="eyes-brown-material">
+      <instance_effect url="#eyes-brown-effect"/>
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+      <instance_effect url="#skin-mat-effect"/>
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5094 19988 1915 5058 19989 2269 5093 19990 2273 5230 19991 2266 5151 19992 2268 5096 19993 6337 5227 19994 6338 5226 19995 3199 5141 19996 6312 5149 19997 6313 5176 19998 2564 5170 19999 2270 5207 20000 2279 5121 20001 2512 5223 20002 2514 5225 20003 1901 5179 20004 1914 5094 20005 2273 5230 20006 2274 5183 20007 1912 5051 20008 1913 5097 20009 2268 5096 20010 2266 5151 20011 2564 5170 20012 6313 5176 20013 6314 5181 20014 2555 5165 20015 2269 5093 20016 2516 5116 20017 2513 5224 20018 2273 5230 20019 1896 5167 20020 1900 5231 20021 1914 5094 20022 1901 5179 20023 2289 5132 20024 2371 5125 20025 2523 5128 20026 2522 5129 20027 2555 5165 20028 6314 5181 20029 6315 5229 20030 2554 5166 20031 2267 5110 20032 2270 5207 20033 2514 5225 20034 2515 5115 20035 1893 5120 20036 1898 5119 20037 1900 5231 20038 1896 5167 20039 1891 5232 20040 1889 5215 20041 1895 5147 20042 1897 5133 20043 3197 5233 20044 6317 5234 20045 6311 5235 20046 3179 5236 20047 1884 5237 20048 1883 5238 20049 1898 5119 20050 1899 5118 20051 1882 5239 20052 1900 5231 20053 1898 5119 20054 1883 5238 20055 3203 5240 20056 3204 5241 20057 6317 5234 20058 6316 5242 20059 1882 5239 20060 1908 5095 20061 1914 5094 20062 1900 5231 20063 3187 5243 20064 6311 5235 20065 6317 5234 20066 3204 5241 20067 1882 5239 20068 1887 5244 20069 1907 5099 20070 1908 5095 20071 3176 5245 20072 6309 5246 20073 6310 5247 20074 3177 5248 20075 1884 5237 20076 1885 5249 20077 1886 5250 20078 1883 5238 20079 3175 5251 20080 6308 5252 20081 6309 5246 20082 3176 5245 20083 1891 5232 20084 1890 5253 20085 1888 5254 20086 1889 5215 20087 3174 5105 20088 6307 5109 20089 6308 5252 20090 3175 5251 20091 1890 5253 20092 1891 5232 20093 2275 5092 20094 2276 5107 20095 1891 5232 20096 1897 5133 20097 1903 5090 20098 2275 5092 20099 1886 5250 20100 3167 5255 20101 3166 5256 20102 1887 5244 20103 2553 5257 20104 1884 5237 20105 1899 5118 20106 2554 5166 20107 3167 5255 20108 2297 5258 20109 2296 5259 20110 3166 5256 20111 2276 5107 20112 3161 5076 20113 3164 5260 20114 1890 5253 20115 2292 5075 20116 3174 5105 20117 3175 5251 20118 2294 5261 20119 3161 5076 20120 2292 5075 20121 2294 5261 20122 3164 5260 20123 2294 5261 20124 3175 5251 20125 3176 5245 20126 2295 5262 20127 1890 5253 20128 3164 5260 20129 3165 5263 20130 1888 5254 20131 2297 5258 20132 3167 5255 20133 3180 5264 20134 3179 5236 20135 3164 5260 20136 2294 5261 20137 2295 5262 20138 3165 5263 20139 1885 5249 20140 3180 5264 20141 3167 5255 20142 1886 5250 20143 1888 5254 20144 3182 5265 20145 3183 5216 20146 1889 5215 20147 3166 5256 20148 2296 5259 20149 2293 5072 20150 3163 5071 20151 1888 5254 20152 3165 5263 20153 3181 5266 20154 3182 5265 20155 3177 5248 20156 6310 5247 20157 6311 5235 20158 3187 5243 20159 3202 5228 20160 3203 5240 20161 6316 5242 20162 6315 5229 20163 2295 5262 20164 3186 5267 20165 3181 5266 20166 3165 5263 20167 2295 5262 20168 3176 5245 20169 3177 5248 20170 3186 5267 20171 1887 5244 20172 3166 5256 20173 3163 5071 20174 1907 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+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-output-array" count="139" stride="16">
+            <param name="TRANSFORM" type="float4x4"/>
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+        <Name_array id="_6_15_t_RHipJoint_pose_matrix-interpolation-array" count="139">LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR</Name_array>
+        <technique_common>
+          <accessor source="#_6_15_t_RHipJoint_pose_matrix-interpolation-array" count="139" stride="1">
+            <param name="INTERPOLATION" type="name"/>
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+      <sampler id="_6_15_t_RHipJoint_pose_matrix-sampler">
+        <input semantic="INPUT" source="#_6_15_t_RHipJoint_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_RHipJoint_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_RHipJoint_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_RHipJoint_pose_matrix-sampler" target="RHipJoint/transform"/>
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+        <technique_common>
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+            <param name="TIME" type="float"/>
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+        <technique_common>
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+            <param name="INTERPOLATION" type="name"/>
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+        <input semantic="INPUT" source="#_6_15_t_LeftArm_pose_matrix-input"/>
+        <input semantic="OUTPUT" source="#_6_15_t_LeftArm_pose_matrix-output"/>
+        <input semantic="INTERPOLATION" source="#_6_15_t_LeftArm_pose_matrix-interpolation"/>
+      </sampler>
+      <channel source="#_6_15_t_LeftArm_pose_matrix-sampler" target="LeftArm/transform"/>
+    </animation>
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+        </vertex_weights>
+      </skin>
+    </controller>
+  </library_controllers>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_6_15_t" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <node id="Hips" name="Hips" sid="Hips" type="JOINT">
+          <matrix sid="transform">1.87856e-15 3.25841e-7 1 0 1 1.42109e-14 1.23323e-14 0 -1.42109e-14 1 -3.25841e-7 0 0 0 0 1</matrix>
+          <node id="LHipJoint" name="LHipJoint" sid="LHipJoint" type="JOINT">
+            <matrix sid="transform">-0.4072819 0.635349 -0.6560891 2.6511e-15 -0.6353492 -0.7131573 -0.296206 0 -0.6560889 0.2962064 0.6941245 1.62921e-8 0 0 0 1</matrix>
+            <node id="LeftUpLeg" name="LeftUpLeg" sid="LeftUpLeg" type="JOINT">
+              <matrix sid="transform">0.3961309 0.6423606 -0.6560892 3.23847e-9 -0.6476991 0.7019598 0.2962062 0.1535566 0.6508196 0.3076119 0.6941245 -1.32855e-10 0 0 0 1</matrix>
+              <node id="LeftLeg" name="LeftLeg" sid="LeftLeg" type="JOINT">
+                <matrix sid="transform">0.999999 0.001428954 -1.04076e-7 0 -0.001428956 0.999999 6.21187e-8 0.4361505 1.04164e-7 -6.19699e-8 1 0 0 0 0 1</matrix>
+                <node id="LeftFoot" name="LeftFoot" sid="LeftFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996988 -3.92556e-4 -0.02454413 0 -0.02369912 0.2759955 0.9608667 0.4459705 0.006396872 0.9611592 -0.2759216 3.72529e-9 0 0 0 1</matrix>
+                  <node id="LeftToeBase" name="LeftToeBase" sid="LeftToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999679 0.006396692 -0.004818773 7.45058e-9 -0.004818633 0.9611588 0.2759538 0.1370783 0.006396799 -0.2759217 0.9611589 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="RHipJoint" name="RHipJoint" sid="RHipJoint" type="JOINT">
+            <matrix sid="transform">-0.3918986 -0.6153328 0.6839452 2.6511e-15 0.6153329 -0.7279726 -0.3023594 0 0.6839451 0.3023597 0.6639261 1.62921e-8 0 0 0 1</matrix>
+            <node id="RightUpLeg" name="RightUpLeg" sid="RightUpLeg" type="JOINT">
+              <matrix sid="transform">0.3810995 -0.6220791 0.6839451 -1.11429e-8 0.6279444 0.7171224 0.3023596 0.1504315 -0.6785638 0.3142503 0.6639259 4.08443e-9 0 0 0 1</matrix>
+              <node id="RightLeg" name="RightLeg" sid="RightLeg" type="JOINT">
+                <matrix sid="transform">0.9999989 -0.001447959 3.10888e-7 0 0.001447957 0.9999988 4.42563e-8 0.4417033 -3.10953e-7 -4.38061e-8 1 3.72529e-9 0 0 0 1</matrix>
+                <node id="RightFoot" name="RightFoot" sid="RightFoot" type="JOINT">
+                  <matrix sid="transform">-0.9996686 4.65921e-4 0.02573219 0 0.02451391 0.3217286 0.9465144 0.4401536 -0.007837783 0.9468316 -0.3216336 0 0 0 0 1</matrix>
+                  <node id="RightToeBase" name="RightToeBase" sid="RightToeBase" type="JOINT">
+                    <matrix sid="transform">0.9999535 -0.007837749 0.005614891 0 0.005615086 0.9468315 0.3216804 0.1452782 -0.007837608 -0.3216339 0.9468316 -5.96046e-8 0 0 0 1</matrix>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+          <node id="LowerBack" name="LowerBack" sid="LowerBack" type="JOINT">
+            <matrix sid="transform">1 -1.56995e-4 4.0764e-5 2.6511e-15 1.61937e-4 0.9806549 -0.1957447 0 -9.24456e-6 0.1957447 0.9806549 1.62921e-8 0 0 0 1</matrix>
+            <node id="Spine" name="Spine" sid="Spine" type="JOINT">
+              <matrix sid="transform">0.9996557 0.026244 1.95057e-4 -1.67103e-12 -0.02569488 0.9771715 0.2108924 0.1342848 0.00534405 -0.2108248 0.9775093 -1.07573e-9 0 0 0 1</matrix>
+              <node id="Spine1" name="Spine1" sid="Spine1" type="JOINT">
+                <matrix sid="transform">0.999709 -0.02412176 -1.9127e-7 4.65661e-10 0.02412175 0.999709 4.79817e-6 0.1329761 7.5428e-8 -4.8019e-6 1 -3.72529e-9 0 0 0 1</matrix>
+                <node id="Neck" name="Neck" sid="Neck" type="JOINT">
+                  <matrix sid="transform">0.9999886 0.003125201 0.003613005 -4.65661e-10 -0.002560858 0.9891588 -0.146828 0 -0.004032701 0.1468171 0.9891555 1.67638e-8 0 0 0 1</matrix>
+                  <node id="Neck1" name="Neck1" sid="Neck1" type="JOINT">
+                    <matrix sid="transform">0.9999827 -0.005846279 8.18527e-4 0 0.005378973 0.9594907 0.2816895 0.1141579 -0.002432205 -0.2816802 0.9595054 0 0 0 0 1</matrix>
+                    <node id="Head" name="Head" sid="Head" type="JOINT">
+                      <matrix sid="transform">0.9999867 0.001334366 -0.004975973 -4.65661e-10 -0.001781469 0.9958531 -0.09095962 0.09175077 0.004833965 0.0909673 0.9958422 0 0 0 0 1</matrix>
+                    </node>
+                  </node>
+                </node>
+                <node id="LeftShoulder" name="LeftShoulder" sid="LeftShoulder" type="JOINT">
+                  <matrix sid="transform">0.2634423 0.9525584 0.1524157 -4.65661e-10 -0.9547163 0.2348038 0.1827129 0 0.1382569 -0.1936481 0.9712804 1.67638e-8 0 0 0 1</matrix>
+                  <node id="LeftArm" name="LeftArm" sid="LeftArm" type="JOINT">
+                    <matrix sid="transform">0.9529779 0.2615977 0.1529698 0 -0.229908 0.952978 -0.1974218 0.2141151 -0.197422 0.1529697 0.9683102 0 0 0 0 1</matrix>
+                    <node id="LeftForeArm" name="LeftForeArm" sid="LeftForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 2.88103e-8 0 0 1 0 0.3194921 -2.88103e-8 1.7486e-15 1 0 0 0 0 1</matrix>
+                      <node id="LeftHand" name="LeftHand" sid="LeftHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 0 0.232586 0 -3.80059e-15 1 1.86265e-9 0 0 0 1</matrix>
+                        <node id="LeftFingerBase" name="LeftFingerBase" sid="LeftFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 -2.84217e-14 -2.98023e-8 0 1 0 0 2.84217e-14 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          <node id="LeftHandIndex1" name="LeftHandIndex1" sid="LeftHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 0 0.03280848 0 -3.80059e-15 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="LThumb" name="LThumb" sid="LThumb" type="JOINT">
+                          <matrix sid="transform">0.7071065 -8.9407e-8 0.7071071 -2.98023e-8 0.5000002 0.7071066 -0.4999999 0 -0.5000001 0.7071068 0.4999999 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+                <node id="RightShoulder" name="RightShoulder" sid="RightShoulder" type="JOINT">
+                  <matrix sid="transform">0.3357229 -0.9370582 -0.09597921 -4.65661e-10 0.938474 0.3239804 0.1195967 0 -0.08097371 -0.1302254 0.9881724 1.67638e-8 0 0 0 1</matrix>
+                  <node id="RightArm" name="RightArm" sid="RightArm" type="JOINT">
+                    <matrix sid="transform">0.9364473 -0.3375461 -0.09554496 -2.98023e-8 0.3237658 0.9364476 -0.1350626 0.2035319 0.1350627 0.0955449 0.9862196 3.72529e-9 0 0 0 1</matrix>
+                    <node id="RightForeArm" name="RightForeArm" sid="RightForeArm" type="JOINT">
+                      <matrix sid="transform">1 0 1.58932e-8 0 0 1 1.21384e-15 0.32836 -1.58932e-8 -1.23235e-14 1 0 0 0 0 1</matrix>
+                      <node id="RightHand" name="RightHand" sid="RightHand" type="JOINT">
+                        <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.233209 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                        <node id="RightFingerBase" name="RightFingerBase" sid="RightFingerBase" type="JOINT">
+                          <matrix sid="transform">1 0 0 -2.98023e-8 0 1 1.21384e-15 0 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          <node id="RightHandIndex1" name="RightHandIndex1" sid="RightHandIndex1" type="JOINT">
+                            <matrix sid="transform">1 0 0 0 0 1 1.21384e-15 0.04633379 0 -1.12281e-14 1 0 0 0 0 1</matrix>
+                          </node>
+                        </node>
+                        <node id="RThumb" name="RThumb" sid="RThumb" type="JOINT">
+                          <matrix sid="transform">0.7071069 2.38419e-7 -0.7071065 -2.98023e-8 -0.4999997 0.7071069 -0.4999998 0 0.4999999 0.7071064 0.5000004 0 0 0 0 1</matrix>
+                        </node>
+                      </node>
+                    </node>
+                  </node>
+                </node>
+              </node>
+            </node>
+          </node>
+        </node>
+      </node>
+      <node id="human" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 0</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_controller url="#_6_15_t_human-skin">
+          <skeleton>#Hips</skeleton>
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="eyes-white" target="#eyes-white-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-brown" target="#eyes-brown-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="eyes-black" target="#eyes-black-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="skin-mat" target="#skin-mat-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="sweater-green" target="#sweater-green-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+              <instance_material symbol="jeans-blue" target="#jeans-blue-material">
+                <bind_vertex_input semantic="UVTex" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_controller>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/model.config b/CustomRobots/warehouse_delivery/models/warehouse_worker/model.config
new file mode 100644
index 000000000..bbdf0e8fd
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/model.config
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<model>
+  <name>warehouse_worker</name>
+  <version>1.0</version>
+  <description>
+    Walking actor with extra animations to carry a box and to stand still
+  </description>
+</model>
diff --git a/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
new file mode 100644
index 000000000..8a3e07cea
--- /dev/null
+++ b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
@@ -0,0 +1,977 @@
+#include <gz/sim/System.hh>
+#include <gz/sim/Actor.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/Util.hh>
+#include <gz/sim/components/AngularVelocityCmd.hh>
+#include <gz/sim/components/LinearVelocityCmd.hh>
+#include <gz/sim/components/Model.hh>
+#include <gz/sim/components/Name.hh>
+#include <gz/sim/components/Pose.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector2.hh>
+
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <queue>
+#include <random>
+#include <sstream>
+#include <string>
+#include <vector>
+
+// Workers that carry boxes to random free spots and stroll around in between
+// Each worker is an actor plus an invisible cylinder the robot can collide with
+
+namespace warehouse_workers
+{
+using gz::math::Pose3d;
+using gz::math::Vector2d;
+using gz::math::Vector3d;
+using gz::sim::Entity;
+using gz::sim::EntityComponentManager;
+using gz::sim::kNullEntity;
+
+namespace
+{
+constexpr double kPersonRadius = 0.3;
+constexpr double kBoxRadius = 0.3;
+constexpr double kRobotRadius = 0.4;
+// Distance from the worker to the box center while picking and placing
+constexpr double kStandoff = 0.55;
+// Must match the hand target of the carry animations
+constexpr double kCarryAhead = 0.35;
+constexpr double kCarryZ = 0.98;
+constexpr double kLiftTime = 1.0;
+constexpr double kTurnRate = 2.5;
+constexpr double kTurnInPlace = 0.6;
+
+double wrap(double a)
+{
+  return std::atan2(std::sin(a), std::cos(a));
+}
+
+double lerp(double a, double b, double t)
+{
+  return a + (b - a) * t;
+}
+
+std::vector<double> numbers(const std::string &text)
+{
+  std::vector<double> out;
+  std::stringstream ss(text);
+  double v;
+  while (ss >> v)
+    out.push_back(v);
+  return out;
+}
+}  // namespace
+
+struct Circle
+{
+  Vector2d c;
+  double r;
+};
+
+struct Box
+{
+  std::string name;
+  Entity entity{kNullEntity};
+  double halfHeight{0.14};
+  int owner{-1};
+};
+
+struct Worker
+{
+  enum class State { Start, ToBox, Lift, ToDrop, Lower, Stroll, Idle };
+
+  std::string actorName;
+  std::string bodyName;
+  Entity actor{kNullEntity};
+  Entity body{kNullEntity};
+  Vector2d startPos;
+  double startYaw{0.0};
+
+  Vector2d pos;
+  double yaw{0.0};
+  double speed{0.0};
+  State state{State::Start};
+  std::vector<Vector2d> path;
+  size_t wp{0};
+  // Heading to face once the path ends
+  bool faceTarget{false};
+  Vector2d faceAt;
+  double timer{0.0};
+  double retryAt{0.0};
+  double blockedTime{0.0};
+  // After a detour the worker stops waiting for the others for a while
+  double ignoreOthersUntil{0.0};
+  int box{-1};
+  int lastBox{-1};
+  Vector2d dropAt;
+  int strollsLeft{0};
+  double animTime{0.0};
+  bool moving{false};
+  std::string animation;
+};
+
+class WarehouseWorkers :
+    public gz::sim::System,
+    public gz::sim::ISystemConfigure,
+    public gz::sim::ISystemPreUpdate,
+    public gz::sim::ISystemReset
+{
+public:
+  void Configure(const Entity &, const std::shared_ptr<const sdf::Element> &_sdf,
+                 EntityComponentManager &, gz::sim::EventManager &) override
+  {
+    auto sdf = std::const_pointer_cast<sdf::Element>(_sdf);
+
+    this->walkSpeed = sdf->Get<double>("walk_speed", 0.7).first;
+    this->animPerMeter = sdf->Get<double>("animation_per_meter", 4.15).first;
+    this->actorZ = sdf->Get<double>("actor_z", 1.0).first;
+    this->robotName = sdf->Get<std::string>("robot", "").first;
+    this->clearance = sdf->Get<double>("drop_clearance", 0.8).first;
+    this->debug = sdf->Get<bool>("debug", false).first;
+
+    if (sdf->HasElement("seed"))
+      this->rng.seed(sdf->Get<unsigned int>("seed"));
+    else
+      this->rng.seed(std::random_device{}());
+
+    for (auto e = sdf->FindElement("worker"); e; e = e->GetNextElement("worker"))
+    {
+      Worker w;
+      w.actorName = e->Get<std::string>("actor");
+      w.bodyName = e->Get<std::string>("body");
+      auto p = numbers(e->Get<std::string>("start"));
+      if (p.size() == 3)
+      {
+        w.startPos.Set(p[0], p[1]);
+        w.startYaw = p[2];
+      }
+      this->workers.push_back(w);
+    }
+    for (auto e = sdf->FindElement("box"); e; e = e->GetNextElement("box"))
+    {
+      Box b;
+      b.name = e->Get<std::string>();
+      b.halfHeight = e->Get<double>("half_height", 0.14).first;
+      this->boxes.push_back(b);
+    }
+    for (auto e = sdf->FindElement("keepout"); e; e = e->GetNextElement("keepout"))
+    {
+      auto v = numbers(e->Get<std::string>());
+      if (v.size() == 3)
+        this->keepouts.push_back({Vector2d(v[0], v[1]), v[2]});
+    }
+
+    if (!this->LoadMap(sdf->Get<std::string>("map"),
+                       sdf->Get<double>("resolution", 0.05).first,
+                       sdf->Get<double>("origin_x", 0.0).first,
+                       sdf->Get<double>("origin_y", 0.0).first))
+    {
+      std::cerr << "[WarehouseWorkers] could not load the map, workers stay still\n";
+      return;
+    }
+    this->ready = true;
+  }
+
+  void Reset(const gz::sim::UpdateInfo &, EntityComponentManager &_ecm) override
+  {
+    for (auto &w : this->workers)
+    {
+      w.state = Worker::State::Start;
+      w.box = -1;
+      w.lastBox = -1;
+      w.path.clear();
+      w.ignoreOthersUntil = 0.0;
+    }
+    for (auto &b : this->boxes)
+    {
+      b.owner = -1;
+      if (b.entity != kNullEntity)
+        this->ReleaseModel(b.entity, _ecm);
+    }
+    this->lastSimTime = 0.0;
+    this->firstUpdate = true;
+  }
+
+  void PreUpdate(const gz::sim::UpdateInfo &_info, EntityComponentManager &_ecm) override
+  {
+    if (!this->ready)
+      return;
+    if (!this->FindEntities(_ecm))
+      return;
+
+    double now = std::chrono::duration<double>(_info.simTime).count();
+    if (now < this->lastSimTime)
+      this->Reset(_info, _ecm);
+    double dt = now - this->lastSimTime;
+    this->lastSimTime = now;
+    this->now = now;
+
+    if (this->firstUpdate)
+    {
+      this->Scatter(_ecm);
+      this->firstUpdate = false;
+    }
+
+    if (_info.paused)
+      return;
+    dt = std::clamp(dt, 0.0, 0.05);
+
+    for (size_t i = 0; i < this->workers.size(); ++i)
+      this->Step(static_cast<int>(i), dt, _ecm);
+  }
+
+private:
+  bool LoadMap(const std::string &file, double res, double ox, double oy)
+  {
+    std::ifstream in(file, std::ios::binary);
+    if (!in)
+      return false;
+    std::string magic;
+    int maxval;
+    in >> magic;
+    // Skip comment lines of the header
+    auto next = [&in]() {
+      in >> std::ws;
+      while (in.peek() == '#')
+      {
+        std::string line;
+        std::getline(in, line);
+        in >> std::ws;
+      }
+    };
+    next();
+    in >> this->width;
+    next();
+    in >> this->height;
+    next();
+    in >> maxval;
+    in.get();
+    if (magic != "P5" || this->width <= 0 || this->height <= 0)
+      return false;
+    std::vector<unsigned char> raw(this->width * this->height);
+    in.read(reinterpret_cast<char *>(raw.data()), raw.size());
+
+    this->res = res;
+    this->ox = ox;
+    this->oy = oy;
+    // White cells are occupied and the first row is the top of the map
+    this->occupied.assign(raw.size(), false);
+    for (int r = 0; r < this->height; ++r)
+      for (int c = 0; c < this->width; ++c)
+        this->occupied[this->Index(c, this->height - 1 - r)] = raw[r * this->width + c] > 127;
+
+    // Distance to the closest obstacle in meters by a two pass chamfer
+    const double inf = 1e9;
+    this->dist.assign(raw.size(), inf);
+    for (size_t i = 0; i < raw.size(); ++i)
+      if (this->occupied[i])
+        this->dist[i] = 0.0;
+    const double d1 = res, d2 = res * std::sqrt(2.0);
+    for (int y = 0; y < this->height; ++y)
+      for (int x = 0; x < this->width; ++x)
+      {
+        double &d = this->dist[this->Index(x, y)];
+        if (x > 0) d = std::min(d, this->dist[this->Index(x - 1, y)] + d1);
+        if (y > 0) d = std::min(d, this->dist[this->Index(x, y - 1)] + d1);
+        if (x > 0 && y > 0) d = std::min(d, this->dist[this->Index(x - 1, y - 1)] + d2);
+        if (x < this->width - 1 && y > 0) d = std::min(d, this->dist[this->Index(x + 1, y - 1)] + d2);
+      }
+    for (int y = this->height - 1; y >= 0; --y)
+      for (int x = this->width - 1; x >= 0; --x)
+      {
+        double &d = this->dist[this->Index(x, y)];
+        if (x < this->width - 1) d = std::min(d, this->dist[this->Index(x + 1, y)] + d1);
+        if (y < this->height - 1) d = std::min(d, this->dist[this->Index(x, y + 1)] + d1);
+        if (x < this->width - 1 && y < this->height - 1) d = std::min(d, this->dist[this->Index(x + 1, y + 1)] + d2);
+        if (x > 0 && y < this->height - 1) d = std::min(d, this->dist[this->Index(x - 1, y + 1)] + d2);
+      }
+    return true;
+  }
+
+  int Index(int x, int y) const { return y * this->width + x; }
+
+  bool Cell(const Vector2d &p, int &x, int &y) const
+  {
+    x = static_cast<int>(std::floor((p.X() - this->ox) / this->res));
+    y = static_cast<int>(std::floor((p.Y() - this->oy) / this->res));
+    return x >= 0 && y >= 0 && x < this->width && y < this->height;
+  }
+
+  Vector2d Center(int x, int y) const
+  {
+    return Vector2d(this->ox + (x + 0.5) * this->res, this->oy + (y + 0.5) * this->res);
+  }
+
+  double WallDistance(const Vector2d &p) const
+  {
+    int x, y;
+    if (!this->Cell(p, x, y))
+      return 0.0;
+    return this->dist[this->Index(x, y)];
+  }
+
+  bool FindEntities(EntityComponentManager &_ecm)
+  {
+    if (this->found)
+      return true;
+    for (auto &w : this->workers)
+    {
+      w.actor = _ecm.EntityByComponents(gz::sim::components::Name(w.actorName));
+      w.body = _ecm.EntityByComponents(gz::sim::components::Name(w.bodyName),
+                                       gz::sim::components::Model());
+      if (w.actor == kNullEntity || w.body == kNullEntity)
+        return false;
+    }
+    for (auto &b : this->boxes)
+    {
+      b.entity = _ecm.EntityByComponents(gz::sim::components::Name(b.name),
+                                         gz::sim::components::Model());
+      if (b.entity == kNullEntity)
+        return false;
+    }
+    this->found = true;
+    return true;
+  }
+
+  Vector2d BoxPos(const Box &b, EntityComponentManager &_ecm) const
+  {
+    auto p = gz::sim::worldPose(b.entity, _ecm);
+    return Vector2d(p.Pos().X(), p.Pos().Y());
+  }
+
+  bool RobotPos(EntityComponentManager &_ecm, Vector2d &out) const
+  {
+    if (this->robotName.empty())
+      return false;
+    Entity e = _ecm.EntityByComponents(gz::sim::components::Name(this->robotName),
+                                       gz::sim::components::Model());
+    if (e == kNullEntity)
+      return false;
+    auto p = gz::sim::worldPose(e, _ecm);
+    out.Set(p.Pos().X(), p.Pos().Y());
+    return true;
+  }
+
+  void SetModelPose(Entity e, const Pose3d &pose, const Vector3d &vel,
+                    EntityComponentManager &_ecm)
+  {
+    gz::sim::Model(e).SetWorldPoseCmd(_ecm, pose);
+    // Body frame velocity so contacts see a moving object and gravity
+    // never builds up while the pose is being set
+    auto lin = _ecm.Component<gz::sim::components::LinearVelocityCmd>(e);
+    if (lin)
+      *lin = gz::sim::components::LinearVelocityCmd(vel);
+    else
+      _ecm.CreateComponent(e, gz::sim::components::LinearVelocityCmd(vel));
+    auto ang = _ecm.Component<gz::sim::components::AngularVelocityCmd>(e);
+    if (ang)
+      *ang = gz::sim::components::AngularVelocityCmd(Vector3d::Zero);
+    else
+      _ecm.CreateComponent(e, gz::sim::components::AngularVelocityCmd(Vector3d::Zero));
+  }
+
+  void ReleaseModel(Entity e, EntityComponentManager &_ecm)
+  {
+    _ecm.RemoveComponent<gz::sim::components::LinearVelocityCmd>(e);
+    _ecm.RemoveComponent<gz::sim::components::AngularVelocityCmd>(e);
+  }
+
+  // Free spot away from walls and keepouts and the robot and the other boxes
+  bool SpotIsFree(const Vector2d &p, int ignoreBox, EntityComponentManager &_ecm,
+                  const std::vector<Vector2d> &taken) const
+  {
+    if (this->WallDistance(p) < this->clearance)
+      return false;
+    for (const auto &k : this->keepouts)
+      if (p.Distance(k.c) < k.r)
+        return false;
+    Vector2d robot;
+    if (this->RobotPos(_ecm, robot) && p.Distance(robot) < 1.2)
+      return false;
+    for (size_t i = 0; i < this->boxes.size(); ++i)
+      if (static_cast<int>(i) != ignoreBox && p.Distance(this->BoxPos(this->boxes[i], _ecm)) < 1.2)
+        return false;
+    for (const auto &t : taken)
+      if (p.Distance(t) < 1.2)
+        return false;
+    for (const auto &w : this->workers)
+      if (p.Distance(w.pos) < 1.0)
+        return false;
+    return true;
+  }
+
+  bool RandomSpot(Vector2d &out, int ignoreBox, EntityComponentManager &_ecm,
+                  const std::vector<Vector2d> &taken = {})
+  {
+    std::uniform_real_distribution<double> ux(this->ox, this->ox + this->width * this->res);
+    std::uniform_real_distribution<double> uy(this->oy, this->oy + this->height * this->res);
+    for (int i = 0; i < 2000; ++i)
+    {
+      Vector2d p(ux(this->rng), uy(this->rng));
+      if (this->SpotIsFree(p, ignoreBox, _ecm, taken))
+      {
+        out = p;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  void Scatter(EntityComponentManager &_ecm)
+  {
+    for (auto &w : this->workers)
+    {
+      w.pos = w.startPos;
+      w.yaw = w.startYaw;
+    }
+    std::vector<Vector2d> taken;
+    std::uniform_real_distribution<double> uyaw(-M_PI, M_PI);
+    for (size_t i = 0; i < this->boxes.size(); ++i)
+    {
+      Vector2d p;
+      if (!this->RandomSpot(p, static_cast<int>(i), _ecm, taken))
+        continue;
+      taken.push_back(p);
+      Pose3d pose(p.X(), p.Y(), this->boxes[i].halfHeight, 0, 0, uyaw(this->rng));
+      gz::sim::Model(this->boxes[i].entity).SetWorldPoseCmd(_ecm, pose);
+    }
+  }
+
+  // Cells a worker may step on while boxes and the robot block their surroundings
+  std::vector<bool> Walkable(int self, int targetBox, EntityComponentManager &_ecm)
+  {
+    std::vector<bool> ok(this->occupied.size());
+    for (size_t i = 0; i < ok.size(); ++i)
+      ok[i] = this->dist[i] > kPersonRadius;
+
+    std::vector<Circle> blocks;
+    for (size_t i = 0; i < this->boxes.size(); ++i)
+    {
+      const auto &b = this->boxes[i];
+      if (static_cast<int>(i) == targetBox || b.owner >= 0)
+        continue;
+      blocks.push_back({this->BoxPos(b, _ecm), kBoxRadius + kPersonRadius});
+    }
+    Vector2d robot;
+    if (this->RobotPos(_ecm, robot))
+      blocks.push_back({robot, kRobotRadius + kPersonRadius});
+    for (size_t i = 0; i < this->workers.size(); ++i)
+      if (static_cast<int>(i) != self)
+        blocks.push_back({this->workers[i].pos, 2 * kPersonRadius});
+
+    const Vector2d &me = this->workers[self].pos;
+    for (auto b : blocks)
+    {
+      // A worker standing next to a box must still be able to walk away
+      b.r = std::min(b.r, b.c.Distance(me) - 2 * this->res);
+      if (b.r <= 0.0)
+        continue;
+      int cx, cy;
+      this->Cell(b.c, cx, cy);
+      int n = static_cast<int>(std::ceil(b.r / this->res));
+      for (int y = cy - n; y <= cy + n; ++y)
+        for (int x = cx - n; x <= cx + n; ++x)
+          if (x >= 0 && y >= 0 && x < this->width && y < this->height &&
+              this->Center(x, y).Distance(b.c) < b.r)
+            ok[this->Index(x, y)] = false;
+    }
+    return ok;
+  }
+
+  bool LineFree(const Vector2d &a, const Vector2d &b, const std::vector<bool> &ok) const
+  {
+    double len = a.Distance(b);
+    int steps = std::max(1, static_cast<int>(len / (this->res * 0.5)));
+    for (int i = 0; i <= steps; ++i)
+    {
+      Vector2d p = a + (b - a) * (static_cast<double>(i) / steps);
+      int x, y;
+      if (!this->Cell(p, x, y) || !ok[this->Index(x, y)])
+        return false;
+    }
+    return true;
+  }
+
+  // A* over the grid followed by line of sight shortcuts
+  bool Plan(const Vector2d &from, const Vector2d &to, const std::vector<bool> &ok,
+            std::vector<Vector2d> &path) const
+  {
+    int sx, sy, gx, gy;
+    if (!this->Cell(from, sx, sy) || !this->Cell(to, gx, gy))
+      return false;
+    int goal = this->Index(gx, gy);
+    if (!ok[goal])
+      return false;
+
+    const int n = this->width * this->height;
+    std::vector<double> g(n, 1e18);
+    std::vector<int> parent(n, -1);
+    std::vector<bool> closed(n, false);
+    using Item = std::pair<double, int>;
+    std::priority_queue<Item, std::vector<Item>, std::greater<Item>> open;
+    int start = this->Index(sx, sy);
+    g[start] = 0.0;
+    auto h = [&](int x, int y) {
+      double dx = std::abs(x - gx), dy = std::abs(y - gy);
+      return std::max(dx, dy) + (std::sqrt(2.0) - 1.0) * std::min(dx, dy);
+    };
+    open.push({h(sx, sy), start});
+    bool reached = false;
+    while (!open.empty())
+    {
+      int cur = open.top().second;
+      open.pop();
+      if (closed[cur])
+        continue;
+      closed[cur] = true;
+      if (cur == goal)
+      {
+        reached = true;
+        break;
+      }
+      int cx = cur % this->width, cy = cur / this->width;
+      for (int dy = -1; dy <= 1; ++dy)
+        for (int dx = -1; dx <= 1; ++dx)
+        {
+          if (!dx && !dy)
+            continue;
+          int x = cx + dx, y = cy + dy;
+          if (x < 0 || y < 0 || x >= this->width || y >= this->height)
+            continue;
+          int ni = this->Index(x, y);
+          if (!ok[ni] || closed[ni])
+            continue;
+          double step = (dx && dy) ? std::sqrt(2.0) : 1.0;
+          if (g[cur] + step < g[ni])
+          {
+            g[ni] = g[cur] + step;
+            parent[ni] = cur;
+            open.push({g[ni] + h(x, y), ni});
+          }
+        }
+    }
+    if (!reached)
+      return false;
+
+    std::vector<Vector2d> cells;
+    for (int c = goal; c != -1; c = parent[c])
+      cells.push_back(this->Center(c % this->width, c / this->width));
+    std::reverse(cells.begin(), cells.end());
+    cells.front() = from;
+    cells.back() = to;
+
+    path.clear();
+    size_t i = 0;
+    while (i + 1 < cells.size())
+    {
+      size_t j = cells.size() - 1;
+      while (j > i + 1 && !this->LineFree(cells[i], cells[j], ok))
+        --j;
+      path.push_back(cells[j]);
+      i = j;
+    }
+    return !path.empty();
+  }
+
+  // Closest walkable spot at kStandoff from a target
+  bool Approach(const Worker &w, const Vector2d &target, const std::vector<bool> &ok,
+                Vector2d &out) const
+  {
+    double best = 1e18;
+    bool found = false;
+    for (int k = 0; k < 16; ++k)
+    {
+      double a = k * M_PI / 8.0;
+      Vector2d p = target + Vector2d(std::cos(a), std::sin(a)) * kStandoff;
+      int x, y;
+      if (!this->Cell(p, x, y) || !ok[this->Index(x, y)])
+        continue;
+      double d = p.Distance(w.pos);
+      if (d < best)
+      {
+        best = d;
+        out = p;
+        found = true;
+      }
+    }
+    return found;
+  }
+
+  bool GoTo(int i, const Vector2d &goal, bool face, const Vector2d &faceAt,
+            int targetBox, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    auto ok = this->Walkable(i, targetBox, _ecm);
+    std::vector<Vector2d> path;
+    if (!this->Plan(w.pos, goal, ok, path))
+      return false;
+    w.path = path;
+    w.wp = 0;
+    w.faceTarget = face;
+    w.faceAt = faceAt;
+    w.blockedTime = 0.0;
+    return true;
+  }
+
+  // Plans around the other workers and stops waiting for them for a while
+  bool Detour(int i, int targetBox, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    w.blockedTime = 0.0;
+    w.ignoreOthersUntil = this->now + 4.0;
+    return this->GoTo(i, w.path.back(), w.faceTarget, w.faceAt, targetBox, _ecm);
+  }
+
+  bool PickBox(int i, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    std::vector<int> options;
+    for (size_t b = 0; b < this->boxes.size(); ++b)
+      if (this->boxes[b].owner < 0 && static_cast<int>(b) != w.lastBox)
+        options.push_back(static_cast<int>(b));
+    std::shuffle(options.begin(), options.end(), this->rng);
+    for (int b : options)
+    {
+      Vector2d boxPos = this->BoxPos(this->boxes[b], _ecm);
+      auto ok = this->Walkable(i, b, _ecm);
+      Vector2d stand;
+      if (!this->Approach(w, boxPos, ok, stand))
+      {
+        this->Log(i, "no approach to " + this->boxes[b].name);
+        continue;
+      }
+      if (!this->GoTo(i, stand, true, boxPos, b, _ecm))
+      {
+        this->Log(i, "no path to " + this->boxes[b].name);
+        continue;
+      }
+      this->boxes[b].owner = i;
+      w.box = b;
+      w.state = Worker::State::ToBox;
+      return true;
+    }
+    return false;
+  }
+
+  bool PickDrop(int i, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    auto ok = this->Walkable(i, -1, _ecm);
+    for (int tries = 0; tries < 20; ++tries)
+    {
+      Vector2d drop;
+      if (!this->RandomSpot(drop, w.box, _ecm))
+        return false;
+      if (drop.Distance(w.pos) < 3.0)
+        continue;
+      Vector2d stand;
+      if (!this->Approach(w, drop, ok, stand))
+        continue;
+      if (!this->GoTo(i, stand, true, drop, -1, _ecm))
+        continue;
+      w.dropAt = drop;
+      w.state = Worker::State::ToDrop;
+      return true;
+    }
+    return false;
+  }
+
+  bool PickStroll(int i, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    for (int tries = 0; tries < 20; ++tries)
+    {
+      Vector2d p;
+      if (!this->RandomSpot(p, -1, _ecm))
+        return false;
+      if (p.Distance(w.pos) < 2.0)
+        continue;
+      if (this->GoTo(i, p, false, p, -1, _ecm))
+      {
+        w.state = Worker::State::Stroll;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  void Idle(Worker &w, double minTime, double maxTime)
+  {
+    std::uniform_real_distribution<double> u(minTime, maxTime);
+    w.timer = u(this->rng);
+    w.state = Worker::State::Idle;
+    w.path.clear();
+  }
+
+  // Follows the path and returns true once the final turn is done
+  bool Walk(int i, double dt)
+  {
+    auto &w = this->workers[i];
+    w.speed = 0.0;
+    w.moving = false;
+    if (w.wp < w.path.size())
+    {
+      // Wait while another worker stands right ahead
+      Vector2d ahead = w.path[w.wp] - w.pos;
+      ahead.Normalize();
+      for (size_t j = 0; j < this->workers.size() && this->now >= w.ignoreOthersUntil; ++j)
+      {
+        Vector2d d = this->workers[j].pos - w.pos;
+        if (static_cast<int>(j) != i && d.Length() < 0.9 && d.Dot(ahead) > 0.5 * d.Length())
+        {
+          w.blockedTime += dt;
+          return false;
+        }
+      }
+      w.blockedTime = 0.0;
+
+      Vector2d target = w.path[w.wp];
+      Vector2d d = target - w.pos;
+      double dist = d.Length();
+      double err = wrap(std::atan2(d.Y(), d.X()) - w.yaw);
+      double turn = std::clamp(err, -kTurnRate * dt, kTurnRate * dt);
+      w.yaw = wrap(w.yaw + turn);
+      w.animTime += std::abs(turn) * 0.3;
+      w.moving = w.moving || std::abs(turn) > 1e-4;
+      if (std::abs(err) < kTurnInPlace)
+      {
+        double step = std::min(dist, this->walkSpeed * dt);
+        w.pos += Vector2d(std::cos(w.yaw), std::sin(w.yaw)) * step;
+        w.speed = step / std::max(dt, 1e-6);
+        w.animTime += step * this->animPerMeter;
+        w.moving = true;
+      }
+      if (w.pos.Distance(target) < 0.03)
+      {
+        w.pos = target;
+        ++w.wp;
+      }
+      return false;
+    }
+    if (w.faceTarget)
+    {
+      Vector2d d = w.faceAt - w.pos;
+      double err = wrap(std::atan2(d.Y(), d.X()) - w.yaw);
+      double turn = std::clamp(err, -kTurnRate * dt, kTurnRate * dt);
+      w.yaw = wrap(w.yaw + turn);
+      w.animTime += std::abs(turn) * 0.3;
+      w.moving = w.moving || std::abs(turn) > 1e-4;
+      if (std::abs(err) > 0.02)
+        return false;
+    }
+    return true;
+  }
+
+  void Log(int i, const std::string &msg) const
+  {
+    if (this->debug)
+      std::cout << "[WarehouseWorkers] t=" << this->now << " " << this->workers[i].actorName
+                << " " << msg << std::endl;
+  }
+
+  void Step(int i, double dt, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    auto before = w.state;
+    std::uniform_int_distribution<int> strolls(1, 2);
+
+    switch (w.state)
+    {
+      case Worker::State::Start:
+        w.pos = w.startPos;
+        w.yaw = w.startYaw;
+        this->Idle(w, 1.0, 4.0);
+        break;
+
+      case Worker::State::Idle:
+        w.speed = 0.0;
+        w.moving = false;
+        w.timer -= dt;
+        if (w.timer <= 0.0)
+        {
+          if (w.strollsLeft > 0)
+          {
+            --w.strollsLeft;
+            if (!this->PickStroll(i, _ecm))
+            {
+              this->Log(i, "no stroll");
+              this->Idle(w, 1.0, 2.0);
+            }
+          }
+          else if (!this->PickBox(i, _ecm))
+          {
+            this->Log(i, "no box to pick");
+            this->Idle(w, 1.0, 2.0);
+          }
+        }
+        break;
+
+      case Worker::State::ToBox:
+        if (this->Walk(i, dt))
+        {
+          // The robot may have pushed the box since the worker set off
+          w.faceAt = this->BoxPos(this->boxes[w.box], _ecm);
+          w.state = Worker::State::Lift;
+          w.timer = 0.0;
+          w.retryAt = 0.0;
+        }
+        else if (w.blockedTime > 2.0 && !this->Detour(i, w.box, _ecm))
+        {
+          this->boxes[w.box].owner = -1;
+          w.box = -1;
+          this->Idle(w, 1.0, 2.0);
+        }
+        break;
+
+      case Worker::State::Lift:
+        w.moving = false;
+        w.timer += dt;
+        if (w.timer >= kLiftTime && w.timer >= w.retryAt)
+        {
+          if (!this->PickDrop(i, _ecm))
+          {
+            w.retryAt = w.timer + 0.5;
+            this->Log(i, "no drop spot");
+            // With nowhere to go the box goes back where it was
+            if (w.timer > kLiftTime + 8.0)
+            {
+              w.dropAt = w.faceAt;
+              w.state = Worker::State::Lower;
+              w.timer = 0.0;
+            }
+          }
+        }
+        break;
+
+      case Worker::State::ToDrop:
+        if (this->Walk(i, dt))
+        {
+          w.state = Worker::State::Lower;
+          w.timer = 0.0;
+        }
+        else if (w.blockedTime > 2.0)
+        {
+          this->Detour(i, -1, _ecm);
+        }
+        break;
+
+      case Worker::State::Lower:
+        w.moving = false;
+        w.timer += dt;
+        if (w.timer >= kLiftTime)
+        {
+          this->ReleaseModel(this->boxes[w.box].entity, _ecm);
+          this->boxes[w.box].owner = -1;
+          w.lastBox = w.box;
+          w.box = -1;
+          w.strollsLeft = strolls(this->rng);
+          this->Idle(w, 0.5, 1.5);
+        }
+        break;
+
+      case Worker::State::Stroll:
+        if (this->Walk(i, dt))
+          this->Idle(w, 2.0, 6.0);
+        else if (w.blockedTime > 2.0 && !this->Detour(i, -1, _ecm))
+          this->Idle(w, 0.5, 1.0);
+        break;
+    }
+
+    if (w.state != before)
+      this->Log(i, "state " + std::to_string(static_cast<int>(before)) + " -> " +
+                       std::to_string(static_cast<int>(w.state)) + " box " + std::to_string(w.box));
+    this->Apply(i, _ecm);
+  }
+
+  void Apply(int i, EntityComponentManager &_ecm)
+  {
+    auto &w = this->workers[i];
+    gz::sim::Actor actor(w.actor);
+    // Walking or standing with or without a box in the hands
+    bool carrying = w.state == Worker::State::Lift || w.state == Worker::State::ToDrop ||
+                    w.state == Worker::State::Lower;
+    std::string animation = w.moving ? (carrying ? "carry" : "walk")
+                                     : (carrying ? "stand_carry" : "stand");
+    if (animation != w.animation || !actor.AnimationName(_ecm))
+    {
+      actor.SetAnimationName(_ecm, animation);
+      w.animation = animation;
+    }
+    // The walk mesh stands upright and faces +x with its hips at actorZ
+    Pose3d pose(w.pos.X(), w.pos.Y(), this->actorZ, 0.0, 0.0, w.yaw);
+    actor.SetTrajectoryPose(_ecm, pose);
+    actor.SetAnimationTime(_ecm, std::chrono::duration_cast<std::chrono::steady_clock::duration>(
+                                     std::chrono::duration<double>(w.animTime)));
+
+    Vector3d forward(w.speed, 0, 0);
+    this->SetModelPose(w.body, Pose3d(w.pos.X(), w.pos.Y(), 0.0, 0, 0, w.yaw), forward, _ecm);
+
+    if (w.box < 0 || this->boxes[w.box].owner != i)
+      return;
+    const auto &b = this->boxes[w.box];
+    Vector2d ahead(std::cos(w.yaw), std::sin(w.yaw));
+    double t = 1.0;
+    Vector2d floorPos;
+    if (w.state == Worker::State::Lift)
+    {
+      t = std::min(1.0, w.timer / kLiftTime);
+      floorPos = w.faceAt;
+    }
+    else if (w.state == Worker::State::Lower)
+    {
+      t = 1.0 - std::min(1.0, w.timer / kLiftTime);
+      floorPos = w.dropAt;
+    }
+    else if (w.state != Worker::State::ToDrop)
+    {
+      return;
+    }
+    Vector2d carry = w.pos + ahead * kCarryAhead;
+    Vector2d xy = (w.state == Worker::State::ToDrop) ? carry : floorPos + (carry - floorPos) * t;
+    double z = lerp(b.halfHeight, kCarryZ, t);
+    this->SetModelPose(b.entity, Pose3d(xy.X(), xy.Y(), z, 0, 0, w.yaw),
+                       w.state == Worker::State::ToDrop ? forward : Vector3d::Zero, _ecm);
+  }
+
+  bool ready{false};
+  bool found{false};
+  bool firstUpdate{true};
+  double lastSimTime{0.0};
+  double now{0.0};
+  bool debug{false};
+
+  double walkSpeed{0.7};
+  double animPerMeter{4.15};
+  double actorZ{1.0};
+  double clearance{0.8};
+  std::string robotName;
+
+  std::vector<Worker> workers;
+  std::vector<Box> boxes;
+  std::vector<Circle> keepouts;
+  std::mt19937 rng;
+
+  int width{0};
+  int height{0};
+  double res{0.05};
+  double ox{0.0};
+  double oy{0.0};
+  std::vector<bool> occupied;
+  std::vector<double> dist;
+};
+}  // namespace warehouse_workers
+
+GZ_ADD_PLUGIN(warehouse_workers::WarehouseWorkers,
+              gz::sim::System,
+              warehouse_workers::WarehouseWorkers::ISystemConfigure,
+              warehouse_workers::WarehouseWorkers::ISystemPreUpdate,
+              warehouse_workers::WarehouseWorkers::ISystemReset)
+
+GZ_ADD_PLUGIN_ALIAS(warehouse_workers::WarehouseWorkers, "warehouse_workers::WarehouseWorkers")
diff --git a/CustomRobots/warehouse_delivery/workers_map.pgm b/CustomRobots/warehouse_delivery/workers_map.pgm
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zGy$!e{=-ib(5mS_{4@crn*PI26VR&ZKm0TSt(yMBPZQ9p=|B850j-+;!%q{?s_8%c
zGy$!e{=-ib(5mS_{4@crn*PI26VR&PrT=a}?x9&cQ;pv<YPIHl{I<_>_<@g`IFes|
zRP&>Y9e#PYQo-wAk$CQi-*aw1UG*-ne?R4jpC*qVewu(*P5<Gi324>yAAXvER(+=a
zE5DLdkJ`O|MfJJ;e&8=$8g%>`kmU3%ewR+G&)YIe-t0G|pTw_#{rnTQc?|GtK$27Z
zl3-0beho-+dJ@0C`1+B2U<c`sFCuj?$a-z)Ed6&;scetYYq17rJGbB9hF%;xli!PJ
zcAYNiw`<Q!(&66d?!NL|B7QlqHaqF}c;Q|S+7rF$Jm>eO2*PdQC*W<R_~EAsXw~!|
zewu(*o$J5lyOz&O7=2ehQP3W#cdeda4Z`m#pxxI1iVy+_Ab<b@2q1s}0tg_0z*z+T
E5A$~L>Hq)$

literal 0
HcmV?d00001

diff --git a/Scenes/warehouse_delivery.world b/Scenes/warehouse_delivery.world
index 27e88f16f..60f8ef20d 100644
--- a/Scenes/warehouse_delivery.world
+++ b/Scenes/warehouse_delivery.world
@@ -1134,5 +1134,231 @@
           </collision>
           </link>
         </model>
+
+        <!-- Workers that move the cargo boxes around -->
+        <plugin filename="libwarehouse_workers.so" name="warehouse_workers::WarehouseWorkers">
+          <map>/home/ws/src/CustomRobots/warehouse_delivery/workers_map.pgm</map>
+          <resolution>0.05</resolution>
+          <origin_x>-8.0</origin_x>
+          <origin_y>-11.0</origin_y>
+          <robot>myagv_mecharm</robot>
+          <worker actor="worker_1" body="worker_1_body" start="-2.0 -2.0 0.0"/>
+          <worker actor="worker_2" body="worker_2_body" start="3.0 -6.5 1.5708"/>
+          <box half_height="0.14">cargo_box_1</box>
+          <box half_height="0.14">cargo_box_2</box>
+          <box half_height="0.14">cargo_box_3</box>
+          <!-- Boxes are never dropped near the stations and dispensers or the robot start -->
+          <keepout>-3.6 6.0 0.9</keepout>
+          <keepout>-3.6 -3.5 0.9</keepout>
+          <keepout>1.0 -8.6 0.9</keepout>
+          <keepout>1.0 5.5 0.9</keepout>
+          <keepout>4.0 0.8 0.9</keepout>
+          <keepout>6.671 -2.0 1.3</keepout>
+          <keepout>6.671 -6.0 1.3</keepout>
+          <keepout>0.0 0.0 1.2</keepout>
+        </plugin>
+
+        <actor name="worker_1">
+          <skin>
+            <filename>model://warehouse_worker/meshes/walk.dae</filename>
+            <scale>1.0</scale>
+          </skin>
+          <animation name="walk">
+            <filename>model://warehouse_worker/meshes/walk.dae</filename>
+            <interpolate_x>true</interpolate_x>
+          </animation>
+          <animation name="carry">
+            <filename>model://warehouse_worker/meshes/carry.dae</filename>
+            <interpolate_x>true</interpolate_x>
+          </animation>
+          <animation name="stand">
+            <filename>model://warehouse_worker/meshes/stand.dae</filename>
+          </animation>
+          <animation name="stand_carry">
+            <filename>model://warehouse_worker/meshes/stand_carry.dae</filename>
+          </animation>
+        </actor>
+
+        <!-- Invisible body that follows worker_1 so the robot collides with it -->
+        <model name="worker_1_body">
+          <pose>-2.0 -2.0 0 0 0 0</pose>
+          <link name="link">
+            <gravity>false</gravity>
+            <inertial>
+              <mass>80.0</mass>
+              <inertia>
+                <ixx>20.5</ixx>
+                <iyy>20.5</iyy>
+                <izz>2.5</izz>
+              </inertia>
+            </inertial>
+            <collision name="collision">
+              <pose>0 0 0.9 0 0 0</pose>
+              <geometry>
+                <cylinder>
+                  <radius>0.25</radius>
+                  <length>1.7</length>
+                </cylinder>
+              </geometry>
+            </collision>
+          </link>
+        </model>
+
+        <actor name="worker_2">
+          <skin>
+            <filename>model://warehouse_worker/meshes/walk.dae</filename>
+            <scale>1.0</scale>
+          </skin>
+          <animation name="walk">
+            <filename>model://warehouse_worker/meshes/walk.dae</filename>
+            <interpolate_x>true</interpolate_x>
+          </animation>
+          <animation name="carry">
+            <filename>model://warehouse_worker/meshes/carry.dae</filename>
+            <interpolate_x>true</interpolate_x>
+          </animation>
+          <animation name="stand">
+            <filename>model://warehouse_worker/meshes/stand.dae</filename>
+          </animation>
+          <animation name="stand_carry">
+            <filename>model://warehouse_worker/meshes/stand_carry.dae</filename>
+          </animation>
+        </actor>
+
+        <!-- Invisible body that follows worker_2 so the robot collides with it -->
+        <model name="worker_2_body">
+          <pose>3.0 -6.5 0 0 0 0</pose>
+          <link name="link">
+            <gravity>false</gravity>
+            <inertial>
+              <mass>80.0</mass>
+              <inertia>
+                <ixx>20.5</ixx>
+                <iyy>20.5</iyy>
+                <izz>2.5</izz>
+              </inertia>
+            </inertial>
+            <collision name="collision">
+              <pose>0 0 0.9 0 0 0</pose>
+              <geometry>
+                <cylinder>
+                  <radius>0.25</radius>
+                  <length>1.7</length>
+                </cylinder>
+              </geometry>
+            </collision>
+          </link>
+        </model>
+
+        <model name="cargo_box_1">
+          <pose>2.5 -2.5 0.14 0 0 0</pose>
+          <link name="link">
+            <inertial>
+              <mass>3.0</mass>
+              <inertia>
+                <ixx>0.0596</ixx>
+                <iyy>0.0421</iyy>
+                <izz>0.0625</izz>
+              </inertia>
+            </inertial>
+            <collision name="collision">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+            </collision>
+            <visual name="visual">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+              <material>
+                <ambient>1 1 1 1</ambient>
+                <diffuse>1 1 1 1</diffuse>
+                <pbr>
+                  <metal>
+                    <albedo_map>model://package_box_01/materials/textures/brown.png</albedo_map>
+                  </metal>
+                </pbr>
+              </material>
+            </visual>
+          </link>
+        </model>
+
+        <model name="cargo_box_2">
+          <pose>-3.0 0.0 0.14 0 0 0</pose>
+          <link name="link">
+            <inertial>
+              <mass>3.0</mass>
+              <inertia>
+                <ixx>0.0596</ixx>
+                <iyy>0.0421</iyy>
+                <izz>0.0625</izz>
+              </inertia>
+            </inertial>
+            <collision name="collision">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+            </collision>
+            <visual name="visual">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+              <material>
+                <ambient>1 1 1 1</ambient>
+                <diffuse>1 1 1 1</diffuse>
+                <pbr>
+                  <metal>
+                    <albedo_map>model://package_box_01/materials/textures/brown.png</albedo_map>
+                  </metal>
+                </pbr>
+              </material>
+            </visual>
+          </link>
+        </model>
+
+        <model name="cargo_box_3">
+          <pose>4.0 -4.0 0.14 0 0 0</pose>
+          <link name="link">
+            <inertial>
+              <mass>3.0</mass>
+              <inertia>
+                <ixx>0.0596</ixx>
+                <iyy>0.0421</iyy>
+                <izz>0.0625</izz>
+              </inertia>
+            </inertial>
+            <collision name="collision">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+            </collision>
+            <visual name="visual">
+              <geometry>
+                <box>
+                  <size>0.3 0.4 0.28</size>
+                </box>
+              </geometry>
+              <material>
+                <ambient>1 1 1 1</ambient>
+                <diffuse>1 1 1 1</diffuse>
+                <pbr>
+                  <metal>
+                    <albedo_map>model://package_box_01/materials/textures/brown.png</albedo_map>
+                  </metal>
+                </pbr>
+              </material>
+            </visual>
+          </link>
+        </model>
   </world>
 </sdf>

From 08d62011606a85d89564e3731ba2a7dca1492a38 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 5 Oct 2026 12:27:15 +0200
Subject: [PATCH 09/13] fix person movement

---
 CustomRobots/warehouse_delivery/src/warehouse_workers.cpp | 8 ++++++++
 Scenes/warehouse_delivery.world                           | 1 +
 2 files changed, 9 insertions(+)

diff --git a/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
index 8a3e07cea..ce3aaea0b 100644
--- a/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
+++ b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
@@ -2,6 +2,7 @@
 #include <gz/sim/Actor.hh>
 #include <gz/sim/Model.hh>
 #include <gz/sim/Util.hh>
+#include <gz/sim/components/Actor.hh>
 #include <gz/sim/components/AngularVelocityCmd.hh>
 #include <gz/sim/components/LinearVelocityCmd.hh>
 #include <gz/sim/components/Model.hh>
@@ -902,6 +903,8 @@ class WarehouseWorkers :
     if (animation != w.animation || !actor.AnimationName(_ecm))
     {
       actor.SetAnimationName(_ecm, animation);
+      _ecm.SetChanged(w.actor, gz::sim::components::AnimationName::typeId,
+                      gz::sim::ComponentState::OneTimeChange);
       w.animation = animation;
     }
     // The walk mesh stands upright and faces +x with its hips at actorZ
@@ -909,6 +912,11 @@ class WarehouseWorkers :
     actor.SetTrajectoryPose(_ecm, pose);
     actor.SetAnimationTime(_ecm, std::chrono::duration_cast<std::chrono::steady_clock::duration>(
                                      std::chrono::duration<double>(w.animTime)));
+    // The Actor setters do not flag the change so the GUI would never see it
+    _ecm.SetChanged(w.actor, gz::sim::components::TrajectoryPose::typeId,
+                    gz::sim::ComponentState::OneTimeChange);
+    _ecm.SetChanged(w.actor, gz::sim::components::AnimationTime::typeId,
+                    gz::sim::ComponentState::OneTimeChange);
 
     Vector3d forward(w.speed, 0, 0);
     this->SetModelPose(w.body, Pose3d(w.pos.X(), w.pos.Y(), 0.0, 0, 0, w.yaw), forward, _ecm);
diff --git a/Scenes/warehouse_delivery.world b/Scenes/warehouse_delivery.world
index 60f8ef20d..ebd74990e 100644
--- a/Scenes/warehouse_delivery.world
+++ b/Scenes/warehouse_delivery.world
@@ -28,6 +28,7 @@
 
     <scene>
       <grid>false</grid>
+      <shadows>false</shadows>
     </scene>
 
     <light type="directional" name="sun">

From 579cd70d6e54f04b2bf4a439b2c2fe6492774d6c Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 5 Oct 2026 12:37:28 +0200
Subject: [PATCH 10/13] improve rtf

---
 .../src/warehouse_workers.cpp                 | 101 +++++++++++-------
 1 file changed, 61 insertions(+), 40 deletions(-)

diff --git a/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
index ce3aaea0b..b70e09f73 100644
--- a/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
+++ b/CustomRobots/warehouse_delivery/src/warehouse_workers.cpp
@@ -116,6 +116,12 @@ struct Worker
   double animTime{0.0};
   bool moving{false};
   std::string animation;
+  // Last pose sent to the actor so a still worker costs nothing
+  bool shown{false};
+  Vector2d shownPos;
+  double shownYaw{0.0};
+  double shownAnimTime{0.0};
+  double shownSpeed{0.0};
 };
 
 class WarehouseWorkers :
@@ -189,6 +195,8 @@ class WarehouseWorkers :
       w.lastBox = -1;
       w.path.clear();
       w.ignoreOthersUntil = 0.0;
+      w.shown = false;
+      w.animation.clear();
     }
     for (auto &b : this->boxes)
     {
@@ -197,6 +205,7 @@ class WarehouseWorkers :
         this->ReleaseModel(b.entity, _ecm);
     }
     this->lastSimTime = 0.0;
+    this->robotLookupAt = 0.0;
     this->firstUpdate = true;
   }
 
@@ -347,15 +356,22 @@ class WarehouseWorkers :
     return Vector2d(p.Pos().X(), p.Pos().Y());
   }
 
-  bool RobotPos(EntityComponentManager &_ecm, Vector2d &out) const
+  bool RobotPos(EntityComponentManager &_ecm, Vector2d &out)
   {
     if (this->robotName.empty())
       return false;
-    Entity e = _ecm.EntityByComponents(gz::sim::components::Name(this->robotName),
-                                       gz::sim::components::Model());
-    if (e == kNullEntity)
-      return false;
-    auto p = gz::sim::worldPose(e, _ecm);
+    // The robot is spawned after the world so it is looked up until found
+    if (this->robot == kNullEntity || !_ecm.HasEntity(this->robot))
+    {
+      if (this->now < this->robotLookupAt)
+        return false;
+      this->robotLookupAt = this->now + 1.0;
+      this->robot = _ecm.EntityByComponents(gz::sim::components::Name(this->robotName),
+                                            gz::sim::components::Model());
+      if (this->robot == kNullEntity)
+        return false;
+    }
+    auto p = gz::sim::worldPose(this->robot, _ecm);
     out.Set(p.Pos().X(), p.Pos().Y());
     return true;
   }
@@ -384,39 +400,33 @@ class WarehouseWorkers :
     _ecm.RemoveComponent<gz::sim::components::AngularVelocityCmd>(e);
   }
 
-  // Free spot away from walls and keepouts and the robot and the other boxes
-  bool SpotIsFree(const Vector2d &p, int ignoreBox, EntityComponentManager &_ecm,
-                  const std::vector<Vector2d> &taken) const
+  // Random free spot away from walls and keepouts and the robot and the other boxes
+  bool RandomSpot(Vector2d &out, int ignoreBox, EntityComponentManager &_ecm,
+                  const std::vector<Vector2d> &taken = {})
   {
-    if (this->WallDistance(p) < this->clearance)
-      return false;
-    for (const auto &k : this->keepouts)
-      if (p.Distance(k.c) < k.r)
-        return false;
+    std::vector<Circle> avoid = this->keepouts;
     Vector2d robot;
-    if (this->RobotPos(_ecm, robot) && p.Distance(robot) < 1.2)
-      return false;
+    if (this->RobotPos(_ecm, robot))
+      avoid.push_back({robot, 1.2});
     for (size_t i = 0; i < this->boxes.size(); ++i)
-      if (static_cast<int>(i) != ignoreBox && p.Distance(this->BoxPos(this->boxes[i], _ecm)) < 1.2)
-        return false;
+      if (static_cast<int>(i) != ignoreBox)
+        avoid.push_back({this->BoxPos(this->boxes[i], _ecm), 1.2});
     for (const auto &t : taken)
-      if (p.Distance(t) < 1.2)
-        return false;
+      avoid.push_back({t, 1.2});
     for (const auto &w : this->workers)
-      if (p.Distance(w.pos) < 1.0)
-        return false;
-    return true;
-  }
+      avoid.push_back({w.pos, 1.0});
 
-  bool RandomSpot(Vector2d &out, int ignoreBox, EntityComponentManager &_ecm,
-                  const std::vector<Vector2d> &taken = {})
-  {
     std::uniform_real_distribution<double> ux(this->ox, this->ox + this->width * this->res);
     std::uniform_real_distribution<double> uy(this->oy, this->oy + this->height * this->res);
     for (int i = 0; i < 2000; ++i)
     {
       Vector2d p(ux(this->rng), uy(this->rng));
-      if (this->SpotIsFree(p, ignoreBox, _ecm, taken))
+      if (this->WallDistance(p) < this->clearance)
+        continue;
+      bool free = true;
+      for (const auto &a : avoid)
+        free = free && p.Distance(a.c) >= a.r;
+      if (free)
       {
         out = p;
         return true;
@@ -907,19 +917,28 @@ class WarehouseWorkers :
                       gz::sim::ComponentState::OneTimeChange);
       w.animation = animation;
     }
-    // The walk mesh stands upright and faces +x with its hips at actorZ
-    Pose3d pose(w.pos.X(), w.pos.Y(), this->actorZ, 0.0, 0.0, w.yaw);
-    actor.SetTrajectoryPose(_ecm, pose);
-    actor.SetAnimationTime(_ecm, std::chrono::duration_cast<std::chrono::steady_clock::duration>(
-                                     std::chrono::duration<double>(w.animTime)));
-    // The Actor setters do not flag the change so the GUI would never see it
-    _ecm.SetChanged(w.actor, gz::sim::components::TrajectoryPose::typeId,
-                    gz::sim::ComponentState::OneTimeChange);
-    _ecm.SetChanged(w.actor, gz::sim::components::AnimationTime::typeId,
-                    gz::sim::ComponentState::OneTimeChange);
-
+    bool still = w.pos == w.shownPos && w.yaw == w.shownYaw &&
+                 w.animTime == w.shownAnimTime && w.speed == w.shownSpeed;
     Vector3d forward(w.speed, 0, 0);
-    this->SetModelPose(w.body, Pose3d(w.pos.X(), w.pos.Y(), 0.0, 0, 0, w.yaw), forward, _ecm);
+    if (!still || !w.shown)
+    {
+      // The walk mesh stands upright and faces +x with its hips at actorZ
+      Pose3d pose(w.pos.X(), w.pos.Y(), this->actorZ, 0.0, 0.0, w.yaw);
+      actor.SetTrajectoryPose(_ecm, pose);
+      actor.SetAnimationTime(_ecm, std::chrono::duration_cast<std::chrono::steady_clock::duration>(
+                                       std::chrono::duration<double>(w.animTime)));
+      // The Actor setters do not flag the change so the GUI would never see it
+      _ecm.SetChanged(w.actor, gz::sim::components::TrajectoryPose::typeId,
+                      gz::sim::ComponentState::PeriodicChange);
+      _ecm.SetChanged(w.actor, gz::sim::components::AnimationTime::typeId,
+                      gz::sim::ComponentState::PeriodicChange);
+      this->SetModelPose(w.body, Pose3d(w.pos.X(), w.pos.Y(), 0.0, 0, 0, w.yaw), forward, _ecm);
+      w.shownPos = w.pos;
+      w.shownYaw = w.yaw;
+      w.shownAnimTime = w.animTime;
+      w.shownSpeed = w.speed;
+      w.shown = true;
+    }
 
     if (w.box < 0 || this->boxes[w.box].owner != i)
       return;
@@ -960,6 +979,8 @@ class WarehouseWorkers :
   double actorZ{1.0};
   double clearance{0.8};
   std::string robotName;
+  Entity robot{kNullEntity};
+  double robotLookupAt{0.0};
 
   std::vector<Worker> workers;
   std::vector<Box> boxes;

From b3aa80d06c97eb5f08a1a9e5b8062607c4332819 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Mon, 5 Oct 2026 12:59:18 +0200
Subject: [PATCH 11/13] renumber myagv database rows

---
 database/worlds.sql | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/database/worlds.sql b/database/worlds.sql
index 3115167a0..f8637d02d 100644
--- a/database/worlds.sql
+++ b/database/worlds.sql
@@ -210,7 +210,7 @@ COPY public.worlds (id, name, scene_id) FROM stdin;
 85	XLeRobot Warehouse	58
 86	XLeRobot Home	81
 87	MMO-500 Warehouse	82
-88	myAGV mechArm Warehouse Delivery	83
+94	myAGV mechArm Warehouse Delivery	86
 \.
 
 --
@@ -285,7 +285,7 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin;
 63	85	40	{{0.0,0.0,0.1,0.0,0.0,0.0}}
 64	86	40	{{-1.6,0.3,0.1,0.0,0.0,3.14}}
 65	87	41	{{0.0,0.0,0.02,0.0,0.0,0.0}}
-66	88	43	{{1.0,0.0,0.01,0.0,0.0,0.0}}
+72	94	43	{{1.0,0.0,0.01,0.0,0.0,0.0}}
 \.
 
 --
@@ -337,7 +337,7 @@ COPY public.scenes (id, name, launch_file_path, tools_config, ros_version, type,
 80	Follow Turtlebot	/opt/jderobot/Launchers/follow_turtlebot.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/follow_turtlebot.config"}	ROS2	gz	follow_turtlebot.urdf
 81	XLeRobot Home	/opt/jderobot/Launchers/xlerobot_home.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/xlerobot_home.config"}	ROS2	gz	xlerobot_home.urdf
 82	Mobile Manipulation Warehouse	/opt/jderobot/Launchers/mobile_manipulation_warehouse.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/mobile_manipulation_warehouse.config"}	ROS2	gz	mobile_manipulation_warehouse.urdf
-83	Warehouse Delivery	/opt/jderobot/Launchers/warehouse_delivery.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/warehouse_delivery.config"}	ROS2	gz	warehouse_delivery.urdf
+86	Warehouse Delivery	/opt/jderobot/Launchers/warehouse_delivery.launch.py	{"gzsim":"/opt/jderobot/Launchers/visualization/warehouse_delivery.config"}	ROS2	gz	warehouse_delivery.urdf
 \.
 
 --
@@ -386,7 +386,7 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path
 39	Mir100 High Noise	/home/ws/src/CustomRobots/mir100/launch/mir100.launch.py	mir100	noise:=high namespace:=mir100	mir100/models/mir100/mir100.urdf.xacro
 40	XLeRobot	/home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py	xlerobot	namespace:=logistic_robot	xlerobot/models/xlerobot/xlerobot.urdf.xacro
 41	MMO-500	/home/ws/src/CustomRobots/mmo500/launch/mmo500.launch.py	mmo500	namespace:=mmo500	mmo500/models/mmo500/mmo500.urdf.xacro
-42	myAGV myCobot	/home/ws/src/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py	myagv_mycobot	namespace:=myagv_mycobot	myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
+52	myAGV myCobot	/home/ws/src/CustomRobots/myagv_mycobot/launch/myagv_mycobot.launch.py	myagv_mycobot	namespace:=myagv_mycobot	myagv_mycobot/models/myagv_mycobot/myagv_mycobot.urdf.xacro
 43	myAGV mechArm	/home/ws/src/CustomRobots/myagv_mecharm/launch/myagv_mecharm.launch.py	myagv_mecharm	namespace:=myagv_mecharm	myagv_mecharm/models/myagv_mecharm/myagv_mecharm.urdf.xacro
 \.
 

From b4bdce934a9502b31a040de002815965a7e6f0cd Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Tue, 6 Oct 2026 09:42:06 +0200
Subject: [PATCH 12/13] remove unused myagv trays world

---
 ...ile_manipulation_warehouse_myagv.launch.py |  48 --
 ...mobile_manipulation_warehouse_myagv.config | 157 ------
 .../mobile_manipulation_warehouse_myagv.world | 473 ------------------
 3 files changed, 678 deletions(-)
 delete mode 100644 Launchers/mobile_manipulation_warehouse_myagv.launch.py
 delete mode 100644 Launchers/visualization/mobile_manipulation_warehouse_myagv.config
 delete mode 100644 Scenes/mobile_manipulation_warehouse_myagv.world

diff --git a/Launchers/mobile_manipulation_warehouse_myagv.launch.py b/Launchers/mobile_manipulation_warehouse_myagv.launch.py
deleted file mode 100644
index 4b8ef1e9b..000000000
--- a/Launchers/mobile_manipulation_warehouse_myagv.launch.py
+++ /dev/null
@@ -1,48 +0,0 @@
-import os
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    ros_gz_sim = get_package_share_directory("ros_gz_sim")
-
-    world_file_name = "mobile_manipulation_warehouse_myagv.world"
-    worlds_dir = "/opt/jderobot/Scenes"
-    world_path = os.path.join(worlds_dir, world_file_name)
-
-    gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
-        ),
-        launch_arguments={
-            "gz_args": ["-s -v4 ", world_path],
-            "on_exit_shutdown": "true",
-        }.items(),
-    )
-
-    world_entity_cmd = Node(
-        package="ros_gz_sim",
-        executable="create",
-        arguments=["-name", "world", "-file", world_path],
-        output="screen",
-    )
-
-    gz_ros2_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        arguments=[
-            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
-        ],
-        output="screen",
-    )
-
-    ld = LaunchDescription()
-    ld.add_action(gazebo_server)
-    ld.add_action(world_entity_cmd)
-    ld.add_action(gz_ros2_bridge)
-
-    return ld
diff --git a/Launchers/visualization/mobile_manipulation_warehouse_myagv.config b/Launchers/visualization/mobile_manipulation_warehouse_myagv.config
deleted file mode 100644
index 75560e42b..000000000
--- a/Launchers/visualization/mobile_manipulation_warehouse_myagv.config
+++ /dev/null
@@ -1,157 +0,0 @@
-<?xml version="1.0"?>
-<!-- Quick start dialog -->
-<dialog name="quick_start" show_again="false"/>
-
-<!-- Window -->
-<window>
-    <style material_theme="Light" material_primary="DeepOrange" material_accent="DeepOrange" toolbar_color_light="#ffa726" toolbar_text_color_light="#000000" toolbar_color_dark="#ffa726" toolbar_text_color_dark="#000000" plugin_toolbar_color_light="#ffa726" plugin_toolbar_text_color_light="#000000" plugin_toolbar_color_dark="#ffa726" plugin_toolbar_text_color_dark="#000000"/>
-    <menus>
-        <drawer visible="false">
-        </drawer>
-        <plugins visible="true">
-        </plugins>
-    </menus>
-    <dialog_on_exit>false</dialog_on_exit>
-</window>
-
-<!-- GUI plugins -->
-<!-- 3D scene -->
-<plugin filename="MinimalScene" name="3D View">
-    <gz-gui>
-        <title>3D View</title>
-        <property type="bool" key="showTitleBar">false</property>
-        <property type="string" key="state">docked</property>
-    </gz-gui>
-    <engine>ogre2</engine>
-    <scene>scene</scene>
-    <ambient_light>0.4 0.4 0.4</ambient_light>
-    <background_color>0.8 0.8 0.8</background_color>
-    <camera_pose>11 -11 9 0 0.5 2.356</camera_pose>
-</plugin>
-
-<!-- Plugins that add functionality to the scene -->
-<plugin filename="GzSceneManager" name="Scene Manager">
-    <gz-gui>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="InteractiveViewControl" name="Interactive view control">
-    <gz-gui>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<!-- Plugins that add tracking functionality -->
-
-<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-    <gz-gui>
-        <property key="state" type="string">floating</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="CameraTracking" name="Camera Tracking">
-    <gz-gui>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="SelectEntities" name="Select Entities">
-    <gz-gui>
-        <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-        </anchors>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="TransformControl" name="Transform Control">
-    <gz-gui>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">250</property>
-        <property key="height" type="double">100</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">true</property>
-    </gz-gui>
-</plugin>
-
-<!-- Plugins that add tracking functionality -->
-<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-    <gz-gui>
-        <property key="state" type="string">floating</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="CameraTracking" name="Camera Tracking">
-    <gz-gui>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-    <follow_offset>0 0 2</follow_offset>
-    <follow_pgain>1</follow_pgain>
-</plugin>
-
-
-<plugin filename="SelectEntities" name="Select Entities">
-    <gz-gui>
-        <anchors target="Select entities">
-            <line own="right" target="right"/>
-            <line own="top" target="top"/>
-        </anchors>
-        <property key="resizable" type="bool">false</property>
-        <property key="width" type="double">5</property>
-        <property key="height" type="double">5</property>
-        <property key="state" type="string">floating</property>
-        <property key="showTitleBar" type="bool">false</property>
-    </gz-gui>
-</plugin>
-
-<plugin filename="WorldStats" name="World stats">
-    <gz-gui>
-        <title>World stats</title>
-        <property type="bool" key="showTitleBar">false</property>
-        <property type="bool" key="resizable">false</property>
-        <property type="double" key="height">110</property>
-        <property type="double" key="width">290</property>
-        <property type="double" key="z">1</property>
-
-        <property type="string" key="state">floating</property>
-        <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-        </anchors>
-    </gz-gui>
-
-    <sim_time>true</sim_time>
-    <real_time>true</real_time>
-    <real_time_factor>true</real_time_factor>
-    <iterations>true</iterations>
-    <topic>/world/world_demo/stats</topic>
-
-</plugin>
\ No newline at end of file
diff --git a/Scenes/mobile_manipulation_warehouse_myagv.world b/Scenes/mobile_manipulation_warehouse_myagv.world
deleted file mode 100644
index 2273af1aa..000000000
--- a/Scenes/mobile_manipulation_warehouse_myagv.world
+++ /dev/null
@@ -1,473 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.8">
-  <world name="default">
-    <!-- 2 ms step keeps the 10 ms controller period an exact multiple of the step -->
-    <physics name="2ms" type="ode">
-      <max_step_size>0.002</max_step_size>
-      <real_time_factor>1.0</real_time_factor>
-      <real_time_update_rate>500</real_time_update_rate>
-    </physics>
-
-    <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics">
-    </plugin>
-    <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
-    </plugin>
-    <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
-      <render_engine>ogre2</render_engine>
-    </plugin>
-    <plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
-    </plugin>
-    <!-- Suction mode on one finger of the adaptive gripper -->
-    <plugin filename="libgz_link_attacher.so" name="gz_link_attacher::LinkAttacher">
-      <robot_model_name>myagv_mecharm</robot_model_name>
-      <gripper_link_name>gripper_left1</gripper_link_name>
-    </plugin>
-
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>false</shadows>
-      <grid>false</grid>
-    </scene>
-
-    <light type="directional" name="sun">
-      <cast_shadows>false</cast_shadows>
-      <pose>0 0 10 0 0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <direction>-0.5 0.1 -0.9</direction>
-    </light>
-
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="ground_logo">
-      <static>true</static>
-      <pose>0 0 0 0 0 1.57</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.001 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>1.33 1.25 1</scale>
-              <uri>model://warehouse_floor/meshes/floor.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-
-    <!-- Objects start on the wooden rug and go to the tray of their color -->
-    <model name="pick_rug">
-      <static>true</static>
-      <pose>4.8 0 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.0025 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.6 1.2 0.005</size>
-            </box>
-          </geometry>
-          <material>
-            <diffuse>1 1 1 1</diffuse>
-            <pbr>
-              <metal>
-                <albedo_map>model://mesa_comedor/meshes/wood.jpg</albedo_map>
-                <roughness>0.8</roughness>
-              </metal>
-            </pbr>
-          </material>
-        </visual>
-        <collision name="collision">
-          <pose>0 0 0.0025 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.6 1.2 0.005</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="green_tray">
-      <static>true</static>
-      <pose>0 4.7 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.005 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://green_tray/meshes/green_tray.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="bottom">
-          <pose>0 0 0 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.25 0.01</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="front_wall">
-          <pose>0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="back_wall">
-          <pose>-0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="left_wall">
-          <pose>0 0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="right_wall">
-          <pose>0 -0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="yellow_tray">
-      <static>true</static>
-      <pose>-4.7 0 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.005 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://yellow_tray/meshes/yellow_tray.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="bottom">
-          <pose>0 0 0 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.25 0.01</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="front_wall">
-          <pose>0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="back_wall">
-          <pose>-0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="left_wall">
-          <pose>0 0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="right_wall">
-          <pose>0 -0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="blue_tray">
-      <static>true</static>
-      <pose>0 -4.7 0 0 0 0</pose>
-      <link name="link">
-        <visual name="visual">
-          <pose>0 0 0.005 0 0 0</pose>
-          <geometry>
-            <mesh>
-              <scale>0.5 0.5 0.5</scale>
-              <uri>model://blue_tray/meshes/blue_tray.dae</uri>
-            </mesh>
-          </geometry>
-        </visual>
-        <collision name="bottom">
-          <pose>0 0 0 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.25 0.01</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="front_wall">
-          <pose>0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="back_wall">
-          <pose>-0.12 0 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.008 0.25 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="left_wall">
-          <pose>0 0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-        <collision name="right_wall">
-          <pose>0 -0.12 0.015 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.25 0.012 0.03</size>
-            </box>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-
-    <model name="wall_north">
-      <static>true</static>
-      <pose>0 7.5 1.25 0 0 0</pose>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.9 0.9 0.9 1</diffuse>
-            <specular>0.1 0.1 0.1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="wall_south">
-      <static>true</static>
-      <pose>0 -7.5 1.25 0 0 0</pose>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.9 0.9 0.9 1</diffuse>
-            <specular>0.1 0.1 0.1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="wall_east">
-      <static>true</static>
-      <pose>7.5 0 1.25 0 0 1.57</pose>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.9 0.9 0.9 1</diffuse>
-            <specular>0.1 0.1 0.1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="wall_west">
-      <static>true</static>
-      <pose>-7.5 0 1.25 0 0 1.57</pose>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>15 0.15 2.5</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-            <diffuse>0.9 0.9 0.9 1</diffuse>
-            <specular>0.1 0.1 0.1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="blue_box">
-      <pose>4.56 0 0.02 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <mass>0.02</mass>
-          <inertia>
-            <ixx>2.54e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>3.00e-06</iyy><iyz>0</iyz><izz>2.54e-06</izz>
-          </inertia>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box><size>0.03 0.025 0.03</size></box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box><size>0.03 0.025 0.03</size></box>
-          </geometry>
-          <material>
-            <ambient>0 0 1 1</ambient>
-            <diffuse>0 0 1 1</diffuse>
-            <specular>0.5 0.5 0.5 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="yellow_ball">
-      <pose>4.56 -0.35 0.02 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <mass>0.02</mass>
-          <inertia>
-            <ixx>1.80e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>1.80e-06</iyy><iyz>0</iyz><izz>1.80e-06</izz>
-          </inertia>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <sphere><radius>0.015</radius></sphere>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <sphere><radius>0.015</radius></sphere>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-            <diffuse>1 1 0 1</diffuse>
-            <specular>0.5 0.5 0.5 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="green_cylinder">
-      <pose>4.56 0.35 0.025 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <mass>0.02</mass>
-          <inertia>
-            <ixx>3.79e-06</ixx><ixy>0</ixy><ixz>0</ixz><iyy>3.79e-06</iyy><iyz>0</iyz><izz>2.25e-06</izz>
-          </inertia>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <cylinder><radius>0.015</radius><length>0.04</length></cylinder>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <cylinder><radius>0.015</radius><length>0.04</length></cylinder>
-          </geometry>
-          <material>
-            <ambient>0 1 0 1</ambient>
-            <diffuse>0 1 0 1</diffuse>
-            <specular>0.5 0.5 0.5 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-  </world>
-</sdf>

From 34e82f15983e2029ba783b0c29999348054cfae9 Mon Sep 17 00:00:00 2001
From: aquintan <aquintana.camacho@proton.me>
Date: Fri, 16 Oct 2026 12:14:10 +0200
Subject: [PATCH 13/13] black format warehouse worker animations and party
 house generator

---
 .../warehouse_worker/make_animations.py       | 54 +++++++++++----
 .../scripts/generate_party_house.py           | 65 +++++++++++++------
 2 files changed, 86 insertions(+), 33 deletions(-)

diff --git a/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py b/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
index 215e5af69..10cfb88b3 100644
--- a/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
+++ b/CustomRobots/warehouse_delivery/models/warehouse_worker/make_animations.py
@@ -16,8 +16,18 @@
 HAND_Z = 1.0
 # Walk frame that gives the upper body of the still pose
 STAND_FRAME = 35
-LEGS = ["LHipJoint", "LeftUpLeg", "LeftLeg", "LeftFoot", "LeftToeBase",
-        "RHipJoint", "RightUpLeg", "RightLeg", "RightFoot", "RightToeBase"]
+LEGS = [
+    "LHipJoint",
+    "LeftUpLeg",
+    "LeftLeg",
+    "LeftFoot",
+    "LeftToeBase",
+    "RHipJoint",
+    "RightUpLeg",
+    "RightLeg",
+    "RightFoot",
+    "RightToeBase",
+]
 
 
 def load(path):
@@ -28,7 +38,9 @@ def visit(node, parent):
         if node.get("type") == "JOINT":
             name = node.get("sid")
             ids[node.get("id")] = name
-            matrix = np.array(node.find(NS + "matrix").text.split(), float).reshape(4, 4)
+            matrix = np.array(node.find(NS + "matrix").text.split(), float).reshape(
+                4, 4
+            )
             joints[name] = {"parent": parent, "bind": matrix}
             order.append(name)
             parent = name
@@ -45,12 +57,16 @@ def visit(node, parent):
         if channel is None:
             continue
         sources = {s.get("id"): s for s in anim.findall(NS + "source")}
-        inputs = {i.get("semantic"): i.get("source")[1:]
-                  for i in anim.find(NS + "sampler").findall(NS + "input")}
+        inputs = {
+            i.get("semantic"): i.get("source")[1:]
+            for i in anim.find(NS + "sampler").findall(NS + "input")
+        }
         out = sources[inputs["OUTPUT"]].find(NS + "float_array")
         name = ids[channel.get("target").split("/")[0]]
-        anims[name] = {"id": out.get("id"),
-                       "M": np.array(out.text.split(), float).reshape(-1, 4, 4)}
+        anims[name] = {
+            "id": out.get("id"),
+            "M": np.array(out.text.split(), float).reshape(-1, 4, 4),
+        }
     return joints, order, anims
 
 
@@ -79,7 +95,9 @@ def rotation_between(a, b):
 
 
 def frame(k):
-    return {j: (anims[j]["M"][k] if j in anims else joints[j]["bind"]).copy() for j in order}
+    return {
+        j: (anims[j]["M"][k] if j in anims else joints[j]["bind"]).copy() for j in order
+    }
 
 
 def hold_box(local):
@@ -97,22 +115,28 @@ def hold_box(local):
         pole = np.array([-0.4, sign * 0.6, -1.0])
         v = pole - np.dot(pole, u) * u
         v /= np.linalg.norm(v)
-        angle = np.arccos(np.clip((upper**2 + d**2 - lower**2) / (2 * upper * d), -1, 1))
+        angle = np.arccos(
+            np.clip((upper**2 + d**2 - lower**2) / (2 * upper * d), -1, 1)
+        )
         elbow = shoulder + upper * (np.cos(angle) * u + np.sin(angle) * v)
         wrist = shoulder + d * u
 
         parent = world[joints[arm]["parent"]]
         arm_world = parent @ local[arm]
-        arm_world[:3, :3] = rotation_between(arm_world[:3, :3] @ local[fore][:3, 3],
-                                             elbow - shoulder) @ arm_world[:3, :3]
+        arm_world[:3, :3] = (
+            rotation_between(arm_world[:3, :3] @ local[fore][:3, 3], elbow - shoulder)
+            @ arm_world[:3, :3]
+        )
         arm_local = np.linalg.inv(parent) @ arm_world
         arm_local[:3, 3] = local[arm][:3, 3]
         local[arm] = arm_local
         arm_world = parent @ arm_local
 
         fore_world = arm_world @ local[fore]
-        fore_world[:3, :3] = rotation_between(fore_world[:3, :3] @ local[hand][:3, 3],
-                                              wrist - elbow) @ fore_world[:3, :3]
+        fore_world[:3, :3] = (
+            rotation_between(fore_world[:3, :3] @ local[hand][:3, 3], wrist - elbow)
+            @ fore_world[:3, :3]
+        )
         fore_local = np.linalg.inv(arm_world) @ fore_world
         fore_local[:3, 3] = local[fore][:3, 3]
         local[fore] = fore_local
@@ -133,7 +157,9 @@ def write(name, poses):
     text = open(os.path.join(MESHES, "walk.dae")).read()
     for j, anim in anims.items():
         values = " ".join("%.7g" % v for pose in poses for v in pose[j].reshape(-1))
-        pattern = r'(<float_array id="%s"[^>]*>)[^<]*(</float_array>)' % re.escape(anim["id"])
+        pattern = r'(<float_array id="%s"[^>]*>)[^<]*(</float_array>)' % re.escape(
+            anim["id"]
+        )
         text, count = re.subn(pattern, lambda m: m.group(1) + values + m.group(2), text)
         assert count == 1, anim["id"]
     open(os.path.join(MESHES, name), "w").write(text)
diff --git a/Industrial/vacuum_dirt/scripts/generate_party_house.py b/Industrial/vacuum_dirt/scripts/generate_party_house.py
index 8a82d1d5f..7d656346f 100644
--- a/Industrial/vacuum_dirt/scripts/generate_party_house.py
+++ b/Industrial/vacuum_dirt/scripts/generate_party_house.py
@@ -49,10 +49,16 @@
 
 # Color indexes match the palette in vacuum_dirt.cpp
 N_COLORS, N_SHADES = 8, 3
-PAINT_RGB = {"red": (0.80, 0.10, 0.10), "blue": (0.10, 0.28, 0.82),
-             "green": (0.10, 0.62, 0.22), "yellow": (0.96, 0.80, 0.08),
-             "purple": (0.55, 0.15, 0.75), "orange": (1.00, 0.50, 0.05),
-             "pink": (0.98, 0.35, 0.65), "cyan": (0.05, 0.75, 0.85)}
+PAINT_RGB = {
+    "red": (0.80, 0.10, 0.10),
+    "blue": (0.10, 0.28, 0.82),
+    "green": (0.10, 0.62, 0.22),
+    "yellow": (0.96, 0.80, 0.08),
+    "purple": (0.55, 0.15, 0.75),
+    "orange": (1.00, 0.50, 0.05),
+    "pink": (0.98, 0.35, 0.65),
+    "cyan": (0.05, 0.75, 0.85),
+}
 
 
 def px(x, y):
@@ -65,15 +71,22 @@ def coverable_floor(models):
     sdf = (models / "house_int2" / "model.sdf").read_text()
     items = [("house_int2", [0.0] * 6)] + [
         (uri, [float(v) for v in pose.split()])
-        for uri, pose in re.findall(r"<uri>model://(\w+)</uri>\s*<pose>([^<]+)</pose>", sdf)
+        for uri, pose in re.findall(
+            r"<uri>model://(\w+)</uri>\s*<pose>([^<]+)</pose>", sdf
+        )
     ]
 
     img = Image.new("L", (W, H), 0)
     draw = ImageDraw.Draw(img)
     for name, (x, y, z, roll, pitch, yaw) in items:
-        mesh = trimesh.load(models / name / "meshes" / "model.dae", force="scene").to_geometry()
-        mesh.apply_transform(trimesh.transformations.compose_matrix(
-            angles=[roll, pitch, yaw], translate=[x, y, z]))
+        mesh = trimesh.load(
+            models / name / "meshes" / "model.dae", force="scene"
+        ).to_geometry()
+        mesh.apply_transform(
+            trimesh.transformations.compose_matrix(
+                angles=[roll, pitch, yaw], translate=[x, y, z]
+            )
+        )
         tri = mesh.triangles
         zmin, zmax = tri[:, :, 2].min(1), tri[:, :, 2].max(1)
         # Triangles crossing the robot height band
@@ -86,8 +99,8 @@ def coverable_floor(models):
 
     obstacles = np.array(img) > 0
     k = int(ROBOT_RADIUS / RES)
-    yy, xx = np.mgrid[-k:k + 1, -k:k + 1]
-    disk = xx ** 2 + yy ** 2 <= k * k
+    yy, xx = np.mgrid[-k : k + 1, -k : k + 1]
+    disk = xx**2 + yy**2 <= k * k
     labels, _ = ndimage.label(~ndimage.binary_dilation(obstacles, disk))
     sx, sy = px(*ROBOT_START)
     reachable = labels == labels[int(sy), int(sx)]
@@ -154,7 +167,9 @@ def free(x, y):
 
     def density(x, y):
         return BASE_DENSITY + sum(
-            w * math.exp(-((x - hx) ** 2 + (y - hy) ** 2) / (2 * s * s)) for hx, hy, s, w in HOTSPOTS)
+            w * math.exp(-((x - hx) ** 2 + (y - hy) ** 2) / (2 * s * s))
+            for hx, hy, s, w in HOTSPOTS
+        )
 
     def random_point():
         return rng.uniform(X0, X1), rng.uniform(Y0, Y1)
@@ -182,8 +197,10 @@ def random_point():
         yaw = rng.uniform(0, 2 * math.pi)
         kind = rng.uniform()
         if kind < 0.55:
-            lines.append(f"confetti rect {x:.4f} {y:.4f} {yaw:.3f} "
-                         f"{rng.uniform(0.015, 0.026):.4f} {rng.uniform(0.010, 0.020):.4f} {color}")
+            lines.append(
+                f"confetti rect {x:.4f} {y:.4f} {yaw:.3f} "
+                f"{rng.uniform(0.015, 0.026):.4f} {rng.uniform(0.010, 0.020):.4f} {color}"
+            )
         elif kind < 0.92:
             d = rng.uniform(0.014, 0.024)
             lines.append(f"confetti disc {x:.4f} {y:.4f} 0 {d:.4f} {d:.4f} {color}")
@@ -194,7 +211,9 @@ def random_point():
             for _ in range(rng.integers(2, 5)):
                 mx, my = cx + math.cos(a) * seg / 2, cy + math.sin(a) * seg / 2
                 if free(mx, my):
-                    lines.append(f"confetti rect {mx:.4f} {my:.4f} {a:.3f} {seg:.4f} 0.0045 {color}")
+                    lines.append(
+                        f"confetti rect {mx:.4f} {my:.4f} {a:.3f} {seg:.4f} 0.0045 {color}"
+                    )
                 cx, cy = cx + math.cos(a) * seg, cy + math.sin(a) * seg
                 a += rng.normal(0, 0.9)
 
@@ -208,7 +227,9 @@ def random_point():
             if not free(x, y):
                 continue
             d = rng.uniform(0.03, 0.07) * (1.2 - 0.5 * t)
-            lines.append(f"paint disc {x:.4f} {y:.4f} 0 {d:.4f} {d:.4f} {color + int(rng.integers(2))}")
+            lines.append(
+                f"paint disc {x:.4f} {y:.4f} 0 {d:.4f} {d:.4f} {color + int(rng.integers(2))}"
+            )
             drops += 1
 
     out.mkdir(parents=True, exist_ok=True)
@@ -218,22 +239,28 @@ def random_point():
 
     # The cat keeps off the walls and only walks where the robot can clean
     k = int(CAT_CLEARANCE / RES)
-    yy, xx = np.mgrid[-k:k + 1, -k:k + 1]
-    walk = ndimage.binary_erosion(cover, xx ** 2 + yy ** 2 <= k * k)
+    yy, xx = np.mgrid[-k : k + 1, -k : k + 1]
+    walk = ndimage.binary_erosion(cover, xx**2 + yy**2 <= k * k)
     step = int(round(CAT_MAP_RES / RES))
     hh, ww = (H // step) * step, (W // step) * step
     coarse = walk[:hh, :ww].reshape(hh // step, step, ww // step, step).all(axis=(1, 3))
+
     # Keep only the area connected to the puddles so every goal is reachable
     def cell(p):
         return int((Y1 - p[1]) / CAT_MAP_RES), int((p[0] - X0) / CAT_MAP_RES)
+
     labels, _ = ndimage.label(coarse)
     first = labels[cell(PAINTS[0][3])]
     for name, _, _, spot in PAINTS:
-        assert labels[cell(spot)] == first and first > 0, f"the cat must reach the {name} puddle"
+        assert (
+            labels[cell(spot)] == first and first > 0
+        ), f"the cat must reach the {name} puddle"
     coarse = labels == first
     write_cans(out.parent)
     Image.fromarray(np.where(coarse, 0, 255).astype(np.uint8)).save(out / "cat_map.pgm")
-    print(f"pieces {len(lines)}  cat map origin_x {X0} origin_y {Y1 - coarse.shape[0] * CAT_MAP_RES:.2f}")
+    print(
+        f"pieces {len(lines)}  cat map origin_x {X0} origin_y {Y1 - coarse.shape[0] * CAT_MAP_RES:.2f}"
+    )
 
 
 if __name__ == "__main__":