diff --git a/meshes/platform/Franka_platformL.dae b/meshes/platform/Franka_platformL.dae
new file mode 100644
index 0000000..ab8afde
--- /dev/null
+++ b/meshes/platform/Franka_platformL.dae
@@ -0,0 +1,105 @@
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98 29636 98 29675 98 29676 1162 29677 1162 29678 1162 29676 22250 29641 22250 29624 22250 29676 22250 29624 22250 29653 22250 29676 22250 29653 22250 29677 22250 29679 22251 29630 22251 29650 22251 29679 22251 29680 22251 29630 22251 29679 1054 29650 1054 29625 1054 29679 1054 29625 1054 29656 1054 29681 22252 29646 22252 29649 22252 29681 22252 29682 22252 29646 22252 29681 1213 29649 1213 29651 1213 29683 22252 29652 22252 29646 22252 29652 51 29684 51 29662 51 29662 51 29684 51 29663 51 29685 1213 29684 1213 29683 1213 29683 22252 29684 22252 29652 22252 29638 22246 29686 22246 29674 22246 29647 114 29666 114 29687 114 29626 114 29633 114 29687 114 29633 114 29647 114 29687 114 29624 114 29626 114 29687 114 29654 114 29624 114 29687 114 29654 114 29687 114 29666 114 29655 1162 29688 1162 29667 1162 29668 22248 29688 22248 29655 22248 29668 22248 29667 22248 29688 22248 29642 22249 29644 22249 29689 22249 29668 1162 29642 1162 29689 1162 29668 22249 29689 22249 29644 22249 29629 22249 29665 22249 29690 22249 29668 22249 29629 22249 29690 22249 29668 1162 29690 1162 29665 1162 29671 51 29691 51 29672 51 29685 51 29692 51 29693 51 29692 129 29648 129 29693 129 29648 129 29631 129 29693 129 29694 1162 29658 1162 29657 1162 29694 22244 29640 22244 29639 22244 29694 22244 29639 22244 29658 22244 29695 1162 29680 1162 29696 1162 29697 1213 29681 1213 29651 1213 29697 1162 29698 1162 29699 1162 29697 22253 29651 22253 29648 22253 29697 22253 29648 22253 29698 22253 29682 22252 29700 22252 29646 22252 29681 1162 29700 1162 29682 1162 29699 1213 29698 1213 29700 1213 29683 1213 29700 1213 29698 1213 29697 1213 29699 1213 29700 1213 29697 1213 29700 1213 29681 1213 29677 22250 29653 22250 29701 22250 29627 51 29701 51 29653 51 29627 51 29635 51 29701 51 29671 51 29701 51 29691 51 29671 51 29673 51 29701 51 29678 22247 29677 22247 29702 22247 29676 22247 29678 22247 29702 22247 29677 22247 29701 22247 29702 22247 29702 22247 29701 22247 29686 22247 29702 22246 29638 22246 29659 22246 29702 22247 29659 22247 29641 22247 29676 22247 29702 22247 29641 22247 29685 51 29693 51 29703 51 29693 51 29663 51 29703 51 29685 51 29703 51 29684 51 29663 51 29684 51 29703 51 29704 51 29663 51 29693 51 29672 51 29691 51 29704 51 29704 51 29670 51 29663 51 29704 51 29691 51 29701 51 29704 51 29635 51 29670 51 29704 51 29701 51 29635 51 29705 129 29693 129 29631 129 29705 51 29639 51 29672 51 29705 129 29631 129 29630 129 29705 51 29704 51 29693 51 29705 22251 29695 22251 29706 22251 29705 22251 29630 22251 29680 22251 29705 22251 29680 22251 29695 22251 29696 1054 29707 1054 29694 1054 29696 1054 29680 1054 29707 1054 29640 1162 29707 1162 29656 1162 29694 1162 29707 1162 29640 1162 29679 1054 29656 1054 29707 1054 29679 1054 29707 1054 29680 1054 29708 22253 29698 22253 29648 22253 29708 22253 29648 22253 29692 22253 29708 22253 29692 22253 29685 22253 29708 1213 29683 1213 29698 1213 29683 22252 29646 22252 29709 22252 29700 22252 29709 22252 29646 22252 29683 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29728 51 29729 1162 29774 1162 29727 1162 29759 22259 29775 22259 29774 22259 29739 22259 29759 22259 29774 22259 29739 130 29774 130 29729 130 29735 22271 29756 22271 29776 22271 29762 1162 29755 1162 29777 1162 29735 22271 29762 22271 29777 22271 29729 831 29730 831 29778 831 29729 831 29778 831 29756 831 29730 22271 29752 22271 29778 22271 29778 22271 29752 22271 29776 22271 29778 22271 29776 22271 29756 22271 29759 22258 29779 22258 29775 22258 29744 51 29775 51 29779 51 29744 22272 29779 22272 29780 22272 29780 22258 29759 22258 29758 22258 29780 22258 29779 22258 29759 22258 29757 22258 29781 22258 29758 22258 29760 22258 29781 22258 29757 22258 29780 1162 29758 1162 29781 1162 29723 22258 29781 22258 29738 22258 29738 22258 29781 22258 29760 22258 29723 22272 29769 22272 29781 22272 29744 22272 29781 22272 29769 22272 29744 22272 29780 22272 29781 22272 29723 114 29739 114 29782 114 29761 1162 29782 1162 29739 1162 29723 114 29782 114 29715 114 29715 114 29782 114 29761 114 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29801 22268 29790 22268 29734 22268 29801 22268 29749 22268 29790 22268 29801 98 29734 98 29731 98 29801 98 29731 98 29733 98 29726 51 29767 51 29802 51 29801 51 29726 51 29802 51 29801 51 29802 51 29767 51 29803 22282 29804 22282 29805 22282 29806 22283 29805 22283 29804 22283 29807 114 29808 114 29806 114 29809 114 29810 114 29807 114 29811 22284 29804 22284 29803 22284 29807 114 29806 114 29812 114 29809 114 29807 114 29812 114 29806 114 29804 114 29812 114 29811 22285 29809 22285 29812 22285 29811 22286 29812 22286 29804 22286 29813 51 29814 51 29815 51 29803 51 29805 51 29815 51 29810 114 29816 114 29817 114 29813 51 29818 51 29819 51 29818 51 29815 51 29805 51 29813 51 29815 51 29818 51 29820 51 29821 51 29819 51 29813 51 29819 51 29821 51 29813 51 29821 51 29820 51 29813 51 29822 51 29814 51 29823 51 29824 51 29825 51 29825 51 29824 51 29826 51 29827 51 29824 51 29823 51 29827 51 29826 51 29824 51 29825 51 29826 51 29828 51 29829 22259 29826 22259 29830 22259 29817 22259 29829 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30002 129 30004 129 30005 129 30002 129 29991 22301 29990 22301 30006 22301 30006 22301 29990 22301 30007 22301 29997 129 30008 129 30009 129 30007 22301 29990 22301 30010 22301 29992 22301 30010 22301 29990 22301 30011 129 29995 129 29989 129 29998 129 30012 129 30013 129 29995 129 30013 129 30012 129 29693 114 30014 114 29692 114 29997 22302 29999 22302 30015 22302 29994 130 30016 130 30017 130 29994 130 30018 130 30019 130 30008 22303 30016 22303 30020 22303 30006 555 30007 555 30020 555 29994 555 30006 555 30020 555 30021 1162 29998 1162 30014 1162 29705 1162 29693 1162 29692 1162 29994 130 30017 130 29705 130 30022 130 30023 130 29988 130 30023 22300 30000 22300 29988 22300 30024 129 30002 129 29989 129 30004 129 30002 129 30024 129 30004 129 30024 129 30025 129 30024 22300 29989 22300 30000 22300 30003 129 30026 129 30005 129 30002 129 30005 129 30026 129 30003 129 30002 129 30026 129 29994 130 29991 130 30027 130 29994 555 30027 555 30006 555 30028 129 30009 129 29992 129 30028 129 29992 129 29993 129 30028 129 29997 129 30009 129 30028 129 30012 129 29998 129 30028 129 29993 129 29996 129 30028 129 29995 129 30012 129 30028 129 29996 129 29995 129 29992 1162 30007 1162 30029 1162 30007 1162 30010 1162 30029 1162 29992 1162 30029 1162 30010 1162 30001 129 30030 129 29989 129 30011 129 29989 129 30030 129 30011 129 30030 129 30001 129 30031 129 30014 129 29998 129 30031 129 29998 129 30013 129 30003 129 30031 129 30001 129 30031 129 30013 129 29995 129 30031 129 29995 129 30011 129 30031 129 30011 129 30001 129 30004 129 30032 129 30005 129 30033 129 30014 129 30005 129 30034 130 30035 130 30036 130 29997 22302 30015 22302 30037 22302 29997 98 30037 98 30008 98 30037 130 29705 130 30017 130 30037 98 30016 98 30008 98 30037 1162 30017 1162 30016 1162 29998 129 30038 129 29999 129 29994 130 30019 130 30039 130 29994 22303 30040 22303 30016 22303 30020 22303 30016 22303 30040 22303 29994 1162 30020 1162 30040 1162 30007 555 30041 555 30020 555 29992 555 30041 555 30007 555 30009 555 30041 555 29992 555 30008 22303 30041 22303 30009 22303 30008 22303 30020 22303 30041 22303 29705 1162 30042 1162 29693 1162 29705 114 29998 114 30042 114 30021 114 30042 114 29998 114 29693 114 30042 114 30014 114 30021 114 30014 114 30042 114 30018 130 29705 130 30043 130 29705 130 29692 130 30043 130 29994 130 30044 130 30018 130 30018 130 30044 130 29705 130 29994 130 29705 130 30044 130 30023 1169 30045 1169 30000 1169 29991 22301 30006 22301 30046 22301 30027 22301 29991 22301 30046 22301 30027 1162 30046 1162 30006 1162 29997 129 30047 129 29998 129 30028 129 30047 129 29997 129 30028 129 29998 129 30047 129 30003 129 30048 129 30031 129 30031 129 30048 129 30014 129 30003 129 30005 129 30048 129 30048 129 30005 129 30014 129 30004 73 30034 73 30049 73 30004 1162 30049 1162 30032 1162 30049 73 30034 73 30032 73 30034 22304 30036 22304 30050 22304 30034 22304 30050 22304 30051 22304 30004 73 30052 73 30034 73 30053 73 30052 73 30004 73 30052 1162 30054 1162 30034 1162 30053 130 30022 130 30052 130 30022 130 29988 130 30052 130 29988 130 30054 130 30052 130 30018 130 30055 130 30019 130 29988 130 30055 130 30054 130 30055 130 30056 130 30054 130 30039 130 30019 130 30055 130 29994 130 30055 130 29988 130 29994 130 30039 130 30055 130 30057 130 30035 130 30034 130 30018 130 30043 130 30057 130 30058 22305 30059 22305 30014 22305 30058 22305 30014 22305 30033 22305 30058 22306 30033 22306 30005 22306 30060 22305 30035 22305 29692 22305 30060 22305 29692 22305 30014 22305 30036 22306 30035 22306 30060 22306 30037 22302 30015 22302 30061 22302 29705 22307 30062 22307 29998 22307 30022 1169 30063 1169 30023 1169 30023 1169 30063 1169 30045 1169 30053 22308 30063 22308 30022 22308 30053 22308 30045 22308 30063 22308 30045 1169 30064 1169 30000 1169 30004 22308 30025 22308 30064 22308 30058 22306 30005 22306 30065 22306 30058 22306 30065 22306 30059 22306 30034 22304 30051 22304 30065 22304 30065 22304 30005 22304 30032 22304 30034 22304 30065 22304 30032 22304 30066 130 30034 130 30054 130 30066 130 30054 130 30056 130 30055 130 30066 130 30056 130 29692 130 30035 130 30067 130 30057 130 30067 130 30035 130 30043 130 29692 130 30067 130 30057 130 30043 130 30067 130 30059 22305 30068 22305 30014 22305 30060 22305 30014 22305 30068 22305 30059 1162 30060 1162 30068 1162 30059 22306 30069 22306 30060 22306 30065 22306 30069 22306 30059 22306 30036 1162 30069 1162 30050 1162 30036 22306 30060 22306 30069 22306 30051 1162 30050 1162 30069 1162 30051 1162 30069 1162 30065 1162 30070 1162 30061 1162 30015 1162 30070 1162 30015 1162 29999 1162 30070 22309 29999 22309 30038 22309 30062 22309 30061 22309 30070 22309 30071 22302 30072 22302 30037 22302 30071 22302 30037 22302 30061 22302 30071 22309 30061 22309 30062 22309 29998 22307 30073 22307 30038 22307 30062 22307 30073 22307 29998 22307 30070 22309 30038 22309 30073 22309 30062 22309 30070 22309 30073 22309 29705 22307 30074 22307 30062 22307 30072 130 30074 130 30037 130 30037 130 30074 130 29705 130 30071 22309 30074 22309 30072 22309 30071 22309 30062 22309 30074 22309 30024 1162 30000 1162 30075 1162 30064 1169 30075 1169 30000 1169 30064 1169 30024 1169 30075 1169 30025 1169 30024 1169 30076 1169 30064 1162 30025 1162 30076 1162 30064 1169 30076 1169 30024 1169 30004 22308 30064 22308 30077 22308 30057 130 30034 130 30078 130 30066 130 30078 130 30034 130 30057 130 30078 130 30066 130 30055 130 30079 130 30066 130 30057 130 30066 130 30079 130 30018 130 30079 130 30055 130 30018 130 30057 130 30079 130 30045 1162 30080 1162 30064 1162 30077 1162 30064 1162 30080 1162 30004 22308 30077 22308 30080 22308 30053 22308 30004 22308 30080 22308 30053 22308 30080 22308 30045 22308 30081 130 30082 130 30083 130 30084 130 30085 130 30086 130 30087 130 30085 130 30083 130 30084 130 30088 130 30085 130 30084 130 30083 130 30088 130 30085 130 30088 130 30083 130 30084 130 30089 130 30083 130 30090 130 30086 130 30085 130 30090 130 30091 130 30086 130 30090 51 30085 51 30092 51 30090 51 30092 51 30093 51 30094 22310 30095 22310 30096 22310 30097 1162 30098 1162 30099 1162 30093 1162 30092 1162 30100 1162 30085 51 30100 51 30092 51 30095 22311 30100 22311 30085 22311 30094 22311 30100 22311 30095 22311 30101 1162 30102 1162 30103 1162 30081 130 30102 130 30101 130 30104 130 30102 130 30081 130 30084 130 30104 130 30089 130 30104 130 30081 130 30083 130 30105 22312 30106 22312 30107 22312 30108 22312 30107 22312 30106 22312 30109 130 30085 130 30087 130 30110 130 30111 130 30109 130 30109 130 30111 130 30085 130 30087 130 30083 130 30112 130 30097 73 30112 73 30098 73 30113 130 30083 130 30082 130 30114 130 30107 130 30102 130 30105 130 30107 130 30115 130 30090 130 30115 130 30091 130 30116 22311 30095 22311 30085 22311 30110 22310 30116 22310 30111 22310 30117 129 30118 129 30119 129 30117 22313 30119 22313 30082 22313 30117 22314 30082 22314 30081 22314 30117 129 30120 129 30121 129 30102 98 30122 98 30103 98 30107 98 30122 98 30102 98 30123 22312 30122 22312 30124 22312 30108 22312 30122 22312 30107 22312 30108 22312 30124 22312 30122 22312 30125 129 30093 129 30100 129 30099 1162 30098 1162 30126 1162 30127 129 30126 129 30098 129 30109 73 30087 73 30126 73 30128 129 30121 129 30120 129 30128 129 30127 129 30118 129 30128 129 30126 129 30127 129 30083 130 30089 130 30129 130 30104 130 30083 130 30129 130 30104 130 30129 130 30089 130 30123 1162 30124 1162 30130 1162 30123 1162 30130 1162 30131 1162 30108 1162 30130 1162 30124 1162 30108 1162 30131 1162 30130 1162 30132 22315 30083 22315 30113 22315 30132 22316 30112 22316 30083 22316 30133 130 30115 130 30107 130 30133 130 30091 130 30115 130 30084 130 30086 130 30133 130 30133 130 30086 130 30091 130 30104 130 30134 130 30102 130 30114 130 30102 130 30134 130 30104 130 30114 130 30134 130 30105 22317 30115 22317 30135 22317 30108 22317 30136 22317 30131 22317 30123 22317 30131 22317 30136 22317 30085 22311 30111 22311 30137 22311 30116 22311 30085 22311 30137 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30200 129 30192 129 30193 129 30201 130 30194 130 30185 130 30201 22336 30193 22336 30194 22336 30178 22331 30181 22331 30202 22331 30203 22340 30194 22340 30195 22340 30203 130 30181 130 30194 130 30203 22341 30204 22341 30181 22341 30189 22342 30199 22342 30205 22342 30197 22338 30189 22338 30205 22338 30197 22332 30205 22332 30199 22332 30185 22343 30192 22343 30206 22343 30200 22344 30193 22344 30207 22344 30201 22344 30207 22344 30193 22344 30201 130 30185 130 30207 130 30185 22345 30208 22345 30207 22345 30202 22346 30209 22346 30210 22346 30203 22340 30195 22340 30210 22340 30178 129 30202 129 30210 129 30178 129 30210 129 30193 129 30195 129 30193 129 30210 129 30200 22347 30211 22347 30192 22347 30206 22343 30192 22343 30211 22343 30200 22348 30206 22348 30211 22348 30208 22348 30212 22348 30207 22348 30185 22343 30206 22343 30212 22343 30185 22343 30212 22343 30208 22343 30200 22348 30212 22348 30206 22348 30200 22348 30207 22348 30212 22348 30203 22349 30213 22349 30204 22349 30213 22350 30181 22350 30204 22350 30214 22349 30210 22349 30209 22349 30214 22350 30209 22350 30202 22350 30203 22349 30210 22349 30214 22349 30181 22350 30214 22350 30202 22350 30181 22350 30215 22350 30214 22350 30203 22349 30215 22349 30216 22349 30203 22349 30217 22349 30215 22349 30203 22349 30214 22349 30217 22349 30215 1162 30217 1162 30214 1162 30215 1162 30218 1162 30216 1162 30181 22350 30218 22350 30215 22350 30213 22350 30218 22350 30181 22350 30203 22349 30218 22349 30213 22349 30203 22349 30216 22349 30218 22349 30219 1162 30220 1162 30221 1162 30221 129 30222 129 30223 129 30224 114 30225 114 30226 114 30224 114 30226 114 30227 114 30228 130 30229 130 30230 130 30219 73 30231 73 30220 73 30219 73 30232 73 30231 73 30231 73 30221 73 30220 73 30219 73 30233 73 30232 73 30234 1162 30235 1162 30236 1162 30237 129 30238 129 30235 129 30237 129 30235 129 30234 129 30238 129 30223 129 30235 129 30222 129 30235 129 30223 129 30239 130 30225 130 30240 130 30238 129 30241 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129 30271 129 30238 129 30271 129 30243 129 30238 129 30271 129 30256 129 30243 129 29951 22354 30269 22354 30272 22354 30268 22354 29951 22354 30272 22354 30228 130 30273 130 30254 130 30258 130 30273 130 30228 130 30258 22355 30259 22355 30273 22355 30274 22304 30260 22304 30231 22304 30274 1163 30247 1163 30248 1163 30274 1163 30248 1163 30260 1163 30224 22351 30275 22351 30246 22351 30261 22351 30275 22351 30224 22351 30261 1162 30246 1162 30275 1162 30236 22302 30276 22302 30253 22302 30277 142 30251 142 30266 142 30265 22352 30226 22352 30277 22352 30252 1162 30265 1162 30277 1162 30252 142 30277 142 30276 142 30267 130 30233 130 30278 130 30250 130 30267 130 30278 130 30262 130 30278 130 30233 130 30262 130 30250 130 30278 130 30279 1162 30270 1162 30268 1162 30237 129 30279 129 30271 129 30280 22353 30259 22353 30270 22353 30247 22304 30281 22304 30231 22304 30274 1162 30281 1162 30247 1162 30274 22304 30231 22304 30281 22304 30252 142 30282 142 30264 142 30252 142 30276 142 30282 142 30283 22302 30266 22302 30253 22302 30283 22302 30253 22302 30276 22302 30283 1162 30276 1162 30266 1162 30277 1162 30284 1162 30251 1162 30226 22352 30251 22352 30284 22352 30277 22352 30226 22352 30284 22352 30276 1162 30285 1162 30266 1162 30277 142 30266 142 30285 142 30276 142 30277 142 30285 142 30237 129 30286 129 30279 129 30279 129 30286 129 30270 129 30280 22355 30286 22355 30237 22355 30280 22353 30270 22353 30286 22353 30280 22355 30237 22355 30287 22355 30288 22303 30254 22303 30273 22303 30234 22303 30254 22303 30288 22303 30272 1162 30269 1162 30289 1162 30290 22356 30272 22356 30289 22356 30291 130 30269 130 30233 130 30291 22356 30289 22356 30269 22356 30290 22356 30289 22356 30291 22356 30219 22308 30291 22308 30233 22308 30268 22354 30272 22354 30292 22354 30290 22356 30292 22356 30272 22356 30264 1162 30282 1162 30293 1162 30276 1162 30293 1162 30282 1162 30236 22302 30264 22302 30293 22302 30236 22302 30293 22302 30276 22302 30280 1162 30294 1162 30259 1162 30294 22355 30273 22355 30259 22355 30294 22355 30288 22355 30273 22355 30295 22355 30288 22355 30294 22355 30219 22308 30290 22308 30296 22308 30219 22308 30296 22308 30291 22308 30290 1162 30291 1162 30296 1162 30297 22356 30292 22356 30290 22356 30297 129 30257 129 30256 129 30297 129 30268 129 30292 129 30297 129 30279 129 30268 129 30297 129 30219 129 30221 129 30297 129 30221 129 30257 129 30297 129 30256 129 30271 129 30297 129 30271 129 30279 129 30295 1162 30298 1162 30288 1162 30234 22303 30288 22303 30298 22303 30280 22355 30287 22355 30298 22355 30295 22355 30280 22355 30298 22355 30237 22303 30234 22303 30298 22303 30237 1162 30298 1162 30287 1162 30280 1162 30299 1162 30294 1162 30295 22355 30299 22355 30280 22355 30295 22355 30294 22355 30299 22355 30219 22308 30300 22308 30290 22308 30297 22308 30300 22308 30219 22308 30297 1162 30290 1162 30300 1162 30301 22357 30302 22357 30303 22357 30304 130 30305 130 30306 130 30307 130 30308 130 30301 130 30309 130 30301 130 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1162 30305 130 30333 130 30340 130 30332 130 30341 130 30342 130 30343 22361 30342 22361 30341 22361 30343 22362 30321 22362 30342 22362 30332 130 30342 130 30333 130 30333 130 30342 130 30321 130 30319 114 30321 114 30344 114 30319 1162 30344 1162 30324 1162 30324 114 30344 114 30321 114 30345 22362 30321 22362 30343 22362 30345 22362 30324 22362 30321 22362 30346 129 30323 129 30322 129 30303 22363 30302 22363 30347 22363 30337 22364 30347 22364 30302 22364 30337 98 30339 98 30347 98 30327 22365 30303 22365 30347 22365 30348 98 30327 98 30347 98 30331 22366 30348 22366 30347 22366 30349 22359 30331 22359 30347 22359 30338 22367 30347 22367 30339 22367 30338 22359 30349 22359 30347 22359 30304 130 30350 130 30351 130 30352 130 30325 130 30330 130 30352 130 30326 130 30325 130 30332 130 30352 130 30330 130 30352 130 30310 130 30326 130 30309 130 30310 130 30352 130 30353 22368 30301 22368 30308 22368 30354 22369 30301 22369 30353 22369 30307 22370 30353 22370 30308 22370 30355 22371 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="DefaultScene">
+      <node id="node_bbb0cd05_cca5_44b5_9677_79a89cd45d63" type="NODE">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="node_0716ad43_a6a8_4a59_8aa0_4846f02766c6" type="NODE">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <node id="node_0716ad43_a6a8_4a59_8aa0_4846f02766c6_mesh0" type="NODE">
+            <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+            <instance_geometry url="#geometry_acca6d1a_4714_4fdd_95d4_dc2c0b0e94e0">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="mat_0" target="#mat_0"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#DefaultScene"/>
+  </scene>
+</COLLADA>
diff --git a/meshes/platform/Franka_platformR.dae b/meshes/platform/Franka_platformR.dae
new file mode 100644
index 0000000..70ba342
--- /dev/null
+++ b/meshes/platform/Franka_platformR.dae
@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+<!--
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+-->
+  <asset>
+    <contributor>
+      <author>ImageToStl.com</author>
+      <authoring_tool>ImageToStl.com</authoring_tool>
+    </contributor>
+    <created>2025-02-22T02:13:45</created>
+    <modified>2025-02-22T02:13:45</modified>
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_0">
+        <profile_COMMON>
+          <technique sid="common">
+            <phong>
+              <diffuse>
+                <color>0.85 0.85 0.85 1</color>
+              </diffuse>
+              <specular>
+                <color>0.05 0.05 0.05 1</color>
+              </specular>
+              <shininess>
+                <float>64</float>
+              </shininess>
+            </phong>
+          </technique>
+        </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="mat_0">
+      <instance_effect url="#effect_0"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="geometry_438b05b5_835e_4f6a_9c03_90449401accd">
+      <mesh>
+        <source id="pos_0">
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10388 5016 10425 5016 10426 5016 10386 5016 10388 5016 10427 5015 10386 5015 10426 5015 10427 5015 10384 5015 10386 5015 10428 11375 10384 11375 10427 11375 10428 11375 10382 11375 10384 11375 10429 11374 10382 11374 10428 11374 10429 11374 10380 11374 10382 11374 10430 11373 10380 11373 10429 11373 10430 11373 10378 11373 10380 11373 10430 11372 10374 11372 10378 11372 10431 5016 10426 5016 10425 5016 10432 5015 10426 5015 10431 5015 10432 5015 10427 5015 10426 5015 10433 11375 10427 11375 10432 11375 10433 11375 10428 11375 10427 11375 10434 11374 10428 11374 10433 11374 10434 11374 10429 11374 10428 11374 10435 11373 10429 11373 10434 11373 10435 11373 10430 11373 10429 11373 10435 11372 10374 11372 10430 11372 10436 5015 10432 5015 10431 5015 10437 11375 10432 11375 10436 11375 10437 11375 10433 11375 10432 11375 10438 11374 10433 11374 10437 11374 10438 11374 10434 11374 10433 11374 10439 11373 10434 11373 10438 11373 10439 11373 10435 11373 10434 11373 10440 11372 10435 11372 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10471 109 10481 109 10475 109 10474 109 10475 109 10481 109 10460 109 10482 109 10461 109 10461 11381 10483 11381 10457 11381 10482 109 10483 109 10461 109 10484 108 10465 108 10468 108 10485 108 10484 108 10486 108 10484 60 10453 60 10449 60 10484 60 10449 60 10487 60 10484 108 10488 108 10465 108 10484 108 10487 108 10488 108 10455 108 10489 108 10486 108 10489 108 10490 108 10486 108 10489 58 10469 58 10490 58 10455 58 10460 58 10489 58 10451 11382 10491 11382 10469 11382 10484 11383 10492 11383 10453 11383 10471 109 10475 109 10493 109 10471 109 10493 109 10472 109 10463 109 10472 109 10493 109 10447 109 10493 109 10475 109 10452 109 10463 109 10493 109 10449 109 10493 109 10447 109 10449 109 10452 109 10493 109 10476 11378 10494 11378 10495 11378 10476 11377 10474 11377 10494 11377 10495 109 10494 109 10481 109 10474 109 10481 109 10494 109 10496 11378 10479 11378 10497 11378 10476 11377 10497 11377 10454 11377 10446 11379 10498 11379 10480 11379 10449 11384 10459 11384 10499 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="DefaultScene">
+      <node id="node_d62b7626_e80b_4520_9c50_31e251799b2a" type="NODE">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <node id="node_bc459cde_bb62_421d_81b6_ffc5ceec300b" type="NODE">
+          <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+          <node id="node_bc459cde_bb62_421d_81b6_ffc5ceec300b_mesh0" type="NODE">
+            <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+            <instance_geometry url="#geometry_438b05b5_835e_4f6a_9c03_90449401accd">
+              <bind_material>
+                <technique_common>
+                  <instance_material symbol="mat_0" target="#mat_0"/>
+                </technique_common>
+              </bind_material>
+            </instance_geometry>
+          </node>
+        </node>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#DefaultScene"/>
+  </scene>
+</COLLADA>