diff --git a/rlkin/kinova-gen2-7dof.xml b/rlkin/kinova-gen2-7dof.xml
new file mode 100644
index 0000000..80f6099
--- /dev/null
+++ b/rlkin/kinova-gen2-7dof.xml
@@ -0,0 +1,198 @@
+
+
+
+ Kinova
+ Gen2 7 DoF Spherical Wrist
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 180
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+
+
+
+
+ -0.2755
+ 0
+ 0
+ 90
+
+ 180
+ 180
+ -180
+ 36
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+ 90
+
+ 313
+ 47
+ 36
+
+
+
+
+
+
+
+
+
+
+
+
+ -0.41
+ 0
+ 0
+ 90
+
+ 180
+ -180
+ 36
+
+
+
+
+
+
+
+
+
+
+
+
+ -0.0098
+ 0
+ 0
+ 90
+
+ 330
+ 30
+ 36
+
+
+
+
+
+
+
+
+
+
+
+
+
+ -0.3111
+ 0
+ 0
+ 90
+
+ 180
+ -180
+ 48
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+ 90
+
+ 295
+ 65
+ 48
+
+
+
+
+
+
+
+
+
+
+
+ -0.13074
+ 0
+ 0
+ 180
+
+ 90
+ 180
+ -180
+ 48
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
diff --git a/rlmdl/kinova-gen2-7dof.xml b/rlmdl/kinova-gen2-7dof.xml
new file mode 100644
index 0000000..06caaf5
--- /dev/null
+++ b/rlmdl/kinova-gen2-7dof.xml
@@ -0,0 +1,370 @@
+
+
+
+ Kinova
+ Gen2 7 DoF Spherical Wrist
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ 9.86055
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
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+
+
+
+
+
+
+
+
+
+
+ 180
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -0.2755
+
+
+
+
+
+
+
+ 180
+ 180
+ -180
+ 36
+
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+ 313
+ 47
+ 36
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -0.41
+
+
+
+
+
+
+
+ 180
+ -180
+ 36
+
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -0.0098
+
+
+
+
+
+
+
+ 330
+ 30
+ 36
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -0.3111
+
+
+
+
+
+
+
+ 180
+ -180
+ 48
+
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+ 295
+ 65
+ 48
+
+
+
+
+
+
+
+ 90
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 0
+
+
+ 0
+ 0
+ -0.13074
+
+
+
+
+
+
+
+ 90
+ 180
+ -180
+ 48
+
+
+
+
+
+
+
+
+ 180
+ 0
+ 0
+
+
+ 0
+ 0
+ 0
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 180
+
+
+ 0
+ 0
+ 0
+
+
+
+ 0
+ 180
+ 0
+ 180
+ 0
+ 180
+ 0
+
+
+
diff --git a/rlplan/kinova-gen2-7dof_lattice_bridgePrm.xml b/rlplan/kinova-gen2-7dof_lattice_bridgePrm.xml
new file mode 100644
index 0000000..44c5b1d
--- /dev/null
+++ b/rlplan/kinova-gen2-7dof_lattice_bridgePrm.xml
@@ -0,0 +1,52 @@
+
+
+
+ 1200
+
+ 100
+ 140
+ 0
+ 230
+ 0
+ 90
+ 0
+
+
+
+ 0
+
+
+
+ -80
+ 90
+ 0
+ 180
+ 90
+ 280
+ 0
+
+
+ 1
+
+
+ 0
+
+
+ 100
+
+
+
+
+ 36
+ 36
+ 36
+ 36
+ 36
+ 36
+
+
+
+ 1
+
+
+
diff --git a/rlplan/kinova-gen2-7dof_lattice_prm.xml b/rlplan/kinova-gen2-7dof_lattice_prm.xml
new file mode 100644
index 0000000..430f9b2
--- /dev/null
+++ b/rlplan/kinova-gen2-7dof_lattice_prm.xml
@@ -0,0 +1,43 @@
+
+
+
+ 1200
+
+ 100
+ 140
+ 0
+ 230
+ 0
+ 90
+ 0
+
+
+
+ 0
+
+
+
+ -80
+ 90
+ 0
+ 180
+ 90
+ 280
+ 0
+
+
+ 1
+
+
+ 0
+
+
+ 100
+
+
+
+
+ 1
+
+
+
diff --git a/rlplan/kinova-gen2-7dof_lattice_rrtConCon.xml b/rlplan/kinova-gen2-7dof_lattice_rrtConCon.xml
new file mode 100644
index 0000000..6c7e579
--- /dev/null
+++ b/rlplan/kinova-gen2-7dof_lattice_rrtConCon.xml
@@ -0,0 +1,42 @@
+
+
+
+ 1200
+
+ 100
+ 140
+ 0
+ 230
+ 0
+ 90
+ 0
+
+
+
+ 0
+
+
+
+ -80
+ 90
+ 0
+ 180
+ 90
+ 280
+ 0
+
+
+ 1
+
+
+ 0
+
+
+ 100
+
+ 1
+ 1e-9
+
+
+
+
diff --git a/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.wrl b/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.wrl
new file mode 100644
index 0000000..4d0f1f3
--- /dev/null
+++ b/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.wrl
@@ -0,0 +1,75 @@
+#VRML V2.0 utf8
+Transform {
+ children [
+ DEF link0 Transform {
+ rotation 1 0 0 3.14159
+ children [
+ Inline {
+ url "link0.wrl"
+ }
+ ]
+ }
+ DEF link1 Transform {
+ translation 0 0 0.2755
+ rotation 0 -0.70710677 0.70710677 3.1415927
+ children [
+ Inline {
+ url "link1.wrl"
+ }
+ ]
+ }
+ DEF link2 Transform {
+ translation 0 0 0.2755
+ rotation 1 0 0 3.14159
+ children [
+ Inline {
+ url "link2.wrl"
+ }
+ ]
+ }
+ DEF link3 Transform {
+ translation 0 0 0.6855
+ rotation -1 0 0 1.570796
+ children [
+ Inline {
+ url "link3.wrl"
+ }
+ ]
+ }
+ DEF link4 Transform {
+ translation 0 -0.0098 0.6855
+ rotation 0 1 0 3.14159
+ children [
+ Inline {
+ url "link4.wrl"
+ }
+ ]
+ }
+ DEF link5 Transform {
+ translation 0 -0.0098 0.9966
+ rotation 0 -0.70710677 0.70710677 3.1415927
+ children [
+ Inline {
+ url "link5.wrl"
+ }
+ ]
+ }
+ DEF link6 Transform {
+ translation 0 -0.0098 0.9966
+ rotation 1 0 0 3.14159
+ children [
+ Inline {
+ url "link6.wrl"
+ }
+ ]
+ }
DEF link7 Transform {
+ translation 0 -0.0098 1.12734
+ rotation 0 0 -1 1.570796
+ children [
+ Inline {
+ url "link7.wrl"
+ }
+ ]
+ }
+ ]
+}
diff --git a/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.xml b/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.xml
new file mode 100644
index 0000000..a46d8e4
--- /dev/null
+++ b/rlsg/kinova-gen2-7dof.convex/kinova-gen2-7dof.xml
@@ -0,0 +1,15 @@
+
+
+
+
+
+
+
+