diff --git a/kine_ctrl/rm75_kine_rm.py b/kine_ctrl/rm75_kine_rm.py
index c12af8f..2874794 100644
--- a/kine_ctrl/rm75_kine_rm.py
+++ b/kine_ctrl/rm75_kine_rm.py
@@ -129,7 +129,6 @@ class rm75_kine_api():
ret, phi0 = self.robot_kine_rm.rm_algo_calculate_arm_angle_from_config_rm75(q_ref)
params = rm_inverse_kinematics_params_t(q_ref, target, 1)
- step_arm_angle = step_arm_angle
offsets = [0.0]
arm_angle = step_arm_angle
while arm_angle <= 180.0:
diff --git a/kine_ctrl/urdf_rm75/Dual_arm.urdf b/kine_ctrl/urdf_rm75/Dual_arm.urdf
index f0bb9ad..a1cb5ef 100644
--- a/kine_ctrl/urdf_rm75/Dual_arm.urdf
+++ b/kine_ctrl/urdf_rm75/Dual_arm.urdf
@@ -280,7 +280,7 @@
-
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@@ -550,6 +550,6 @@
-
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diff --git a/kine_ctrl/urdf_rm75/RM75-newSCI.urdf b/kine_ctrl/urdf_rm75/RM75-newSCI.urdf
new file mode 100644
index 0000000..6892cfc
--- /dev/null
+++ b/kine_ctrl/urdf_rm75/RM75-newSCI.urdf
@@ -0,0 +1,516 @@
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diff --git a/kine_ctrl/urdf_rm75/meshes/mini_scissor.stl b/kine_ctrl/urdf_rm75/meshes/mini_scissor.stl
new file mode 100644
index 0000000..e168421
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/mini_scissor.stl differ