Add Kuka arm to Pioneer

Pioneer3DX _robotBaseEntity;

void AddPioneer3DXRobot(Vector3 position)
{
_robotBaseEntity = CreateMotorBase(ref position);

}

private Pioneer3DX CreateMotorBase(ref Vector3 position)
{
// use supplied entity that creates a motor base
// with 2 active wheels and one caster
Pioneer3DX robotBaseEntity = new Pioneer3DX(position);

// specify mesh.
robotBaseEntity.State.Assets.Mesh = "Pioneer3dx.bos";
// specify color if no mesh is specified.
robotBaseEntity.ChassisShape.State.DiffuseColor = new Vector4(0.8f, 0.25f, 0.25f, 1.0f);

// the name below must match manifest
robotBaseEntity.State.Name = "P3DXMotorBase";

// Start simulated arcos motor service
drive.Contract.CreateService(ConstructorPort,

);
return robotBaseEntity;
}

arm.ArticulatedArmState _cachedArmState;
KukaLBR3Entity armEntity;

IEnumerator<ITask> AddArticulatedArm()
{
Vector3 position = new Vector3(0, 1.25f, 1);
// Create an instance of our custom arm entity.
// Source code for this entity can be found under
// Samples\Simulation\Entities\Entities.cs
armEntity = new KukaLBR3Entity(position);

// Name the entity
armEntity.State.Name = "LBR3Arm";

// Insert entity in simulation.
//SimulationEngine.GlobalInstancePort.Insert(armEntity);
_robotBaseEntity.InsertEntity(armEntity);

// create simulated arm service
DsspResponsePort<CreateResponse> resultPort = CreateService(

// asynchronously handle service creation result.
yield return Arbiter.Choice(resultPort,
delegate(CreateResponse rsp)
{
_armServicePort = ServiceForwarder<arm.ArticulatedArmOperations>(rsp.Service);
},
delegate(Fault fault)
{
LogError(fault);
});

if (_armServicePort == null)
yield break;

// we re-issue the get until we get a response with a fully initialized state
do
{
yield return Arbiter.Receive(false, TimeoutPort(1000), delegate(DateTime signal) { });

_armServicePort.Get(new GetRequestType()),
delegate(arm.ArticulatedArmState state)
{

delegate(Fault f)
{
LogError(f);
});

// exit on error
if (_cachedArmState == null)
yield break;
} while (_cachedArmState.Joints == null);
}