diff --git a/README.md b/README.md
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+# Realidad Aumentada en Herramientas de Robótica
\ No newline at end of file
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diff --git a/docs/presentacion.pdf b/docs/presentacion.pdf
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diff --git a/src/unity/Assets/3DModel/link3.obj b/src/unity/Assets/3DModel/link3.obj
new file mode 100644
index 0000000..1a683db
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+++ b/src/unity/Assets/3DModel/link3.obj
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new file mode 100644
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diff --git a/src/unity/Assets/Animations/FadeInLoading.anim b/src/unity/Assets/Animations/FadeInLoading.anim
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diff --git a/src/unity/Assets/Scripts/AppData.cs b/src/unity/Assets/Scripts/AppData.cs
new file mode 100644
index 0000000..31e5bc2
--- /dev/null
+++ b/src/unity/Assets/Scripts/AppData.cs
@@ -0,0 +1,56 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: AppData.cs
+ * Versión 1.0
+ */
+
+using System;
+
+public static class AppData
+{
+    /*
+     * Clase que contiene toda la información estática
+     * entre escenas de la aplicación. 
+     * Por ejemplo, parámetros de la comunicación TCP/IP,
+     * próxima escena a cargar, etc.
+     */
+
+    // Próxima escena a cargar
+    private static int sceneToLoad = 1;
+
+    // IP y PORT para comunicación TCP/IP
+    private static String IP = "127.0.0.1";
+    private static int PORT = 55001;
+
+    //==================================================
+    // Set-Get de parámetros anteriores
+    public static int getSceneToLoad(){
+        return sceneToLoad;
+    }
+
+    public static void setSceneToLoad(int newSceneToLoad){
+        sceneToLoad = newSceneToLoad;
+    }
+
+    public static String getIP()
+    {
+        return IP;
+    }
+
+    public static void setIP(String newIP)
+    {
+        IP = newIP;
+    }
+
+    public static int getPORT()
+    {
+        return PORT;
+    }
+
+    public static void setPORT(int newPORT)
+    {
+        PORT = newPORT;
+    }
+}
\ No newline at end of file
diff --git a/src/unity/Assets/Scripts/Link.cs b/src/unity/Assets/Scripts/Link.cs
new file mode 100644
index 0000000..44f0b24
--- /dev/null
+++ b/src/unity/Assets/Scripts/Link.cs
@@ -0,0 +1,54 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: Link.cs
+ * Versión 1.0
+ */
+
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Link {
+    /*
+     * La clase Link busca ser similar a la clase Link del toolbox para 
+     * MATLAB de Peter Corke, y poseer la descripción de Denavit Hartenberg
+     * de el eslabón correspondiente.
+     */
+
+    // Parámetros Denavit Hartenberg
+    public float theta, d, alpha, a;
+    private bool sigma;
+
+    // Link asociado al GameObject en escena
+    public GameObject linkObj;
+    
+    // Matriz de transformación homogénea
+    public Matrix4x4 T;
+
+    public Link(float theta, float d, float a, float alpha, bool sigma, GameObject obj){
+        this.theta = theta;
+        this.d = d;
+        this.a = a;
+        this.alpha = alpha;
+        this.sigma = sigma;
+
+        this.linkObj = obj;
+    }
+
+    public Matrix4x4 getT(){
+        /*
+         *  In Unity the Z axis is the Y, and the X axis is the Z. 
+         */
+        
+        Quaternion trotY = Quaternion.Euler(0, this.theta*Mathf.Rad2Deg, 0);
+        Vector3 translY = new Vector3(0, this.d, 0);
+        Vector3 translZ = new Vector3(0, 0, -this.a);
+        Quaternion trotZ = Quaternion.Euler(0, 0, -this.alpha*Mathf.Rad2Deg);
+
+        this.T = Matrix4x4.Rotate(trotY) * Matrix4x4.Translate(translY) * Matrix4x4.Translate(translZ) * Matrix4x4.Rotate(trotZ);
+        
+        return this.T;
+    }
+}
diff --git a/src/unity/Assets/Scripts/MainMenu.cs b/src/unity/Assets/Scripts/MainMenu.cs
new file mode 100644
index 0000000..a5ebd98
--- /dev/null
+++ b/src/unity/Assets/Scripts/MainMenu.cs
@@ -0,0 +1,67 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: MainMenu.cs
+ * Versión 1.0
+ */
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+using UnityEngine;
+using UnityEngine.UI;
+
+public class MainMenu : MonoBehaviour {
+
+    public GameObject sceneTransition;
+
+    GameObject connectionToggle, inputIP, inputPort;
+
+    private void Start(){
+        connectionToggle = GameObject.Find("EnableConnection");
+        inputIP = GameObject.Find("InputIP");
+        inputPort = GameObject.Find("InputPort");
+    }
+
+    public void EnableConnection(){
+        bool state = connectionToggle.GetComponent<Toggle>().isOn;
+        if (state){
+            //animator.SetTrigger("EnabledConnection");
+            Debug.Log("Connection mode enabled.");
+            AppData.setSceneToLoad(2);
+        } else {
+            //animator.SetTrigger("DisabledConnection");
+            AppData.setSceneToLoad(3);
+            Debug.Log("Connection mode disabled.");
+        }
+    }
+
+    public void EditedIP(){
+        String editedIP = inputIP.GetComponent<InputField>().text;
+        AppData.setIP(editedIP);
+        Debug.Log("IP changed to: " + editedIP);
+    }
+
+    public void EditedPort(){
+        int editedPort = int.Parse(inputPort.GetComponent<InputField>().text);
+        AppData.setPORT(editedPort);
+        Debug.Log("PORT changed to: " + editedPort);
+    }
+
+    public void PlayScene(){
+        sceneTransition.GetComponent<SceneTransition>().LoadScene(0);
+    }
+
+    public void BackScene(){
+        AppData.setSceneToLoad(1);
+        sceneTransition.GetComponent<SceneTransition>().LoadScene(0);
+    }
+
+    public void QuitApp(){
+        Debug.Log("Quitting...");
+        Application.Quit();
+    }
+    
+}
diff --git a/src/unity/Assets/Scripts/MatrixExtensions.cs b/src/unity/Assets/Scripts/MatrixExtensions.cs
new file mode 100644
index 0000000..3002519
--- /dev/null
+++ b/src/unity/Assets/Scripts/MatrixExtensions.cs
@@ -0,0 +1,45 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: MatrixExtensions.cs
+ * Versión 1.0
+ */
+
+using UnityEngine;
+
+public static class MatrixExtensions {
+    public static Quaternion ExtractRotation(this Matrix4x4 matrix)
+    {
+        Vector3 forward;
+        forward.x = matrix.m02;
+        forward.y = matrix.m12;
+        forward.z = matrix.m22;
+
+        Vector3 upwards;
+        upwards.x = matrix.m01;
+        upwards.y = matrix.m11;
+        upwards.z = matrix.m21;
+
+        return Quaternion.LookRotation(forward, upwards);
+    }
+
+    public static Vector3 ExtractPosition(this Matrix4x4 matrix)
+    {
+        Vector3 position;
+        position.x = matrix.m03;
+        position.y = matrix.m13;
+        position.z = matrix.m23;
+        return position;
+    }
+
+    public static Vector3 ExtractScale(this Matrix4x4 matrix)
+    {
+        Vector3 scale;
+        scale.x = new Vector4(matrix.m00, matrix.m10, matrix.m20, matrix.m30).magnitude;
+        scale.y = new Vector4(matrix.m01, matrix.m11, matrix.m21, matrix.m31).magnitude;
+        scale.z = new Vector4(matrix.m02, matrix.m12, matrix.m22, matrix.m32).magnitude;
+        return scale;
+    }
+}
+
diff --git a/src/unity/Assets/Scripts/SceneTransition.cs b/src/unity/Assets/Scripts/SceneTransition.cs
new file mode 100644
index 0000000..cb86d43
--- /dev/null
+++ b/src/unity/Assets/Scripts/SceneTransition.cs
@@ -0,0 +1,98 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: SceneTransition.cs
+ * Versión 1.0
+ */
+
+using System.Collections;
+using UnityEngine;
+using UnityEngine.SceneManagement;
+using UnityEngine.UI;
+
+public class SceneTransition : MonoBehaviour {
+    /*
+     * Clase con las rutinas necesarias a realizar
+     * para coordinar la carga de escenas y
+     * las diferentes animaciones que se ejecutan
+     * al transicionar entre una escena y otra.
+     */
+
+    // Objeto Animator que posee las animaciones
+    public Animator animator;
+
+    // Atributo asociado a la rutina asíncrona de
+    // carga de escena
+    AsyncOperation asyncLoad;
+
+    // Barra loading (Slider)
+    public Slider loadingBar;
+
+    public void LoadScene(){
+        /*
+         * Lectura de la próxima escena a cargar en
+         * instancia de clase estática AppData.
+         * Luego, se incia la rutina asíncrona que carga
+         * los recursos necesarios para dicha escena.
+         */
+        int sceneToLoad = AppData.getSceneToLoad();
+
+        // Cuando la lectura se realiza desde AppData,
+        // se activa la barra de carga.
+        StartCoroutine(LoadAsyncronously(sceneToLoad, true));
+    }
+
+    public void LoadScene(int sceneIndex){
+        /*
+         * Sobrecarga de la función LoadScene. Recibe como
+         * parámetro el índice de la escena a cargar, y luego 
+         * inicia la rutina asíncrona para cargar los recursos
+         * necesarios.
+         */
+
+        // Cuando se recibe el índice de la escena a cargar,
+        // se desactiva la barra de carga.
+        StartCoroutine(LoadAsyncronously(sceneIndex, false));
+    }
+
+    IEnumerator LoadAsyncronously(int sceneIndex, bool loadBar){
+        /*
+         * Rutina asíncrona, que carga los recursos necesarios para
+         * la próxima escena con índice sceneIndex.
+         * El segundo parámetro loadBar habilita o no la barra de
+         * carga gráfica.
+         */
+        asyncLoad = SceneManager.LoadSceneAsync(sceneIndex);
+
+        // No se permite la activación inmediata de la próxima
+        // escena, ésto se activa cuando se da la señal de 
+        // fin de animación.
+        asyncLoad.allowSceneActivation = false;
+
+        while (!asyncLoad.isDone){
+            if (loadBar){
+                // Si la barra de carga está activada, se analiza el 
+                // progreso de carga
+                float progress = Mathf.Clamp01(asyncLoad.progress / .9f);
+                loadingBar.value = progress;
+            }
+            if (asyncLoad.progress >= 0.9f){
+                // Cuando se finaliza la carga, se setea el Trigguer
+                // para que comience la animación
+                animator.SetTrigger("FadeOut");
+            }
+
+            yield return null; // Esperar el próximo cuadro antes de continuar
+        }
+    }
+
+    void OnFadeComplete(){
+        /*
+         * Señal de fin de animación de FadeOut, por lo que se permite
+         * la activación de la siguiente escena.
+         */
+        asyncLoad.allowSceneActivation = true;
+    }
+    
+}
diff --git a/src/unity/Assets/Scripts/SerialLink.cs b/src/unity/Assets/Scripts/SerialLink.cs
new file mode 100644
index 0000000..08f5701
--- /dev/null
+++ b/src/unity/Assets/Scripts/SerialLink.cs
@@ -0,0 +1,104 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+using UnityEngine.UI;
+
+public class SerialLink : MonoBehaviour {
+    /*
+     * La clase SerialLink busca ser similar a la clase principal
+     * SerialLink del toolbox para MATLAB de Peter Corke, y poseer
+     * la información necesaria para manipular la simulación del 
+     * robot.
+     */
+
+    // Objeto con información teórica idem toolbox de
+    // Peter Corke.
+    public Link[] link;
+
+    // Links a los modelos 3d en escena
+    private GameObject[] linkObject;
+
+    // Denavit Hartenberg parameter for SCARA IRB
+    private float a1=0.2f, a2=0.25f, alpha4=0;
+    public float[] q;
+    
+
+    void Start(){
+        /*
+         * El método Start se ejecuta en la instanciación
+         * de la clase, previo al primer cuadro Update.
+         */
+
+        // Número de eslabones sin contar la base
+        int nLinks = transform.childCount;
+
+        // Inialización del vector de variables articulares
+        q = new float[nLinks];
+        for (int i=0; i<nLinks; i++){
+            q[i] = 0;
+        }
+
+        // Linkeo de los modelos 3d en escena con los linkObject
+        linkObject = new GameObject[nLinks];
+        for (int i=0; i<nLinks; i++){
+            linkObject[i] = transform.GetChild(i).gameObject;
+        }
+
+        // Inialización de objetos Link similar a la clase Link 
+        // del toolbox para MATLAB, con la descripción
+        // de Denavit-Hartenberg
+        link = new Link[nLinks];
+        link[0] = new Link(q[0], 0, a1, 0, false, linkObject[1]);
+        link[1] = new Link(q[1], 0, a2, 0, false, linkObject[2]);
+        link[2] = new Link(0, q[2], 0, 0, true, linkObject[3]);
+        link[3] = new Link(q[3], 0, 0, alpha4, false, linkObject[3]);
+
+        updateConfig();
+    }
+    
+
+    void Update(){
+        // El método Update se ejecuta una vez por cuadro.
+        updateDH();
+        updateConfig();
+    }
+
+    private void updateConfig(){
+        /*
+         * Método que actualiza los objetos link en base a la posición, 
+         * escala y orientación del robot simulado. Se utilizan los métodos
+         * implementados en la clase MatrixExtension.
+         */
+        Matrix4x4 aux;
+        for (int i=0; i<link.Length; i++){
+            aux = linkObject[i].transform.localToWorldMatrix * link[i].getT();
+            link[i].linkObj.transform.localScale = aux.ExtractScale();
+            link[i].linkObj.transform.rotation = aux.ExtractRotation();
+            link[i].linkObj.transform.position = aux.ExtractPosition();
+        }
+    }
+
+    private void updateDH(){
+        /*
+         * Actualización de los parámetros variables en la descripción DH,
+         * en los objetos link en base a la configuración articular actual.
+         */
+        link[0].theta = q[0];
+        link[1].theta = q[1];
+        link[2].d = q[2];
+        link[3].theta = q[3];
+    }
+
+    public void setSliderQ(){
+        /*
+         * Método específico del modo manual de la aplicación, asociado a un determinado 
+         * Slider, y se actualiza el q correspondiente en base al valor ingresado
+         * por el usuario.
+         */
+        for (int i=1; i<=q.Length; i++){
+            float angle = GameObject.Find("SliderQ" + i).GetComponent<Slider>().value;
+            this.q[i-1] = angle * Mathf.Deg2Rad;
+        }
+    }
+}
diff --git a/src/unity/Assets/Scripts/readSocket.cs b/src/unity/Assets/Scripts/readSocket.cs
new file mode 100644
index 0000000..5d4584e
--- /dev/null
+++ b/src/unity/Assets/Scripts/readSocket.cs
@@ -0,0 +1,59 @@
+/*
+ * Autor: Gonzalo G. Fernández
+ * Fecha: 01/11/2019
+ * 
+ * Archivo: readSocket.cs
+ * Versión 1.0
+ */
+
+using UnityEngine;
+using System.Collections;
+using System.Net;
+using System.Net.Sockets;
+using System.Linq;
+using System;
+using System.IO;
+using System.Text;
+
+
+public class readSocket : MonoBehaviour {
+    // Use this for initialization
+    TcpListener listener;
+    String msg, IP = "127.0.0.1";
+    int PORT = 55001;
+
+    public GameObject robotArm;
+    
+    void Start(){
+        IP = AppData.getIP();
+        PORT = AppData.getPORT();
+        listener = new TcpListener(IPAddress.Parse(IP), PORT);
+        listener.Start();
+        print("TCP/IP Communication ready - IP:" + IP + " PORT:" + PORT);
+    }
+    // Update is called once per frame
+    void Update(){
+        if (!listener.Pending()){
+        } else {
+            //print("socket comes");
+            TcpClient client = listener.AcceptTcpClient();
+            NetworkStream ns = client.GetStream();
+            StreamReader reader = new StreamReader(ns);
+            msg = reader.ReadToEnd();
+            print(msg);
+            msgParser(msg);
+        }
+    }
+
+    void msgParser(String msg){
+        if (msg[0] != ':'){
+            Debug.Log("Error: Invalid msg");
+            return;
+        }
+        String[] subq = msg.Split(':');
+        for (int i=1; i<subq.Length; i++){
+            robotArm.GetComponent<SerialLink>().q[i-1] = float.Parse(subq[i]);
+            Debug.Log("Q" + i + ": " + subq[i]);
+        }
+    }
+}
diff --git a/src/unity/Assets/StreamingAssets/Vuforia/robotics.dat b/src/unity/Assets/StreamingAssets/Vuforia/robotics.dat
new file mode 100644
index 0000000..5b8002a
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diff --git a/src/unity/Assets/StreamingAssets/Vuforia/robotics.xml b/src/unity/Assets/StreamingAssets/Vuforia/robotics.xml
new file mode 100644
index 0000000..e368d24
--- /dev/null
+++ b/src/unity/Assets/StreamingAssets/Vuforia/robotics.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<QCARConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="qcar_config.xsd">
+  <Tracking>
+    <ImageTarget name="SCARA_ABB" size="400.000000 225.000000" />
+  </Tracking>
+</QCARConfig>
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new file mode 100644
index 0000000..cdc1f3e
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+++ b/src/unity/ProjectSettings/DynamicsManager.asset
@@ -0,0 +1,34 @@
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new file mode 100644
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new file mode 100644
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+  - serializedVersion: 2
+    name: High
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+    shadows: 2
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+    shadowDistance: 40
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+    streamingMipmapsAddAllCameras: 1
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+  m_PerPlatformDefaultQuality: {}
diff --git a/src/unity/ProjectSettings/TagManager.asset b/src/unity/ProjectSettings/TagManager.asset
new file mode 100644
index 0000000..6b55ba5
Binary files /dev/null and b/src/unity/ProjectSettings/TagManager.asset differ
diff --git a/src/unity/ProjectSettings/TimeManager.asset b/src/unity/ProjectSettings/TimeManager.asset
new file mode 100644
index 0000000..15db44d
Binary files /dev/null and b/src/unity/ProjectSettings/TimeManager.asset differ
diff --git a/src/unity/ProjectSettings/UnityConnectSettings.asset b/src/unity/ProjectSettings/UnityConnectSettings.asset
new file mode 100644
index 0000000..c3ae9a0
--- /dev/null
+++ b/src/unity/ProjectSettings/UnityConnectSettings.asset
@@ -0,0 +1,34 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!310 &1
+UnityConnectSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 1
+  m_Enabled: 1
+  m_TestMode: 0
+  m_EventOldUrl: https://api.uca.cloud.unity3d.com/v1/events
+  m_EventUrl: https://cdp.cloud.unity3d.com/v1/events
+  m_ConfigUrl: https://config.uca.cloud.unity3d.com
+  m_TestInitMode: 0
+  CrashReportingSettings:
+    m_EventUrl: https://perf-events.cloud.unity3d.com
+    m_Enabled: 0
+    m_LogBufferSize: 10
+    m_CaptureEditorExceptions: 1
+  UnityPurchasingSettings:
+    m_Enabled: 0
+    m_TestMode: 0
+  UnityAnalyticsSettings:
+    m_Enabled: 0
+    m_TestMode: 0
+    m_InitializeOnStartup: 1
+  UnityAdsSettings:
+    m_Enabled: 0
+    m_InitializeOnStartup: 1
+    m_TestMode: 0
+    m_IosGameId: 
+    m_AndroidGameId: 
+    m_GameIds: {}
+    m_GameId: 
+  PerformanceReportingSettings:
+    m_Enabled: 0
diff --git a/src/unity/ProjectSettings/VFXManager.asset b/src/unity/ProjectSettings/VFXManager.asset
new file mode 100644
index 0000000..df893d2
Binary files /dev/null and b/src/unity/ProjectSettings/VFXManager.asset differ
diff --git a/src/unity/ProjectSettings/XRSettings.asset b/src/unity/ProjectSettings/XRSettings.asset
new file mode 100644
index 0000000..482590c
--- /dev/null
+++ b/src/unity/ProjectSettings/XRSettings.asset
@@ -0,0 +1,10 @@
+{
+    "m_SettingKeys": [
+        "VR Device Disabled",
+        "VR Device User Alert"
+    ],
+    "m_SettingValues": [
+        "False",
+        "False"
+    ]
+}
\ No newline at end of file