diff --git a/source/ArmarXSimulation/components/Simulator/Simulator.cpp b/source/ArmarXSimulation/components/Simulator/Simulator.cpp
index f12eaff9ba71805001d0914092710ef1456b5711..ea60820668dec3ce1544cd1dd2f1677f0cff630e 100644
--- a/source/ArmarXSimulation/components/Simulator/Simulator.cpp
+++ b/source/ArmarXSimulation/components/Simulator/Simulator.cpp
@@ -527,11 +527,10 @@ void Simulator::addSceneFromSdfFile(const std::string& scenePath)
         std::filesystem::path modelPath;
         std::tie(std::ignore, modelPath) = *it;
 
-        std::string xmlName = modelPath.filename().generic_string() + ".xml";
-        std::filesystem::path xmlPath = modelPath / xmlName;
+        std::string robotName = modelPath.filename().generic_string() + ".urdf";
+        std::filesystem::path robotPath = modelPath / robotName;
 
-        VirtualRobot::ManipulationObjectPtr simoxObject =
-                VirtualRobot::ObjectIO::loadManipulationObject(xmlPath.string());
+        VirtualRobot::RobotPtr robot = VirtualRobot::RobotIO::loadRobot(robotPath);
 
         auto pose = model->Get<ignition::math::Pose3f>("pose");
 
@@ -548,7 +547,7 @@ void Simulator::addSceneFromSdfFile(const std::string& scenePath)
         orientation.z() = pose.Rot().Z();
         orientation.w() = pose.Rot().W();
 
-        simoxObject->setGlobalPose(simox::math::pose(position, orientation));
+        robot->setGlobalPose(simox::math::pose(position, orientation));
 
         auto isStatic = model->Get<bool>("static");
         VirtualRobot::SceneObject::Physics::SimulationType simType =
@@ -556,13 +555,11 @@ void Simulator::addSceneFromSdfFile(const std::string& scenePath)
                 ? VirtualRobot::SceneObject::Physics::eKinematic
                 : VirtualRobot::SceneObject::Physics::eDynamic;
 
-        simoxObject->setSimulationType(simType);
-        simoxObject->setFilename(xmlPath.string());
-        simoxObject->setName(name);
+        robot->setSimulationType(simType);
+        robot->setFilename(robotPath.string());
+        robot->setName(name);
 
-        physicsWorld->addObstacle(simoxObject, simType,
-                                  xmlPath.string(), name,
-                                  {},scenePackage);
+        physicsWorld->addRobot(robot, 10.0, 0.0, 0.0, robotPath.string(), isStatic);
     };
 
     for (