diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index d28acd12957d2e4c1910d8986d616314dedff838..12a22e5a6776cc9bf98e540065b18a469c2f46f8 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -8,7 +8,7 @@
         </Transform>
                 
         <Visualization>
-            <File type="Inventor">fullmodel/head_base.iv</File>
+            <File type="Inventor">fullmodel/head_base.wrl</File>
         </Visualization>
         
         <Physics>
@@ -17,7 +17,7 @@
         </Physics>
         
         <CollisionModel>
-            <File type="Inventor">convexModel/head_base.iv</File>
+            <File type="Inventor">convexModel/head_base.wrl</File>
         </CollisionModel>   
 
         <Child name="Neck_1_Pitch"/>
@@ -40,7 +40,7 @@
         </Joint>
 
         <Visualization>
-            <File type="Inventor">fullmodel/neck_pitch_link.iv</File>           
+            <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>           
         </Visualization>
         
         <Physics>
@@ -50,7 +50,7 @@
         </Physics>
         
         <CollisionModel>
-            <File type="Inventor">convexModel/neck_pitch_link.iv</File>
+            <File type="Inventor">convexModel/neck_pitch_link.wrl</File>
         </CollisionModel>
         
         <Child name="Neck_2_Roll"/>
@@ -71,7 +71,7 @@
         </Joint>
         
         <Visualization>
-            <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+            <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
         </Visualization>
                 
         <Physics>
@@ -82,7 +82,7 @@
         </Physics>
         
         <CollisionModel>
-            <File type="Inventor">convexModel/neck_roll_link.iv</File>
+            <File type="Inventor">convexModel/neck_roll_link.wrl</File>
         </CollisionModel>
         
         <Child name="Neck_3_Yaw"/>
@@ -103,7 +103,7 @@
         </Joint>
         
         <Visualization>
-            <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+            <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
         </Visualization>
                 
         <Physics>
@@ -112,7 +112,7 @@
         </Physics>
         
         <CollisionModel>
-            <File type="Inventor">convexModel/neck_yaw_link.iv</File>
+            <File type="Inventor">convexModel/neck_yaw_link.wrl</File>
         </CollisionModel>
 
         <Child name="Head_Tilt"/>
@@ -140,11 +140,11 @@
         </Physics>
         
         <Visualization>
-            <File type="Inventor">fullmodel/head.iv</File>
+            <File type="Inventor">fullmodel/head.wrl</File>
         </Visualization>
         
         <CollisionModel>
-            <File type="Inventor">convexModel/head.iv</File>
+            <File type="Inventor">convexModel/head.wrl</File>
         </CollisionModel>  
          
         <Child name="Head Center1"/>
@@ -179,7 +179,7 @@
             <MaxTorque value="3000"/>
         </Joint>
         <Visualization> 
-            <File type="Inventor">fullmodel/jaw.iv</File>
+            <File type="Inventor">fullmodel/jaw.wrl</File>
         </Visualization>
     </RobotNode>
 
@@ -306,7 +306,7 @@
             <MaxTorque value="3000"/>
         </Joint>
         <Visualization>
-          <File type="Inventor">fullmodel/eye_l.iv</File>
+          <File type="Inventor">fullmodel/eye_l.wrl</File>
         </Visualization>
 
 
@@ -335,7 +335,7 @@
             <MaxTorque value="3000"/>
         </Joint>
         <Visualization>
-          <File type="Inventor">fullmodel/eye_r.iv</File>
+          <File type="Inventor">fullmodel/eye_r.wrl</File>
         </Visualization>
 
         <CollisionModel>
@@ -395,7 +395,7 @@
         <MaxTorque value="3000"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+      <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
     </Visualization>
   </RobotNode>
   
@@ -404,7 +404,7 @@
       <Axis x="0" y="1" z="0"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_l_top.iv</File>
+      <File type="Inventor">fullmodel/lid_l_top.wrl</File>
     </Visualization>
   </RobotNode>
 
@@ -439,7 +439,7 @@
         <MaxTorque value="3000"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+      <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
     </Visualization>
   </RobotNode>
 
@@ -451,7 +451,7 @@
       <MaxTorque value="3000"/>
   </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_r_top.iv</File>
+      <File type="Inventor">fullmodel/lid_r_top.wrl</File>
     </Visualization>
   </RobotNode>
   
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
index bf9e3e887b9503dc97ea4768158d2cc2a1f3c45e..e2f0a8ee7954ddda9d8d08e57df77cdbb7f4a09d 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
@@ -8,7 +8,7 @@
         </Joint>
         <Child name="Neck_1_Pitch"/>
         <Visualization>
-            <File type="Inventor">fullmodel/head_base.iv</File>
+            <File type="Inventor">fullmodel/head_base.wrl</File>
         </Visualization>
     </RobotNode>
 
@@ -19,7 +19,7 @@
         </Joint>
 
         <Visualization>
-            <File type="Inventor">fullmodel/neck_pitch_link.iv</File>           
+            <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>           
         </Visualization>
         <Child name="Neck_2_Roll"/>
     </RobotNode>
@@ -30,7 +30,7 @@
             <Limits unit="degree" lo="-45" hi="45"/>
         </Joint>
         <Visualization>
-            <File type="Inventor">fullmodel/neck_roll_link.iv</File>
+            <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
         </Visualization>
         <Child name="Neck_3_Yaw"/>
     </RobotNode>    
@@ -41,7 +41,7 @@
             <Limits unit="degree" lo="-45" hi="45"/>
         </Joint>
         <Visualization>
-            <File type="Inventor">fullmodel/neck_yaw_link.iv</File>
+            <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
         </Visualization>
         <Child name="Head_Tilt"/>
     </RobotNode>
@@ -56,10 +56,10 @@
             <Mass value="6.79877000" units="kg" />
         </Physics>
         <Visualization>
-            <File type="Inventor">fullmodel/head.iv</File>
+            <File type="Inventor">fullmodel/head.wrl</File>
         </Visualization>
         <CollisionModel>
-            <File type="Inventor">collisionModel/head.iv</File>
+            <File type="Inventor">collisionModel/head.wrl</File>
         </CollisionModel>   
         <Child name="Head Center"/>
     </RobotNode>
@@ -78,7 +78,7 @@
             <Limits unit="degree" lo="-30" hi="30"/>
         </Joint>
         <Visualization> 
-            <File type="Inventor">fullmodel/jaw.iv</File>
+            <File type="Inventor">fullmodel/jaw.wrl</File>
         </Visualization>
     </RobotNode>
 
@@ -122,7 +122,7 @@
           <Limits unit="degree" lo="-30" hi="30"/>
         </Joint>
         <Visualization>
-          <File type="Inventor">fullmodel/eye_l.iv</File>
+          <File type="Inventor">fullmodel/eye_l.wrl</File>
         </Visualization>
         <Child name="Lid Left Bottom"/>
         <Child name="Lid Left Top"/>
@@ -135,7 +135,7 @@
           <Limits unit="degree" lo="-30" hi="30"/>
         </Joint>
         <Visualization>
-          <File type="Inventor">fullmodel/eye_r.iv</File>
+          <File type="Inventor">fullmodel/eye_r.wrl</File>
         </Visualization>
         <Child name="Lid Right Bottom"/>
         <Child name="Lid Right Top"/>
@@ -158,7 +158,7 @@
       <Axis x="0" y="1" z="0"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_l_bottom.iv</File>
+      <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
     </Visualization>
   </RobotNode>
   
@@ -167,7 +167,7 @@
       <Axis x="0" y="1" z="0"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_l_top.iv</File>
+      <File type="Inventor">fullmodel/lid_l_top.wrl</File>
     </Visualization>
   </RobotNode>
 
@@ -187,7 +187,7 @@
       <Axis x="0" y="1" z="0"/>
     </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_r_bottom.iv</File>
+      <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
     </Visualization>
   </RobotNode>
 
@@ -196,7 +196,7 @@
     <Axis x="0" y="1" z="0"/>
   </Joint>
     <Visualization>
-      <File type="Inventor">fullmodel/lid_r_top.iv</File>
+      <File type="Inventor">fullmodel/lid_r_top.wrl</File>
     </Visualization>
   </RobotNode>
   
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index 23373322946aadb671a13acfdc026d4f99aa3d8e..ecf4546927d69f887db438d0a00d3a483ffa247d 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -28,10 +28,10 @@
       <Mass value="3.65" units="kg" />
     </Physics>
     <Visualization enable="true">
-      <File type="Inventor">fullmodel/shoulder_l.iv</File>
+      <File type="Inventor">fullmodel/shoulder_l.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/shoulder_l.iv</File>
+      <File type="Inventor">convexModel/shoulder_l.wrl</File>
     </CollisionModel>
     <Child name="Shoulder 2 L"/>
   </RobotNode>
@@ -55,10 +55,10 @@
       <Mass value="2.5" units="kg" />
     </Physics>
     <Visualization enable="true">
-      <File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+      <File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/shoulder2_l_rot.iv</File>
+      <File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
     </CollisionModel>
     <Child name="Upperarm L"/>
   </RobotNode>
@@ -83,10 +83,10 @@
       <IgnoreCollision name="Shoulder 1 L"/>
     </Physics>
     <Visualization enable="true">
-      <File type="Inventor">fullmodel/upperarm_l.iv</File>
+      <File type="Inventor">fullmodel/upperarm_l.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/upperarm_l.iv</File>
+      <File type="Inventor">convexModel/upperarm_l.wrl</File>
     </CollisionModel>
     <Child name="Elbow L"/>
   </RobotNode>
@@ -106,10 +106,10 @@
     </Joint>
     <Visualization enable="true">
       <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-      <File type="Inventor">fullmodel/elbow_l.iv</File>
+      <File type="Inventor">fullmodel/elbow_l.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/elbow_l.iv</File>
+      <File type="Inventor">convexModel/elbow_l.wrl</File>
     </CollisionModel>
     <Physics>
       <CoM location="Joint"/>
@@ -133,10 +133,10 @@
                 <MaxTorque value="3000"/>
     </Joint>
     <Visualization enable="true">
-      <File type="Inventor">fullmodel/underarm_l.iv</File>
+      <File type="Inventor">fullmodel/underarm_l.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/underarm_l.iv</File>
+      <File type="Inventor">convexModel/underarm_l.wrl</File>
     </CollisionModel>
     <Physics>
       <CoM location="VisualizationBBoxCenter"/>
@@ -164,10 +164,10 @@
     </Physics>
     <Visualization enable="true">
       <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-      <File type="Inventor">fullmodel/wrist1_l.iv</File>
+      <File type="Inventor">fullmodel/wrist1_l.wrl</File>
     </Visualization>
     <CollisionModel>
-      <File type="Inventor">convexModel/wrist1_l.iv</File>
+      <File type="Inventor">convexModel/wrist1_l.wrl</File>
     </CollisionModel>
     <Child name="Wrist 2 L"/>
   </RobotNode>
@@ -188,11 +188,11 @@
 
     <Visualization enable="true">
       <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-      <File type="Inventor">fullmodel/wrist2_l.iv</File>
+      <File type="Inventor">fullmodel/wrist2_l.wrl</File>
     </Visualization>
     <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
     <!--CollisionModel>
-      <File type="Inventor">convexModel/wrist2_l.iv</File>
+      <File type="Inventor">convexModel/wrist2_l.wrl</File>
     </CollisionModel>
 
     <Physics>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
index 586d73babaaccdbeb8dea53c7bdb26a5ffeca629..683455b185529a3dde22e706c9d6e315fdf15479 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
@@ -23,10 +23,10 @@
         </Physics>
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/shoulder_l.iv</File>
+			<File type="Inventor">fullmodel/shoulder_l.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/shoulder_l.iv</File>
+			<File type="Inventor">collisionModel/shoulder_l.wrl</File>
 		</CollisionModel>
 		<Child name="Shoulder 2 L"/>
 	</RobotNode>
@@ -42,7 +42,7 @@
         </Physics-->
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
+			<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
 		</Visualization>
 		<Child name="Upperarm L"/>
 	</RobotNode>
@@ -58,10 +58,10 @@
         </Physics>
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/upperarm_l.iv</File>
+			<File type="Inventor">fullmodel/upperarm_l.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/upperarm_l.iv</File>
+			<File type="Inventor">collisionModel/upperarm_l.wrl</File>
 		</CollisionModel>
 		<Child name="Elbow L"/>
 	</RobotNode>
@@ -73,15 +73,15 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/elbow_l.iv</File>
+			<File type="Inventor">fullmodel/elbow_l.wrl</File>
 		</Visualization>
 		<!--Physics>
             <CoM location="Joint"/>
             <Mass value="1.15744000" units="kg" />
         </Physics-->
-		<!-- TODO elbow_l.iv does not exist (currently not needed)-->
+		<!-- TODO elbow_l.wrl does not exist (currently not needed)-->
 		<!--<CollisionModel>-->
-			<!--<File type="Inventor">collisionModel/elbow_l.iv</File>-->
+			<!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
 		<!--</CollisionModel>-->
 		<Child name="Underarm L"/>
 	</RobotNode>
@@ -98,10 +98,10 @@
         </Physics>
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/underarm_l.iv</File>
+			<File type="Inventor">fullmodel/underarm_l.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/underarm_l.iv</File>
+			<File type="Inventor">collisionModel/underarm_l.wrl</File>
 		</CollisionModel>
 		<Child name="Wrist 1 L"/>
 	</RobotNode>
@@ -117,10 +117,10 @@
         </Physics-->
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/wrist1_l.iv</File>
+			<File type="Inventor">fullmodel/wrist1_l.wrl</File>
 		</Visualization>
 		<!--CollisionModel>
-			<File type="Inventor">collisionModel/wrist1_l.iv</File>
+			<File type="Inventor">collisionModel/wrist1_l.wrl</File>
 		</CollisionModel-->
 		<Child name="Wrist 2 L"/>
 	</RobotNode>
@@ -136,10 +136,10 @@
         </Physics>
         <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/wrist2_l.iv</File>
+			<File type="Inventor">fullmodel/wrist2_l.wrl</File>
 		</Visualization>
         <!--CollisionModel>
-			<File type="Inventor">collisionModel/wrist2_l.iv</File>
+			<File type="Inventor">collisionModel/wrist2_l.wrl</File>
 		</CollisionModel-->
 		
 		<ChildFromRobot>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
index 2135b1b4d3e78eccb8d09b28e90327bfea051462..390c242e1202f7b63a039a631d0c2eaad04378a9 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
@@ -45,11 +45,11 @@
 		</Transform>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm1_l.iv</File>
+			<File type="Inventor">fullmodel/palm1_l.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/palm1_l.iv</File>
+			<File type="Inventor">convexModel/palm1_l.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -74,11 +74,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm2_l.iv</File>
+			<File type="Inventor">fullmodel/palm2_l.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/palm2_l.iv</File>
+			<File type="Inventor">convexModel/palm2_l.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -109,11 +109,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_l1.iv</File>
+			<File type="Inventor">fullmodel/thumb_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/thumb_l1.iv</File>
+			<File type="Inventor">convexModel/thumb_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -137,11 +137,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_l2.iv</File>
+			<File type="Inventor">fullmodel/thumb_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/thumb_l2.iv</File>
+			<File type="Inventor">convexModel/thumb_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -168,11 +168,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_l1.iv</File>
+			<File type="Inventor">fullmodel/pinky_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/pinky_l1.iv</File>
+			<File type="Inventor">convexModel/pinky_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -196,11 +196,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_l2.iv</File>
+			<File type="Inventor">fullmodel/pinky_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/pinky_l2.iv</File>
+			<File type="Inventor">convexModel/pinky_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -227,11 +227,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_l1.iv</File>
+			<File type="Inventor">fullmodel/ring_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/ring_l1.iv</File>
+			<File type="Inventor">convexModel/ring_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -255,11 +255,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_l2.iv</File>
+			<File type="Inventor">fullmodel/ring_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/ring_l2.iv</File>
+			<File type="Inventor">convexModel/ring_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -286,11 +286,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_l1.iv</File>
+			<File type="Inventor">fullmodel/middle_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/middle_l1.iv</File>
+			<File type="Inventor">convexModel/middle_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -314,11 +314,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_l2.iv</File>
+			<File type="Inventor">fullmodel/middle_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/middle_l2.iv</File>
+			<File type="Inventor">convexModel/middle_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -345,11 +345,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_l1.iv</File>
+			<File type="Inventor">fullmodel/index_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/index_l1.iv</File>
+			<File type="Inventor">convexModel/index_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -373,11 +373,11 @@
         </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_l2.iv</File>
+			<File type="Inventor">fullmodel/index_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/index_l2.iv</File>
+			<File type="Inventor">convexModel/index_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
index e946ba874996ed9b27c03bb53fb66336302f754e..42a6f43871c90b1c810759695d4314166f3e2668 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
@@ -39,11 +39,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm1_l.iv</File>
+			<File type="Inventor">fullmodel/palm1_l.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/palm1_l.iv</File>
+			<File type="Inventor">collisionModel/palm1_l.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -67,11 +67,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm2_l.iv</File>
+			<File type="Inventor">fullmodel/palm2_l.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/palm2_l.iv</File>
+			<File type="Inventor">collisionModel/palm2_l.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -109,11 +109,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_l1.iv</File>
+			<File type="Inventor">fullmodel/thumb_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/thumb_l1.iv</File>
+			<File type="Inventor">collisionModel/thumb_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -136,11 +136,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_l2.iv</File>
+			<File type="Inventor">fullmodel/thumb_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/thumb_l2.iv</File>
+			<File type="Inventor">collisionModel/thumb_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -173,11 +173,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_l1.iv</File>
+			<File type="Inventor">fullmodel/pinky_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/pinky_l1.iv</File>
+			<File type="Inventor">collisionModel/pinky_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -201,11 +201,11 @@
 		
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/pinky_l2.iv</File>
+			<File type="Inventor">fullmodel/pinky_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/pinky_l2.iv</File>
+			<File type="Inventor">collisionModel/pinky_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -238,11 +238,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_l1.iv</File>
+			<File type="Inventor">fullmodel/ring_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/ring_l1.iv</File>
+			<File type="Inventor">collisionModel/ring_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -265,11 +265,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_l2.iv</File>
+			<File type="Inventor">fullmodel/ring_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/ring_l2.iv</File>
+			<File type="Inventor">collisionModel/ring_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -302,11 +302,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_l1.iv</File>
+			<File type="Inventor">fullmodel/middle_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/middle_l1.iv</File>
+			<File type="Inventor">collisionModel/middle_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -329,11 +329,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_l2.iv</File>
+			<File type="Inventor">fullmodel/middle_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/middle_l2.iv</File>
+			<File type="Inventor">collisionModel/middle_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -366,11 +366,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_l1.iv</File>
+			<File type="Inventor">fullmodel/index_l1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/index_l1.iv</File>
+			<File type="Inventor">collisionModel/index_l1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -393,11 +393,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_l2.iv</File>
+			<File type="Inventor">fullmodel/index_l2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/index_l2.iv</File>
+			<File type="Inventor">collisionModel/index_l2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
index a41d1fc7e21321b3aa9ba9be339307d687061521..1884a6405ce6e1e5e36224f0a841d36c8b474f6f 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
@@ -82,10 +82,10 @@
 		
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform.iv</File>
+			<File type="Inventor">fullmodel/platform.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/platform.iv</File>
+			<File type="Inventor">collisionModel/platform.wrl</File>
 		</CollisionModel>
 		
 		<Child name="Hip Pitch"/>
@@ -105,7 +105,7 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+			<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
 		</Visualization>
 		<Child name="Hip Roll"/>
 	</RobotNode>
@@ -120,7 +120,7 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+			<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
 		</Visualization>
 		<Child name="Hip Yaw"/>
 	</RobotNode>
@@ -135,10 +135,10 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/torso.iv</File>
+			<File type="Inventor">fullmodel/torso.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/torso.iv</File>
+			<File type="Inventor">collisionModel/torso.wrl</File>
 		</CollisionModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index 2aa2c287cdb342ffaf144ca49d0f8a17edcbbe1e..d311a2e63fde6cf2f82eed5c12e904e131ffe08a 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -29,10 +29,10 @@
         </Physics>
 		<Visualization enable="true">
                         <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
-			<File type="Inventor">fullmodel/shoulder_r.iv</File>
+			<File type="Inventor">fullmodel/shoulder_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/shoulder_r.iv</File>
+			<File type="Inventor">convexModel/shoulder_r.wrl</File>
 		</CollisionModel>
 		<Child name="Shoulder 2 R"/>
 	</RobotNode>
@@ -54,10 +54,10 @@
             <Mass value="2.5" units="kg" />
         </Physics>
         <Visualization enable="true">
-			<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+			<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/shoulder2_r_rot.iv</File>
+			<File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
 		</CollisionModel>
 		<Child name="Upperarm R"/>
 	</RobotNode>
@@ -80,10 +80,10 @@
             <IgnoreCollision name="Shoulder 1 R"/>
         </Physics>
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/upperarm_r.iv</File>
+			<File type="Inventor">fullmodel/upperarm_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/upperarm_r.iv</File>
+			<File type="Inventor">convexModel/upperarm_r.wrl</File>
 		</CollisionModel>
 		<Child name="Elbow R"/>
 	</RobotNode>
@@ -102,10 +102,10 @@
                 </Joint>
 		<Visualization enable="true">
                         <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
-			<File type="Inventor">fullmodel/elbow_r.iv</File>
+			<File type="Inventor">fullmodel/elbow_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/elbow_r.iv</File>
+			<File type="Inventor">convexModel/elbow_r.wrl</File>
 		</CollisionModel>
 		<Physics>
             <CoM location="Joint"/>
@@ -128,10 +128,10 @@
                         <MaxTorque value="3000"/>
                 </Joint>
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/underarm_r.iv</File>
+			<File type="Inventor">fullmodel/underarm_r.wrl</File>
 		</Visualization>
  		<CollisionModel>
-			<File type="Inventor">convexModel/underarm_r.iv</File>
+			<File type="Inventor">convexModel/underarm_r.wrl</File>
 		</CollisionModel>
 		<Physics>
             <CoM location="VisualizationBBoxCenter"/>
@@ -158,10 +158,10 @@
         </Physics>
    	    <Visualization enable="true">
                         <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
-			<File type="Inventor">fullmodel/wrist1_r.iv</File>
+			<File type="Inventor">fullmodel/wrist1_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/wrist1_r.iv</File>
+			<File type="Inventor">convexModel/wrist1_r.wrl</File>
 		</CollisionModel>
 		<Child name="Wrist 2 R"/>
 	</RobotNode>
@@ -181,11 +181,11 @@
 
     	<Visualization enable="true">
                         <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
-			<File type="Inventor">fullmodel/wrist2_r.iv</File>
+			<File type="Inventor">fullmodel/wrist2_r.wrl</File>
 		</Visualization>
 		<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
         <!--CollisionModel>
-			<File type="Inventor">convexModel/wrist2_r.iv</File>
+			<File type="Inventor">convexModel/wrist2_r.wrl</File>
 		</CollisionModel>
 		
 		<Physics>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
index 15f1001797cef37d3a5ded1ccebfb166e1741ed1..75f081a754bda8667ccb5c5f26458bd32c6d5a7f 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
@@ -23,10 +23,10 @@
         </Physics>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/shoulder_r.iv</File>
+			<File type="Inventor">fullmodel/shoulder_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/shoulder_r.iv</File>
+			<File type="Inventor">collisionModel/shoulder_r.wrl</File>
 		</CollisionModel>
 		<Child name="Shoulder 2 R"/>
 	</RobotNode>
@@ -38,7 +38,7 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
+			<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
 		</Visualization>
 		<Child name="Upperarm R"/>
 	</RobotNode>
@@ -54,10 +54,10 @@
         </Physics>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/upperarm_r.iv</File>
+			<File type="Inventor">fullmodel/upperarm_r.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/upperarm_r.iv</File>
+			<File type="Inventor">collisionModel/upperarm_r.wrl</File>
 		</CollisionModel>
 		<Child name="Elbow R"/>
 	</RobotNode>
@@ -69,7 +69,7 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/elbow_r.iv</File>
+			<File type="Inventor">fullmodel/elbow_r.wrl</File>
 		</Visualization>
 		<!--Physics>
             <CoM location="Joint"/>
@@ -85,14 +85,14 @@
 		</Joint>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/underarm_r.iv</File>
+			<File type="Inventor">fullmodel/underarm_r.wrl</File>
 		</Visualization>
 		<Physics>
             <CoM location="VisualizationBBoxCenter"/>
             <Mass value="2.26566087" units="kg" />
         </Physics>
  		<CollisionModel>
-			<File type="Inventor">collisionModel/underarm_r.iv</File>
+			<File type="Inventor">collisionModel/underarm_r.wrl</File>
 		</CollisionModel>
 		<Child name="Wrist 1 R"/>
 	</RobotNode>
@@ -105,10 +105,10 @@
 
    	    <Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/wrist1_r.iv</File>
+			<File type="Inventor">fullmodel/wrist1_r.wrl</File>
 		</Visualization>
 		<!--CollisionModel>
-			<File type="Inventor">collisionModel/wrist1_l.iv</File>
+			<File type="Inventor">collisionModel/wrist1_l.wrl</File>
 		</CollisionModel-->
 		<Child name="Wrist 2 R"/>
 	</RobotNode>
@@ -124,10 +124,10 @@
         </Physics-->
     	<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/wrist2_r.iv</File>
+			<File type="Inventor">fullmodel/wrist2_r.wrl</File>
 		</Visualization>
         <!--CollisionModel>
-			<File type="Inventor">collisionModel/wrist2_l.iv</File>
+			<File type="Inventor">collisionModel/wrist2_l.wrl</File>
 		</CollisionModel-->
 		<Physics>
             <CoM location="VisualizationBBoxCenter"/>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
index bbc8a0afaebbf2441c73b9e532776c8c6ac6ca68..e9b3c6655efc2fedddbaabba5230769df86b6092 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
@@ -49,11 +49,11 @@
 		</Transform>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm1_r.iv</File>
+			<File type="Inventor">fullmodel/palm1_r.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/palm1_r.iv</File>
+			<File type="Inventor">convexModel/palm1_r.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -78,11 +78,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm2_r.iv</File>
+			<File type="Inventor">fullmodel/palm2_r.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/palm2_r.iv</File>
+			<File type="Inventor">convexModel/palm2_r.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -113,11 +113,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_r1.iv</File>
+			<File type="Inventor">fullmodel/thumb_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/thumb_r1.iv</File>
+			<File type="Inventor">convexModel/thumb_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -141,11 +141,11 @@
                 </Joint>
 
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_r2.iv</File>
+			<File type="Inventor">fullmodel/thumb_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/thumb_r2.iv</File>
+			<File type="Inventor">convexModel/thumb_r2.wrl</File>
 		</CollisionModel>
 		
 	    	<Physics>
@@ -182,11 +182,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_r1.iv</File>
+			<File type="Inventor">fullmodel/pinky_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/pinky_r1.iv</File>
+			<File type="Inventor">convexModel/pinky_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -210,11 +210,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_r2.iv</File>
+			<File type="Inventor">fullmodel/pinky_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/pinky_r2.iv</File>
+			<File type="Inventor">convexModel/pinky_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -242,11 +242,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_r1.iv</File>
+			<File type="Inventor">fullmodel/ring_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/ring_r1.iv</File>
+			<File type="Inventor">convexModel/ring_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -270,11 +270,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_r2.iv</File>
+			<File type="Inventor">fullmodel/ring_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/ring_r2.iv</File>
+			<File type="Inventor">convexModel/ring_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -301,11 +301,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_r1.iv</File>
+			<File type="Inventor">fullmodel/middle_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/middle_r1.iv</File>
+			<File type="Inventor">convexModel/middle_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -329,11 +329,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_r2.iv</File>
+			<File type="Inventor">fullmodel/middle_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/middle_r2.iv</File>
+			<File type="Inventor">convexModel/middle_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -370,11 +370,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_r1.iv</File>
+			<File type="Inventor">fullmodel/index_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/index_r1.iv</File>
+			<File type="Inventor">convexModel/index_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -398,11 +398,11 @@
                 </Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_r2.iv</File>
+			<File type="Inventor">fullmodel/index_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">convexModel/index_r2.iv</File>
+			<File type="Inventor">convexModel/index_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
index 06a8d148da39a248a55ff7e2e547ec783021cd30..3f9c870f385090d59f3cf8965b9e05b310c11e10 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
@@ -40,11 +40,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm1_r.iv</File>
+			<File type="Inventor">fullmodel/palm1_r.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/palm1_r.iv</File>
+			<File type="Inventor">collisionModel/palm1_r.wrl</File>
 		</CollisionModel>
 	    <Physics>
 			<Mass value="800" unit="g"/>
@@ -66,11 +66,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/palm2_r.iv</File>
+			<File type="Inventor">fullmodel/palm2_r.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/palm2_r.iv</File>
+			<File type="Inventor">collisionModel/palm2_r.wrl</File>
 		</CollisionModel>
 	    <Physics>
 			<Mass value="800" unit="g"/>
@@ -101,11 +101,11 @@
 		
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/thumb_r1.iv</File>
+			<File type="Inventor">fullmodel/thumb_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/thumb_r1.iv</File>
+			<File type="Inventor">collisionModel/thumb_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -128,11 +128,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/thumb_r2.iv</File>
+			<File type="Inventor">fullmodel/thumb_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/thumb_r2.iv</File>
+			<File type="Inventor">collisionModel/thumb_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -160,11 +160,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_r1.iv</File>
+			<File type="Inventor">fullmodel/pinky_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/pinky_r1.iv</File>
+			<File type="Inventor">collisionModel/pinky_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -187,11 +187,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/pinky_r2.iv</File>
+			<File type="Inventor">fullmodel/pinky_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/pinky_r2.iv</File>
+			<File type="Inventor">collisionModel/pinky_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -219,11 +219,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_r1.iv</File>
+			<File type="Inventor">fullmodel/ring_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/ring_r1.iv</File>
+			<File type="Inventor">collisionModel/ring_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -246,11 +246,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/ring_r2.iv</File>
+			<File type="Inventor">fullmodel/ring_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/ring_r2.iv</File>
+			<File type="Inventor">collisionModel/ring_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -278,11 +278,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_r1.iv</File>
+			<File type="Inventor">fullmodel/middle_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/middle_r1.iv</File>
+			<File type="Inventor">collisionModel/middle_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -305,11 +305,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/middle_r2.iv</File>
+			<File type="Inventor">fullmodel/middle_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/middle_r2.iv</File>
+			<File type="Inventor">collisionModel/middle_r2.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -337,11 +337,11 @@
 		</Joint>
 		
 		<Visualization enable="true">
-			<File type="Inventor">fullmodel/index_r1.iv</File>
+			<File type="Inventor">fullmodel/index_r1.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/index_r1.iv</File>
+			<File type="Inventor">collisionModel/index_r1.wrl</File>
 		</CollisionModel>
 		
 	    <Physics>
@@ -365,11 +365,11 @@
 		
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/index_r2.iv</File>
+			<File type="Inventor">fullmodel/index_r2.wrl</File>
 		</Visualization>
 		
 		<CollisionModel>
-			<File type="Inventor">collisionModel/index_r2.iv</File>
+			<File type="Inventor">collisionModel/index_r2.wrl</File>
 		</CollisionModel>
 	    <Physics>
 	        
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml b/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
index b8575f65b58bcfb7b56db0b7e42e0f383062b953..b20edf092e97c99c68dc4c9275a4efad6d26a5b5 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
@@ -68,14 +68,14 @@
 		<Joint type="fixed"/>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform.iv</File>
+			<File type="Inventor">fullmodel/platform.wrl</File>
 		</Visualization>
 		<Physics>
             <CoM location="Joint" x="0" y="0" z="200"/>
             <Mass value="100" units="kg" />
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">convexModel/platform.iv</File>
+			<File type="Inventor">convexModel/platform.wrl</File>
 		</CollisionModel>
 		<Child name="Hip Pitch"/>
 	</RobotNode>
@@ -91,13 +91,13 @@
 
         <Visualization enable="true">
             <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-            <File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+            <File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
         </Visualization>
         <Physics>
             <Mass value="10" units="kg" />
         </Physics>
         <CollisionModel>
-            <File type="Inventor">convexModel/platform_pitch_link.iv</File>
+            <File type="Inventor">convexModel/platform_pitch_link.wrl</File>
         </CollisionModel>
         <Child name="Hip Roll"/>
 	</RobotNode>
@@ -110,14 +110,14 @@
 
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+			<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
 		</Visualization>
 		<Physics>
             <Mass value="10" units="kg" />
             <IgnoreCollision name="Platform"/>
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">convexModel/platform_roll_link.iv</File>
+			<File type="Inventor">convexModel/platform_roll_link.wrl</File>
 		</CollisionModel>
 		<Child name="Hip Yaw"/>
 	</RobotNode>
@@ -135,10 +135,10 @@
         </Physics>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/torso.iv</File>
+			<File type="Inventor">fullmodel/torso.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/torso.iv</File>
+			<File type="Inventor">convexModel/torso.wrl</File>
 		</CollisionModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
index cf51f0c2e9aef7cc840c7caea2c2490d8526c64f..0d089db9f076105390f9d5d9ae198189acd23d5b 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -60,7 +60,7 @@
 	<RobotNode name="Platform">  <!-- visualization via 3D-model at the very end of the kinematic chain-->
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform.iv</File>
+			<File type="Inventor">fullmodel/platform.wrl</File>
 		</Visualization>
 		<Physics>
             <CoM location="Joint" x="0" y="0" z="200"/>
@@ -68,7 +68,7 @@
             <Friction value="0.1" />
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">convexModel/platform.iv</File>
+			<File type="Inventor">convexModel/platform.wrl</File>
 		</CollisionModel>
 		<Child name="Laser Scanner Front"/>
 		<Child name="Laser Scanner Back Left"/>
@@ -120,13 +120,13 @@
 
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+			<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
 		</Visualization>
 		<Physics>
             <Mass value="10" units="kg" />
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">convexModel/platform_pitch_link.iv</File>
+			<File type="Inventor">convexModel/platform_pitch_link.wrl</File>
 		</CollisionModel>
 		<Child name="Hip Roll"/>
 	</RobotNode>
@@ -142,14 +142,14 @@
 
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+			<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
 		</Visualization>
 		<Physics>
             <Mass value="10" units="kg" />
             <IgnoreCollision name="Platform"/>
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">convexModel/platform_roll_link.iv</File>
+			<File type="Inventor">convexModel/platform_roll_link.wrl</File>
 		</CollisionModel>
 		<Child name="Hip Yaw"/>
 	</RobotNode>
@@ -170,10 +170,10 @@
         </Physics>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/torso.iv</File>
+			<File type="Inventor">fullmodel/torso.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">convexModel/torso.iv</File>
+			<File type="Inventor">convexModel/torso.wrl</File>
 		</CollisionModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml b/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
index e93b374607794e20319c31da9e0c9a33e66ca114..c0794dfae759f7e718fbf761f9ddbee36dc5ace3 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
@@ -53,14 +53,14 @@
 		<Joint type="fixed"/>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform.iv</File>
+			<File type="Inventor">fullmodel/platform.wrl</File>
 		</Visualization>
 		<Physics>
             <CoM location="Joint" x="0" y="0" z="200"/>
             <Mass value="200" units="kg" />
         </Physics>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/platform.iv</File>
+			<File type="Inventor">collisionModel/platform.wrl</File>
 		</CollisionModel>
 		<Child name="Hip Pitch"/>
 	</RobotNode>
@@ -78,7 +78,7 @@
 
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
+			<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
 		</Visualization>
 		<Child name="Hip Roll"/>
 	</RobotNode>
@@ -91,7 +91,7 @@
 
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/platform_roll_link.iv</File>
+			<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
 		</Visualization>
 		<Child name="Hip Yaw"/>
 	</RobotNode>
@@ -107,10 +107,10 @@
         </Physics>
 		<Visualization enable="true">
 			<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
-			<File type="Inventor">fullmodel/torso.iv</File>
+			<File type="Inventor">fullmodel/torso.wrl</File>
 		</Visualization>
 		<CollisionModel>
-			<File type="Inventor">collisionModel/torso.iv</File>
+			<File type="Inventor">collisionModel/torso.wrl</File>
 		</CollisionModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/head.obj b/data/RobotAPI/robots/Armar3/collisionModel/head.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f2237728e731a54b3f8e38fb5f885761b8a1d5f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/head.obj
@@ -0,0 +1,148 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head.obj
+#
+# Vertices: 34
+# Faces: 64
+#
+####
+vn -4.663881 1.538507 1.549642
+v -0.063867 0.129899 0.034935 1.000000 1.000000 1.000000
+vn -4.666343 1.538499 -1.542219
+v -0.063925 0.129898 -0.037850 1.000000 1.000000 1.000000
+vn -5.138124 -0.898736 -1.782138
+v -0.063670 -0.030101 -0.037850 1.000000 1.000000 1.000000
+vn -1.953315 -0.508304 -5.287301
+v -0.013726 -0.020022 -0.087889 1.000000 1.000000 1.000000
+vn -5.135279 -0.898727 1.790324
+v -0.063612 -0.030101 0.034935 1.000000 1.000000 1.000000
+vn -1.730112 -2.445841 1.960692
+v -0.033493 -0.090053 0.064912 1.000000 1.000000 1.000000
+vn -1.733233 -2.445851 -1.957922
+v -0.033599 -0.090054 -0.067873 1.000000 1.000000 1.000000
+vn -1.554585 4.660186 -1.544705
+v -0.014005 0.179978 -0.037890 1.000000 1.000000 1.000000
+vn -2.708494 2.697730 -2.699894
+v -0.038985 0.154938 -0.062870 1.000000 1.000000 1.000000
+vn -1.552103 1.543455 -4.661427
+v -0.013965 0.129978 -0.087890 1.000000 1.000000 1.000000
+vn -1.544677 1.543478 4.663885
+v -0.013827 0.129978 0.084895 1.000000 1.000000 1.000000
+vn -1.552122 4.660194 1.547155
+v -0.013947 0.179978 0.034895 1.000000 1.000000 1.000000
+vn -2.704190 2.697744 2.704191
+v -0.038887 0.154938 0.059915 1.000000 1.000000 1.000000
+vn -1.944891 -0.508277 5.290409
+v -0.013589 -0.020022 0.084896 1.000000 1.000000 1.000000
+vn 2.686150 -2.351918 1.108588
+v 0.136427 -0.049783 0.044776 1.000000 1.000000 1.000000
+vn 4.658957 1.553350 -1.549645
+v 0.136067 0.130217 -0.048009 1.000000 1.000000 1.000000
+vn 4.661419 1.553358 1.542215
+v 0.136141 0.130217 0.044776 1.000000 1.000000 1.000000
+vn 1.539734 4.665117 1.544693
+v 0.086053 0.180137 0.034816 1.000000 1.000000 1.000000
+vn 1.793017 -3.028851 2.460323
+v 0.126435 -0.049799 0.054784 1.000000 1.000000 1.000000
+vn 2.699888 2.706350 2.699887
+v 0.116125 0.150185 0.064792 1.000000 1.000000 1.000000
+vn 1.552103 -1.543455 4.661427
+v 0.096411 -0.019846 0.084808 1.000000 1.000000 1.000000
+vn 1.547179 1.548402 4.661423
+v 0.096172 0.130153 0.084808 1.000000 1.000000 1.000000
+vn 2.684381 -2.351924 -1.112853
+v 0.136353 -0.049783 -0.048009 1.000000 1.000000 1.000000
+vn 1.539753 1.548379 -4.663889
+v 0.096035 0.130153 -0.087977 1.000000 1.000000 1.000000
+vn 1.537271 4.665110 -1.547167
+v 0.085995 0.180137 -0.037969 1.000000 1.000000 1.000000
+vn 2.695584 2.706336 -2.704198
+v 0.116019 0.150185 -0.067993 1.000000 1.000000 1.000000
+vn 3.930370 -2.675263 -1.113844
+v 0.070359 -0.049888 -0.057956 1.000000 1.000000 1.000000
+vn 1.544677 -1.543479 -4.663885
+v 0.096274 -0.019847 -0.087977 1.000000 1.000000 1.000000
+vn 1.789096 -3.028863 -2.463160
+v 0.126345 -0.049799 -0.058001 1.000000 1.000000 1.000000
+vn 0.514143 -1.541427 5.762268
+v 0.070425 -0.019888 0.084829 1.000000 1.000000 1.000000
+vn 1.853485 -1.999376 1.508888
+v 0.070520 -0.089888 0.064829 1.000000 1.000000 1.000000
+vn 3.932140 -2.675257 1.107596
+v 0.070448 -0.049888 0.054829 1.000000 1.000000 1.000000
+vn 1.851079 -1.999384 -1.511828
+v 0.070414 -0.089888 -0.067956 1.000000 1.000000 1.000000
+vn 0.504964 -1.541457 -5.763072
+v 0.070287 -0.019888 -0.087956 1.000000 1.000000 1.000000
+# 34 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 6//6 3//3 7//7
+f 4//4 7//7 3//3
+f 8//8 2//2 1//1
+f 9//9 2//2 8//8
+f 4//4 2//2 10//10
+f 9//9 10//10 2//2
+f 11//11 1//1 5//5
+f 8//8 1//1 12//12
+f 13//13 12//12 1//1
+f 13//13 1//1 11//11
+f 11//11 5//5 14//14
+f 6//6 14//14 5//5
+f 15//15 16//16 17//17
+f 18//18 17//17 16//16
+f 19//19 15//15 17//17
+f 20//20 17//17 18//18
+f 21//21 17//17 22//22
+f 20//20 22//22 17//17
+f 19//19 17//17 21//21
+f 15//15 23//23 16//16
+f 24//24 16//16 23//23
+f 18//18 16//16 25//25
+f 26//26 25//25 16//16
+f 26//26 16//16 24//24
+f 27//27 23//23 15//15
+f 24//24 23//23 28//28
+f 29//29 28//28 23//23
+f 29//29 23//23 27//27
+f 19//19 27//27 15//15
+f 8//8 18//18 25//25
+f 10//10 8//8 25//25
+f 10//10 25//25 24//24
+f 26//26 24//24 25//25
+f 8//8 12//12 18//18
+f 22//22 18//18 12//12
+f 20//20 18//18 22//22
+f 11//11 22//22 12//12
+f 13//13 11//11 12//12
+f 9//9 8//8 10//10
+f 30//30 21//21 22//22
+f 14//14 30//30 22//22
+f 11//11 14//14 22//22
+f 19//19 21//21 30//30
+f 31//31 30//30 14//14
+f 32//32 30//30 31//31
+f 19//19 30//30 32//32
+f 6//6 31//31 14//14
+f 7//7 33//33 31//31
+f 32//32 31//31 33//33
+f 6//6 7//7 31//31
+f 34//34 33//33 7//7
+f 27//27 33//33 34//34
+f 32//32 33//33 27//27
+f 34//34 7//7 4//4
+f 10//10 24//24 28//28
+f 34//34 10//10 28//28
+f 27//27 34//34 28//28
+f 29//29 27//27 28//28
+f 34//34 4//4 10//10
+f 19//19 32//32 27//27
+# 64 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/head.wrl b/data/RobotAPI/robots/Armar3/collisionModel/head.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e234d5dfcbd7d710441dd3254f7f5b4b3fc84816
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/head.wrl
@@ -0,0 +1,192 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0.99999994 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 1 0 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 1 0  3.1400001
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 1 1 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 34.884602 -130 -63.688,
+                                      -37.900299 -130 -63.688,
+                                      -37.900299 30 -63.688,
+                                      -87.900299 20 -13.688,
+                                      34.884602 30 -63.688,
+                                      64.884598 90 -33.688,
+                                      -67.900299 90 -33.688,
+                                      -37.900299 -180 -13.688,
+                                      -62.900299 -155 -38.688,
+                                      -87.900299 -130 -13.688,
+                                      84.884598 -130 -13.688,
+                                      34.884602 -180 -13.688,
+                                      59.884602 -155 -38.688,
+                                      84.884598 20 -13.688,
+                                      44.884602 50 136.312,
+                                      -47.900299 -130 136.312,
+                                      44.884602 -130 136.312,
+                                      34.884602 -180 86.311996,
+                                      54.884602 50 126.312,
+                                      64.884598 -150 116.312,
+                                      84.884598 20 96.311996,
+                                      84.884598 -130 96.311996,
+                                      -47.900299 50 136.312,
+                                      -87.900299 -130 96.311996,
+                                      -37.900299 -180 86.311996,
+                                      -67.900299 -150 116.312,
+                                      -57.900299 50 70.325203,
+                                      -87.900299 20 96.311996,
+                                      -57.900299 50 126.312,
+                                      84.884598 20 70.325203,
+                                      64.884598 90 70.325203,
+                                      54.884602 50 70.325203,
+                                      -67.900299 90 70.325203,
+                                      -87.900299 20 70.325203 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -4.88664e-016 2.3900099e-016 -1,
+                                      -0.70710701 1.8482e-016 -0.70710701,
+                                      -4.27068e-016 0.44721401 -0.894427,
+                                      -3.61359e-016 -0.70710701 -0.70710701,
+                                      0.70710701 1.5317799e-016 -0.70710701,
+                                      4.88664e-016 -2.3900099e-016 1,
+                                      3.29717e-016 -0.70710701 0.70710701,
+                                      0.70710701 -1.8482e-016 0.70710701,
+                                      -0.70710701 -1.5317799e-016 0.70710701,
+                                      2.23744e-017 1 2.3900099e-016,
+                                      -2.23744e-017 -1 -2.3900099e-016,
+                                      -0.70710701 -0.70710701 1.76539e-016,
+                                      0.70710701 -0.70710701 -5.1453699e-016,
+                                      1 -2.23744e-017 -4.88664e-016,
+                                      0.70710701 0.70710701 -1.76539e-016,
+                                      0.96152401 0.274721 -4.0420399e-016,
+                                      -0.96152401 0.274721 5.3552102e-016,
+                                      -1 2.23744e-017 4.88664e-016,
+                                      -0.70710701 0.70710701 5.1453699e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 5, 4, 2, -1,
+                                    5, 2, 6, -1, 3, 6, 2, -1,
+                                    7, 1, 0, -1, 8, 1, 7, -1,
+                                    3, 1, 9, -1, 8, 9, 1, -1,
+                                    10, 0, 4, -1, 7, 0, 11, -1,
+                                    12, 11, 0, -1, 12, 0, 10, -1,
+                                    10, 4, 13, -1, 5, 13, 4, -1,
+                                    14, 15, 16, -1, 17, 16, 15, -1,
+                                    18, 14, 16, -1, 19, 16, 17, -1,
+                                    20, 16, 21, -1, 19, 21, 16, -1,
+                                    18, 16, 20, -1, 14, 22, 15, -1,
+                                    23, 15, 22, -1, 17, 15, 24, -1,
+                                    25, 24, 15, -1, 25, 15, 23, -1,
+                                    26, 22, 14, -1, 23, 22, 27, -1,
+                                    28, 27, 22, -1, 28, 22, 26, -1,
+                                    18, 26, 14, -1, 7, 17, 24, -1,
+                                    9, 7, 24, -1, 9, 24, 23, -1,
+                                    25, 23, 24, -1, 7, 11, 17, -1,
+                                    21, 17, 11, -1, 19, 17, 21, -1,
+                                    10, 21, 11, -1, 12, 10, 11, -1,
+                                    8, 7, 9, -1, 29, 20, 21, -1,
+                                    13, 29, 21, -1, 10, 13, 21, -1,
+                                    18, 20, 29, -1, 30, 29, 13, -1,
+                                    31, 29, 30, -1, 18, 29, 31, -1,
+                                    5, 30, 13, -1, 6, 32, 30, -1,
+                                    31, 30, 32, -1, 5, 6, 30, -1,
+                                    33, 32, 6, -1, 26, 32, 33, -1,
+                                    31, 32, 26, -1, 33, 6, 3, -1,
+                                    9, 23, 27, -1, 33, 9, 27, -1,
+                                    26, 33, 27, -1, 28, 26, 27, -1,
+                                    33, 3, 9, -1, 18, 31, 26, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 2, 2, 2, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    3, 3, 3, -1, 3, 3, 3, -1,
+                                    1, 1, 1, -1, 1, 1, 1, -1,
+                                    4, 4, 4, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 4, 4, 4, -1,
+                                    5, 5, 5, -1, 6, 6, 6, -1,
+                                    7, 7, 7, -1, 6, 6, 6, -1,
+                                    7, 7, 7, -1, 7, 7, 7, -1,
+                                    7, 7, 7, -1, 5, 5, 5, -1,
+                                    8, 8, 8, -1, 6, 6, 6, -1,
+                                    6, 6, 6, -1, 8, 8, 8, -1,
+                                    9, 9, 9, -1, 8, 8, 8, -1,
+                                    8, 8, 8, -1, 9, 9, 9, -1,
+                                    9, 9, 9, -1, 10, 10, 10, -1,
+                                    11, 11, 11, -1, 11, 11, 11, -1,
+                                    11, 11, 11, -1, 10, 10, 10, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    11, 11, 11, -1, 13, 13, 13, -1,
+                                    13, 13, 13, -1, 13, 13, 13, -1,
+                                    14, 14, 14, -1, 15, 15, 15, -1,
+                                    5, 5, 5, -1, 14, 14, 14, -1,
+                                    15, 15, 15, -1, 9, 9, 9, -1,
+                                    5, 5, 5, -1, 9, 9, 9, -1,
+                                    16, 16, 16, -1, 5, 5, 5, -1,
+                                    5, 5, 5, -1, 16, 16, 16, -1,
+                                    17, 17, 17, -1, 17, 17, 17, -1,
+                                    18, 18, 18, -1, 18, 18, 18, -1,
+                                    17, 17, 17, -1, 9, 9, 9, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_l1.obj b/data/RobotAPI/robots/Armar3/collisionModel/index_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e644c392ccbaae2e8bff55912dc9edcaff0ed16e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_l1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_l1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_l1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/index_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c09a70809a7108590074ce0e3995c2cf8a18eb35
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_l1.wrl
@@ -0,0 +1,101 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation -4.25 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.87840003 0.949 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 10.67 -2.4000001 3.75,
+                                      -5 -2.4000001 -21.25,
+                                      10.67 -2.4000001 -21.25,
+                                      -5 42.25 -21.25,
+                                      10.67 42.25 -21.25,
+                                      -5 -2.4000001 3.75,
+                                      -5 42.25 3.75,
+                                      10.67 42.25 3.75 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                      5.5511198e-017 7.4593103e-017 -1,
+                                      1 -5.5511198e-017 2.7755599e-017,
+                                      -1 5.5511198e-017 -2.7755599e-017,
+                                      -5.5511198e-017 -7.4593103e-017 1,
+                                      2.7755599e-016 1 1.66533e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 3, 4, 2, -1,
+                                    0, 5, 1, -1, 6, 1, 5, -1,
+                                    3, 1, 6, -1, 7, 5, 0, -1,
+                                    6, 5, 7, -1, 7, 0, 4, -1,
+                                    6, 7, 4, -1, 3, 6, 4, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 2, 2, 2, -1,
+                                    5, 5, 5, -1, 5, 5, 5, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_l2.obj b/data/RobotAPI/robots/Armar3/collisionModel/index_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b2a4d376fb0fa4bc3ed5574d73591596603407
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_l2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_l2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
+vn 3.077615 -2.847326 0.453632
+v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
+vn 3.073076 2.852942 0.449094
+v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
+vn 1.506032 -1.859444 2.023642
+v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
+vn 1.503067 1.865060 2.020677
+v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_l2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/index_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70a0f0c8e86190f0c92c13f9beab87f110e2b840
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_l2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10 -1.25 4.25,
+                                  -10 -1.25 -20.75,
+                                  10 -1.25 -20.75,
+                                  10 8.75 -20.75,
+                                  -10 -1.25 4.25,
+                                  -10 58.75 4.25,
+                                  -10 8.75 -20.75,
+                                  10 58.75 4.25,
+                                  10 58.75 -5.75,
+                                  -10 58.75 -5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0 -1 1.30104e-016,
+                                  -6.7654202e-017 8.5001503e-017 -1,
+                                  1 -1.66533e-016 -6.0715302e-017,
+                                  -1 1.66533e-016 6.0715302e-017,
+                                  6.7654202e-017 -8.5001503e-017 1,
+                                  0 1 -1.30104e-016,
+                                  -6.4800998e-017 0.287348 -0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r1.obj b/data/RobotAPI/robots/Armar3/collisionModel/index_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5b79d951db45314881677ad76c3ec0f0ba31a2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_r1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_r1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003742 -0.010675 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021246 0.005015 -0.002404 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021258 -0.010655 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021246 0.005051 0.042246 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021258 -0.010619 0.042258 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003754 0.004995 -0.002404 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003754 0.005031 0.042246 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003742 -0.010639 0.042258 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/index_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..242a9fab9c7b3643b7abb31fa05a72734b618eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_r1.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.87840003 0.949 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10.67 -2.4000001 3.75,
+                                  -5 -2.4000001 -21.25,
+                                  10.67 -2.4000001 -21.25,
+                                  -5 42.25 -21.25,
+                                  10.67 42.25 -21.25,
+                                  -5 -2.4000001 3.75,
+                                  -5 42.25 3.75,
+                                  10.67 42.25 3.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                  5.5511198e-017 7.4593103e-017 -1,
+                                  1 -5.5511198e-017 2.7755599e-017,
+                                  -1 5.5511198e-017 -2.7755599e-017,
+                                  -5.5511198e-017 -7.4593103e-017 1,
+                                  2.7755599e-016 1 1.66533e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r2.obj b/data/RobotAPI/robots/Armar3/collisionModel/index_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..783f69d93744412052a88bcb1d783c808ae7d6e6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_r2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_r2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
+vn 3.077615 -2.847326 0.453632
+v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
+vn 3.073076 2.852942 0.449094
+v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
+vn 1.506032 -1.859444 2.023642
+v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
+vn 1.503067 1.865060 2.020677
+v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/index_r2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/index_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70a0f0c8e86190f0c92c13f9beab87f110e2b840
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/index_r2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10 -1.25 4.25,
+                                  -10 -1.25 -20.75,
+                                  10 -1.25 -20.75,
+                                  10 8.75 -20.75,
+                                  -10 -1.25 4.25,
+                                  -10 58.75 4.25,
+                                  -10 8.75 -20.75,
+                                  10 58.75 4.25,
+                                  10 58.75 -5.75,
+                                  -10 58.75 -5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0 -1 1.30104e-016,
+                                  -6.7654202e-017 8.5001503e-017 -1,
+                                  1 -1.66533e-016 -6.0715302e-017,
+                                  -1 1.66533e-016 6.0715302e-017,
+                                  6.7654202e-017 -8.5001503e-017 1,
+                                  0 1 -1.30104e-016,
+                                  -6.4800998e-017 0.287348 -0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.obj b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73432d274bd4025e86e5b0aa2403e3789a511937
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_l1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c09a70809a7108590074ce0e3995c2cf8a18eb35
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l1.wrl
@@ -0,0 +1,101 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation -4.25 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.87840003 0.949 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 10.67 -2.4000001 3.75,
+                                      -5 -2.4000001 -21.25,
+                                      10.67 -2.4000001 -21.25,
+                                      -5 42.25 -21.25,
+                                      10.67 42.25 -21.25,
+                                      -5 -2.4000001 3.75,
+                                      -5 42.25 3.75,
+                                      10.67 42.25 3.75 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                      5.5511198e-017 7.4593103e-017 -1,
+                                      1 -5.5511198e-017 2.7755599e-017,
+                                      -1 5.5511198e-017 -2.7755599e-017,
+                                      -5.5511198e-017 -7.4593103e-017 1,
+                                      2.7755599e-016 1 1.66533e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 3, 4, 2, -1,
+                                    0, 5, 1, -1, 6, 1, 5, -1,
+                                    3, 1, 6, -1, 7, 5, 0, -1,
+                                    6, 5, 7, -1, 7, 0, 4, -1,
+                                    6, 7, 4, -1, 3, 6, 4, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 2, 2, 2, -1,
+                                    5, 5, 5, -1, 5, 5, 5, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.obj b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af96a26f0314de5a790c3b6801fa84d6a515170b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_l2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
+vn 3.077615 -2.847326 0.453632
+v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
+vn 3.073076 2.852942 0.449094
+v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
+vn 1.506032 -1.859444 2.023642
+v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
+vn 1.503067 1.865060 2.020677
+v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70a0f0c8e86190f0c92c13f9beab87f110e2b840
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_l2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10 -1.25 4.25,
+                                  -10 -1.25 -20.75,
+                                  10 -1.25 -20.75,
+                                  10 8.75 -20.75,
+                                  -10 -1.25 4.25,
+                                  -10 58.75 4.25,
+                                  -10 8.75 -20.75,
+                                  10 58.75 4.25,
+                                  10 58.75 -5.75,
+                                  -10 58.75 -5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0 -1 1.30104e-016,
+                                  -6.7654202e-017 8.5001503e-017 -1,
+                                  1 -1.66533e-016 -6.0715302e-017,
+                                  -1 1.66533e-016 6.0715302e-017,
+                                  6.7654202e-017 -8.5001503e-017 1,
+                                  0 1 -1.30104e-016,
+                                  -6.4800998e-017 0.287348 -0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.obj b/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1b446bb2714681455df546c9008853b42c2006a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_r1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003742 -0.010675 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021246 0.005015 -0.002404 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021258 -0.010655 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021246 0.005051 0.042246 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021258 -0.010619 0.042258 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003754 0.004995 -0.002404 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003754 0.005031 0.042246 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003742 -0.010639 0.042258 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..242a9fab9c7b3643b7abb31fa05a72734b618eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_r1.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.87840003 0.949 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10.67 -2.4000001 3.75,
+                                  -5 -2.4000001 -21.25,
+                                  10.67 -2.4000001 -21.25,
+                                  -5 42.25 -21.25,
+                                  10.67 42.25 -21.25,
+                                  -5 -2.4000001 3.75,
+                                  -5 42.25 3.75,
+                                  10.67 42.25 3.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                  5.5511198e-017 7.4593103e-017 -1,
+                                  1 -5.5511198e-017 2.7755599e-017,
+                                  -1 5.5511198e-017 -2.7755599e-017,
+                                  -5.5511198e-017 -7.4593103e-017 1,
+                                  2.7755599e-016 1 1.66533e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.obj b/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b17ae3f939a32a4438ac00ffce3cde6ca1114748
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_r2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
+vn 3.077615 -2.847326 0.453632
+v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
+vn 3.073076 2.852942 0.449094
+v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
+vn 1.506032 -1.859444 2.023642
+v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
+vn 1.503067 1.865060 2.020677
+v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..70a0f0c8e86190f0c92c13f9beab87f110e2b840
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/middle_r2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10 -1.25 4.25,
+                                  -10 -1.25 -20.75,
+                                  10 -1.25 -20.75,
+                                  10 8.75 -20.75,
+                                  -10 -1.25 4.25,
+                                  -10 58.75 4.25,
+                                  -10 8.75 -20.75,
+                                  10 58.75 4.25,
+                                  10 58.75 -5.75,
+                                  -10 58.75 -5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0 -1 1.30104e-016,
+                                  -6.7654202e-017 8.5001503e-017 -1,
+                                  1 -1.66533e-016 -6.0715302e-017,
+                                  -1 1.66533e-016 6.0715302e-017,
+                                  6.7654202e-017 -8.5001503e-017 1,
+                                  0 1 -1.30104e-016,
+                                  -6.4800998e-017 0.287348 -0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.obj b/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a69a104264a4d0d9976cb16a09d7b332f37a13a8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_l.obj
+#
+# Vertices: 16
+# Faces: 24
+#
+####
+vn 1.569545 -1.570796 -1.572046
+v 0.018191 -0.018500 -0.010814 0.247059 0.247059 0.247059
+vn 1.569545 1.570796 -1.572046
+v 0.018191 0.023500 -0.010814 0.247059 0.247059 0.247059
+vn 1.572046 1.570796 1.569545
+v 0.018227 0.023500 0.033486 0.247059 0.247059 0.247059
+vn -1.572046 1.570796 -1.569545
+v -0.045809 0.023500 -0.010764 0.247059 0.247059 0.247059
+vn 1.572046 -1.570796 1.569545
+v 0.018227 -0.018500 0.033486 0.247059 0.247059 0.247059
+vn -1.569545 1.570796 1.572046
+v -0.045773 0.023500 0.033536 0.247059 0.247059 0.247059
+vn -1.572046 -1.570796 -1.569545
+v -0.045809 -0.018500 -0.010764 0.247059 0.247059 0.247059
+vn -1.569545 -1.570796 1.572046
+v -0.045773 -0.018500 0.033536 0.247059 0.247059 0.247059
+vn 1.572046 1.570796 1.569545
+v -0.017173 -0.018500 0.033514 0.247059 0.247059 0.247059
+vn -1.483803 1.058153 1.239529
+v -0.041573 -0.018500 0.033533 0.247059 0.247059 0.247059
+vn -1.483273 -2.083439 1.904427
+v -0.025173 -0.066000 0.033520 0.247059 0.247059 0.247059
+vn -1.486304 -2.083439 -1.902062
+v -0.025175 -0.066000 0.031520 0.247059 0.247059 0.247059
+vn 1.572046 -1.570796 1.569545
+v -0.017173 -0.066000 0.033514 0.247059 0.247059 0.247059
+vn 1.569545 -1.570796 -1.572046
+v -0.017175 -0.066000 0.031514 0.247059 0.247059 0.247059
+vn -1.485774 1.058153 -1.237165
+v -0.041575 -0.018500 0.031533 0.247059 0.247059 0.247059
+vn 1.569545 1.570796 -1.572046
+v -0.017175 -0.018500 0.031514 0.247059 0.247059 0.247059
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 4//4 6//6 3//3
+f 7//7 2//2 1//1
+f 4//4 2//2 7//7
+f 8//8 1//1 5//5
+f 7//7 1//1 8//8
+f 8//8 5//5 6//6
+f 4//4 8//8 6//6
+f 4//4 7//7 8//8
+f 9//9 10//10 11//11
+f 12//12 11//11 10//10
+f 13//13 9//9 11//11
+f 14//14 13//13 11//11
+f 14//14 11//11 12//12
+f 15//15 10//10 9//9
+f 15//15 12//12 10//10
+f 16//16 9//9 13//13
+f 15//15 9//9 16//16
+f 16//16 13//13 14//14
+f 15//15 14//14 12//12
+f 15//15 16//16 14//14
+# 24 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..99a33750b8aa816bdd3479d3e83ecaa4b0bf84ef
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm1_l.wrl
@@ -0,0 +1,142 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0.99999994 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children [ 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.25 0.25 0.25
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ -10.8 -18.5 -18.200001,
+                              -10.8 23.5 -18.200001,
+                              33.5 23.5 -18.200001,
+                              -10.8 23.5 45.799999,
+                              33.5 -18.5 -18.200001,
+                              33.5 23.5 45.799999,
+                              -10.8 -18.5 45.799999,
+                              33.5 -18.5 45.799999 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ -1.17961e-016 -1.4589001e-014 -1,
+                              -2.22045e-016 1 -1.4571699e-014,
+                              1 1.11022e-016 -1.21431e-017,
+                              -1 -1.11022e-016 1.21431e-017,
+                              2.22045e-016 -1 1.4571699e-014,
+                              1.17961e-016 1.4589001e-014 1 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            4, 0, 2, -1, 5, 4, 2, -1,
+                            3, 5, 2, -1, 6, 1, 0, -1,
+                            3, 1, 6, -1, 7, 0, 4, -1,
+                            6, 0, 7, -1, 7, 4, 5, -1,
+                            3, 7, 5, -1, 3, 6, 7, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            0, 0, 0, -1, 2, 2, 2, -1,
+                            1, 1, 1, -1, 3, 3, 3, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            4, 4, 4, -1, 2, 2, 2, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                },
+                  
+                DEF _+5 Group {
+                  children 
+                    DEF _+6 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.25 0.25 0.25
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 33.5 -18.5 17.200001,
+                              33.5 -18.5 41.599998,
+                              33.5 -66 25.200001,
+                              31.5 -66 25.200001,
+                              33.5 -66 17.200001,
+                              31.5 -66 17.200001,
+                              31.5 -18.5 41.599998,
+                              31.5 -18.5 17.200001 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ 1 1.11022e-016 -1.21431e-017,
+                              7.9025097e-017 -0.326359 0.94524598,
+                              2.22045e-016 -1 1.4571699e-014,
+                              -2.22045e-016 1 -1.4571699e-014,
+                              -6.9388902e-018 -1.45335e-014 -1,
+                              -1 -1.11022e-016 1.21431e-017 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            4, 0, 2, -1, 5, 4, 2, -1,
+                            5, 2, 3, -1, 6, 1, 0, -1,
+                            6, 3, 1, -1, 7, 0, 4, -1,
+                            6, 0, 7, -1, 7, 4, 5, -1,
+                            6, 5, 3, -1, 6, 7, 5, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            0, 0, 0, -1, 2, 2, 2, -1,
+                            2, 2, 2, -1, 3, 3, 3, -1,
+                            1, 1, 1, -1, 4, 4, 4, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                } ]
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.obj b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ae9ccf315f7092ca59857a12b4decdf801517e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_r.obj
+#
+# Vertices: 16
+# Faces: 24
+#
+####
+vn 1.567042 -1.573296 -1.572044
+v 0.018154 -0.023529 -0.010814 0.247059 0.247059 0.247059
+vn 1.574546 1.568293 1.569543
+v 0.018256 0.018471 0.033485 0.247059 0.247059 0.247059
+vn 1.569543 -1.573296 1.569547
+v 0.018189 -0.023529 0.033486 0.247059 0.247059 0.247059
+vn -1.567042 1.573296 1.572044
+v -0.045744 0.018573 0.033536 0.247059 0.247059 0.247059
+vn -1.572045 -1.568293 1.572048
+v -0.045811 -0.023427 0.033536 0.247059 0.247059 0.247059
+vn 1.572045 1.568293 -1.572048
+v 0.018221 0.018471 -0.010815 0.247059 0.247059 0.247059
+vn -1.569543 1.573296 -1.569547
+v -0.045779 0.018573 -0.010764 0.247059 0.247059 0.247059
+vn -1.574546 -1.568293 -1.569543
+v -0.045846 -0.023427 -0.010764 0.247059 0.247059 0.247059
+vn -1.485486 -1.055788 1.239531
+v -0.041544 0.018566 0.033533 0.247059 0.247059 0.247059
+vn 1.574546 1.568293 1.569543
+v -0.017068 0.066027 0.033514 0.247059 0.247059 0.247059
+vn -1.479953 2.085801 1.904424
+v -0.025068 0.066040 0.033520 0.247059 0.247059 0.247059
+vn -1.482984 2.085801 -1.902065
+v -0.025070 0.066040 0.031520 0.247059 0.247059 0.247059
+vn -1.487458 -1.055788 -1.237164
+v -0.041545 0.018566 0.031533 0.247059 0.247059 0.247059
+vn 1.569543 -1.573296 1.569547
+v -0.017144 0.018527 0.033514 0.247059 0.247059 0.247059
+vn 1.572045 1.568293 -1.572048
+v -0.017070 0.066027 0.031514 0.247059 0.247059 0.247059
+vn 1.567042 -1.573296 -1.572044
+v -0.017145 0.018527 0.031514 0.247059 0.247059 0.247059
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+f 9//9 10//10 11//11
+f 12//12 11//11 10//10
+f 13//13 9//9 11//11
+f 13//13 11//11 12//12
+f 9//9 14//14 10//10
+f 15//15 10//10 14//14
+f 15//15 12//12 10//10
+f 16//16 14//14 9//9
+f 15//15 14//14 16//16
+f 16//16 9//9 13//13
+f 16//16 13//13 12//12
+f 15//15 16//16 12//12
+# 24 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.wrl b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0fd419cbfb2a1ea86a759cc05c0812b84d48ddf6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm1_r.wrl
@@ -0,0 +1,151 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0.99999994 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 1 0 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children [ 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.25 0.25 0.25
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -10.8 23.5 18.200001,
+                                  33.5 -18.5 18.200001,
+                                  33.5 23.5 18.200001,
+                                  33.5 -18.5 -45.799999,
+                                  33.5 23.5 -45.799999,
+                                  -10.8 -18.5 18.200001,
+                                  -10.8 -18.5 -45.799999,
+                                  -10.8 23.5 -45.799999 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -6.9388902e-018 -1.4585601e-014 1,
+                                  1 1.66533e-016 3.29597e-017,
+                                  -1.11022e-016 1 1.4618499e-014,
+                                  1.11022e-016 -1 -1.4618499e-014,
+                                  -1 -1.66533e-016 -3.29597e-017,
+                                  6.9388902e-018 1.4585601e-014 -1 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    },
+                      
+                    DEF _+6 Group {
+                      children 
+                        DEF _+7 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.25 0.25 0.25
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 33.5 -18.5 -41.599998,
+                                  33.5 -66 -17.200001,
+                                  33.5 -66 -25.200001,
+                                  31.5 -66 -25.200001,
+                                  31.5 -18.5 -41.599998,
+                                  33.5 -18.5 -17.200001,
+                                  31.5 -66 -17.200001,
+                                  31.5 -18.5 -17.200001 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 1 1.66533e-016 3.29597e-017,
+                                  1.11022e-016 -1 -1.4618499e-014,
+                                  -6.2151301e-017 -0.326359 -0.94524598,
+                                  1.04083e-016 -1.453e-014 1,
+                                  -1.11022e-016 1 1.4618499e-014,
+                                  -1 -1.66533e-016 -3.29597e-017 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 4, 2, 3, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                6, 3, 1, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                7, 4, 3, -1, 6, 7, 3, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    } ]
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.obj b/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c95975e1f8ab69f681ab2f52a0f89028f754bab0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_l.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn 1.568294 -1.572045 1.572046
+v 0.020653 -0.079516 0.042267 0.388235 0.011765 0.011765
+vn -1.570795 -1.569546 -1.572046
+v -0.004317 -0.079497 0.004247 0.388235 0.011765 0.011765
+vn 1.570795 -1.572047 -1.569545
+v 0.020683 -0.079516 0.004267 0.388235 0.011765 0.011765
+vn -1.568294 1.572045 -1.572046
+v -0.004245 0.010003 0.004247 0.388235 0.011765 0.011765
+vn 1.573297 1.569544 -1.569545
+v 0.020755 0.009983 0.004267 0.388235 0.011765 0.011765
+vn -1.573297 -1.569544 1.569545
+v -0.004347 -0.079497 0.042247 0.388235 0.011765 0.011765
+vn -1.570795 1.572047 1.569545
+v -0.004276 0.010003 0.042247 0.388235 0.011765 0.011765
+vn 1.570795 1.569546 1.572046
+v 0.020724 0.009984 0.042267 0.388235 0.011765 0.011765
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b06d6377d10c35a640c72b3c78f321db2c637e53
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm2_l.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0.99999994 0 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.39199999 0.012 0.012
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -79.5 42.25 20.75,
+                                  -79.5 4.25 -4.25,
+                                  -79.5 4.25 20.75,
+                                  10 4.25 -4.25,
+                                  10 4.25 20.75,
+                                  -79.5 42.25 -4.25,
+                                  10 42.25 -4.25,
+                                  10 42.25 20.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -1 1.22125e-015 -4.0939501e-016,
+                                  -7.7715601e-016 -1 1.25941e-015,
+                                  -3.8684299e-016 1.39819e-015 1,
+                                  3.8684299e-016 -1.39819e-015 -1,
+                                  7.7715601e-016 1 -1.25941e-015,
+                                  1 -1.22125e-015 4.0939501e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.obj b/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293351ffa857ff8ca171a76782344f3ad9ccc422
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_r.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.567042 1.573293 1.572047
+v -0.004060 0.079476 0.042313 0.388235 0.011765 0.011765
+vn 1.574542 1.565789 1.572045
+v 0.020940 0.079417 0.042313 0.388235 0.011765 0.011765
+vn 1.574546 1.568290 -1.569546
+v 0.020940 0.079447 0.004313 0.388235 0.011765 0.011765
+vn 1.567038 -1.575794 1.569544
+v 0.020726 -0.010083 0.042242 0.388235 0.011765 0.011765
+vn -1.567038 1.575794 -1.569544
+v -0.004060 0.079507 0.004313 0.388235 0.011765 0.011765
+vn 1.567042 -1.573293 -1.572047
+v 0.020726 -0.010053 0.004242 0.388235 0.011765 0.011765
+vn -1.574546 -1.568290 1.569546
+v -0.004274 -0.010023 0.042242 0.388235 0.011765 0.011765
+vn -1.574542 -1.565789 -1.572045
+v -0.004274 -0.009993 0.004242 0.388235 0.011765 0.011765
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 4//4 6//6 3//3
+f 7//7 2//2 1//1
+f 4//4 2//2 7//7
+f 8//8 1//1 5//5
+f 7//7 1//1 8//8
+f 8//8 5//5 6//6
+f 4//4 8//8 6//6
+f 4//4 7//7 8//8
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.wrl b/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6eb4c346892bf26af6ecb3072603a38709894ac5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/palm2_r.wrl
@@ -0,0 +1,101 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 1  3.1400001
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0.99999994 0 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0.99999994 0  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.39199999 0.012 0.012
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -79.5 42.25 4.25,
+                                      -79.5 42.25 -20.75,
+                                      -79.5 4.25 -20.75,
+                                      10 42.25 -20.75,
+                                      -79.5 4.25 4.25,
+                                      10 4.25 -20.75,
+                                      10 42.25 4.25,
+                                      10 4.25 4.25 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -1 1.11022e-015 -3.4694499e-017,
+                                      3.4694498e-018 -4.33681e-017 -1,
+                                      -3.8857801e-016 -1 1.56125e-017,
+                                      3.8857801e-016 1 -1.56125e-017,
+                                      -3.4694498e-018 4.33681e-017 1,
+                                      1 -1.11022e-015 3.4694499e-017 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 5, 4, 2, -1,
+                                    3, 5, 2, -1, 6, 1, 0, -1,
+                                    3, 1, 6, -1, 7, 0, 4, -1,
+                                    6, 0, 7, -1, 7, 4, 5, -1,
+                                    3, 7, 5, -1, 3, 6, 7, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 2, 2, 2, -1,
+                                    1, 1, 1, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 2, 2, 2, -1,
+                                    5, 5, 5, -1, 5, 5, 5, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.obj b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..941dfdcd790c3db9f6bb4f1c8b49623e20b94957
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_l1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c09a70809a7108590074ce0e3995c2cf8a18eb35
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l1.wrl
@@ -0,0 +1,101 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation -4.25 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.87840003 0.949 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 10.67 -2.4000001 3.75,
+                                      -5 -2.4000001 -21.25,
+                                      10.67 -2.4000001 -21.25,
+                                      -5 42.25 -21.25,
+                                      10.67 42.25 -21.25,
+                                      -5 -2.4000001 3.75,
+                                      -5 42.25 3.75,
+                                      10.67 42.25 3.75 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                      5.5511198e-017 7.4593103e-017 -1,
+                                      1 -5.5511198e-017 2.7755599e-017,
+                                      -1 5.5511198e-017 -2.7755599e-017,
+                                      -5.5511198e-017 -7.4593103e-017 1,
+                                      2.7755599e-016 1 1.66533e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 3, 4, 2, -1,
+                                    0, 5, 1, -1, 6, 1, 5, -1,
+                                    3, 1, 6, -1, 7, 5, 0, -1,
+                                    6, 5, 7, -1, 7, 0, 4, -1,
+                                    6, 7, 4, -1, 3, 6, 4, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 2, 2, 2, -1,
+                                    5, 5, 5, -1, 5, 5, 5, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.obj b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..736b997a699af08990165cc63c33d0400bbb5839
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_l2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.572046 -1.570795 -1.569546
+v -0.004258 -0.010010 -0.016242 0.000000 0.000000 1.000000
+vn 1.572046 1.568294 -1.572045
+v 0.020758 0.009971 -0.016258 0.000000 0.000000 1.000000
+vn 1.569545 -1.573297 -1.569544
+v 0.020742 -0.010029 -0.016242 0.000000 0.000000 1.000000
+vn 3.073076 -2.852223 0.453636
+v 0.020742 -0.010021 -0.006242 0.000000 0.000000 1.000000
+vn -1.569545 1.570795 -1.572047
+v -0.004242 0.009990 -0.016258 0.000000 0.000000 1.000000
+vn -1.569545 1.573297 1.569544
+v -0.004242 0.010038 0.043742 0.000000 0.000000 1.000000
+vn 3.077615 2.848045 0.449098
+v 0.020758 0.009978 -0.006258 0.000000 0.000000 1.000000
+vn -1.572046 -1.568294 1.572045
+v -0.004258 -0.009962 0.043758 0.000000 0.000000 1.000000
+vn 1.503067 -1.861840 2.023644
+v 0.005742 -0.009970 0.043758 0.000000 0.000000 1.000000
+vn 1.506032 1.862664 2.020679
+v 0.005758 0.010030 0.043742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..05c9b395570c6fa107d98486bfc2052cb953b1a7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_l2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -10 -16.25 -4.25,
+                                  10 -16.25 20.75,
+                                  -10 -16.25 20.75,
+                                  -10 -6.25 20.75,
+                                  10 -16.25 -4.25,
+                                  10 43.75 -4.25,
+                                  10 -6.25 20.75,
+                                  -10 43.75 -4.25,
+                                  -10 43.75 5.75,
+                                  10 43.75 5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -5.5511198e-017 -1 1.249e-016,
+                                  9.1940298e-017 -5.0307001e-017 1,
+                                  -1 0 4.16334e-017,
+                                  1 0 -4.16334e-017,
+                                  -9.1940298e-017 5.0307001e-017 -1,
+                                  5.5511198e-017 1 -1.249e-016,
+                                  1.04014e-016 0.287348 0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.obj b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60941d03f804ddef709589ea4ad9c1be0c16bc5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_r1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003742 -0.010675 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021246 0.005015 -0.002404 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021258 -0.010655 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021246 0.005051 0.042246 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021258 -0.010619 0.042258 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003754 0.004995 -0.002404 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003754 0.005031 0.042246 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003742 -0.010639 0.042258 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..242a9fab9c7b3643b7abb31fa05a72734b618eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r1.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.87840003 0.949 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10.67 -2.4000001 3.75,
+                                  -5 -2.4000001 -21.25,
+                                  10.67 -2.4000001 -21.25,
+                                  -5 42.25 -21.25,
+                                  10.67 42.25 -21.25,
+                                  -5 -2.4000001 3.75,
+                                  -5 42.25 3.75,
+                                  10.67 42.25 3.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                  5.5511198e-017 7.4593103e-017 -1,
+                                  1 -5.5511198e-017 2.7755599e-017,
+                                  -1 5.5511198e-017 -2.7755599e-017,
+                                  -5.5511198e-017 -7.4593103e-017 1,
+                                  2.7755599e-016 1 1.66533e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.obj b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8007006b0753d277e00427057b20852d33e64b7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_r2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.572046 -1.570795 -1.569546
+v -0.004258 -0.010010 -0.016242 0.000000 0.000000 1.000000
+vn 1.572046 1.568294 -1.572045
+v 0.020758 0.009971 -0.016258 0.000000 0.000000 1.000000
+vn 1.569545 -1.573297 -1.569544
+v 0.020742 -0.010029 -0.016242 0.000000 0.000000 1.000000
+vn 3.073076 -2.852223 0.453636
+v 0.020742 -0.010021 -0.006242 0.000000 0.000000 1.000000
+vn -1.569545 1.570795 -1.572047
+v -0.004242 0.009990 -0.016258 0.000000 0.000000 1.000000
+vn -1.569545 1.573297 1.569544
+v -0.004242 0.010038 0.043742 0.000000 0.000000 1.000000
+vn 3.077615 2.848045 0.449098
+v 0.020758 0.009978 -0.006258 0.000000 0.000000 1.000000
+vn -1.572046 -1.568294 1.572045
+v -0.004258 -0.009962 0.043758 0.000000 0.000000 1.000000
+vn 1.503067 -1.861840 2.023644
+v 0.005742 -0.009970 0.043758 0.000000 0.000000 1.000000
+vn 1.506032 1.862664 2.020679
+v 0.005758 0.010030 0.043742 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..05c9b395570c6fa107d98486bfc2052cb953b1a7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/pinky_r2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -10 -16.25 -4.25,
+                                  10 -16.25 20.75,
+                                  -10 -16.25 20.75,
+                                  -10 -6.25 20.75,
+                                  10 -16.25 -4.25,
+                                  10 43.75 -4.25,
+                                  10 -6.25 20.75,
+                                  -10 43.75 -4.25,
+                                  -10 43.75 5.75,
+                                  10 43.75 5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -5.5511198e-017 -1 1.249e-016,
+                                  9.1940298e-017 -5.0307001e-017 1,
+                                  -1 0 4.16334e-017,
+                                  1 0 -4.16334e-017,
+                                  -9.1940298e-017 5.0307001e-017 -1,
+                                  5.5511198e-017 1 -1.249e-016,
+                                  1.04014e-016 0.287348 0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/platform.obj b/data/RobotAPI/robots/Armar3/collisionModel/platform.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed72437042eb95afc62288b5a3dcba91167fb90a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/platform.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object platform.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -3.130163 3.108812 0.687859
+v -0.256344 0.222804 0.853172 0.537255 0.866667 0.886275
+vn 3.129060 3.108816 0.692843
+v 0.254985 0.222805 0.853579 0.537255 0.866667 0.886275
+vn 1.745977 5.620421 0.274032
+v 0.117323 0.327301 0.189476 0.537255 0.866667 0.886275
+vn 2.517002 1.164523 -2.081538
+v 0.328000 0.167150 0.000128 0.537255 0.866667 0.886275
+vn -1.746415 5.620421 0.271252
+v -0.117625 0.327301 0.189289 0.537255 0.866667 0.886275
+vn -0.948479 2.819419 -2.494723
+v -0.117474 0.327150 -0.000354 0.537255 0.866667 0.886275
+vn 0.952447 2.819420 -2.493209
+v 0.117474 0.327150 -0.000167 0.537255 0.866667 0.886275
+vn -1.722551 1.635556 1.972470
+v -0.253705 0.217854 0.884625 0.537255 0.866667 0.886275
+vn 1.719406 1.635558 1.975211
+v 0.252295 0.217855 0.885028 0.537255 0.866667 0.886275
+vn 3.122487 -3.028832 1.042226
+v 0.276637 -0.189186 0.600814 0.537255 0.866667 0.886275
+vn 2.630065 -1.073354 -2.172414
+v 0.328000 -0.142850 0.000375 0.537255 0.866667 0.886275
+vn 1.857489 -1.578030 2.213067
+v 0.252295 -0.102145 0.885283 0.537255 0.866667 0.886275
+vn -1.861009 -1.578032 2.210106
+v -0.253705 -0.102146 0.884880 0.537255 0.866667 0.886275
+vn -2.513686 1.164520 -2.085543
+v -0.328000 0.167150 -0.000394 0.537255 0.866667 0.886275
+vn -3.124138 -3.028836 1.037252
+v -0.277593 -0.189186 0.600373 0.537255 0.866667 0.886275
+vn -2.626601 -1.073358 -2.176599
+v -0.328000 -0.142850 -0.000147 0.537255 0.866667 0.886275
+vn 1.065426 -2.728702 -2.394818
+v 0.121478 -0.332850 0.000362 0.537255 0.866667 0.886275
+vn -1.061608 -2.728704 -2.396512
+v -0.121478 -0.332850 0.000168 0.537255 0.866667 0.886275
+vn -1.840834 -5.367002 0.550803
+v -0.121582 -0.332746 0.131279 0.537255 0.866667 0.886275
+vn 1.839962 -5.366999 0.553734
+v 0.121374 -0.332745 0.131473 0.537255 0.866667 0.886275
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 3//3 4//4
+f 6//6 3//3 7//7
+f 8//8 9//9 2//2
+f 10//10 2//2 9//9
+f 1//1 8//8 2//2
+f 4//4 2//2 11//11
+f 10//10 11//11 2//2
+f 12//12 9//9 8//8
+f 10//10 9//9 12//12
+f 13//13 8//8 1//1
+f 12//12 8//8 13//13
+f 6//6 1//1 5//5
+f 14//14 1//1 6//6
+f 15//15 1//1 14//14
+f 13//13 1//1 15//15
+f 16//16 17//17 18//18
+f 19//19 18//18 17//17
+f 19//19 16//16 18//18
+f 16//16 11//11 17//17
+f 10//10 17//17 11//11
+f 20//20 19//19 17//17
+f 20//20 17//17 10//10
+f 14//14 4//4 11//11
+f 16//16 14//14 11//11
+f 6//6 7//7 4//4
+f 14//14 6//6 4//4
+f 15//15 14//14 16//16
+f 15//15 16//16 19//19
+f 10//10 15//15 19//19
+f 20//20 10//10 19//19
+f 12//12 13//13 15//15
+f 10//10 12//12 15//15
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/platform.wrl b/data/RobotAPI/robots/Armar3/collisionModel/platform.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..57cb753398d9e4145879fd1abfd45455dc72f8b7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/platform.wrl
@@ -0,0 +1,126 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation 0.99999994 0 0  1.5700002
+              children 
+                DEF _+3 Transform {
+                  rotation -0 -0 -0.99999994  1.5700002
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.54000002 0.87 0.88999999
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -853.55298 -255.66499 -222.125,
+                                  -853.55298 255.66499 -222.125,
+                                  -189.64301 117.474 -327.14999,
+                                  2.4317901e-013 328 -167.14999,
+                                  -189.64301 -117.474 -327.14999,
+                                  1.9260099e-013 -117.474 -327.14999,
+                                  1.9260099e-013 117.474 -327.14999,
+                                  -885 -253 -217.14999,
+                                  -885 253 -217.14999,
+                                  -600.44299 277.11499 189.664,
+                                  3.41174e-013 328 142.85001,
+                                  -885 253 102.85,
+                                  -885 -253 102.85,
+                                  2.4317901e-013 -328 -167.14999,
+                                  -600.44299 -277.11499 189.664,
+                                  3.41174e-013 -328 142.85001,
+                                  4.0123501e-013 121.478 332.85001,
+                                  4.0123501e-013 -121.478 332.85001,
+                                  -131.11099 -121.478 332.85001,
+                                  -131.11099 121.478 332.85001 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.156249 -3.7880902e-017 -0.98771799,
+                                  -2.5167501e-016 0.60508299 -0.79616201,
+                                  -3.16111e-016 -3.8352001e-017 -1,
+                                  -0.0844431 0.99642801 -1.15216e-017,
+                                  -1 0 3.16111e-016,
+                                  -0.0844431 -0.99642801 6.49083e-017,
+                                  -2.5167501e-016 -0.60508299 -0.79616201,
+                                  1 0 -3.16111e-016,
+                                  3.16111e-016 3.8352001e-017 1,
+                                  2.3263601e-016 -0.67705703 0.73593098,
+                                  2.3263601e-016 0.67705703 0.73593098,
+                                  -0.291807 3.66828e-017 0.95647699 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 5, 4, 2, -1,
+                                6, 2, 3, -1, 5, 2, 6, -1,
+                                7, 8, 1, -1, 9, 1, 8, -1,
+                                0, 7, 1, -1, 3, 1, 10, -1,
+                                9, 10, 1, -1, 11, 8, 7, -1,
+                                9, 8, 11, -1, 12, 7, 0, -1,
+                                11, 7, 12, -1, 5, 0, 4, -1,
+                                13, 0, 5, -1, 14, 0, 13, -1,
+                                12, 0, 14, -1, 15, 16, 17, -1,
+                                18, 17, 16, -1, 18, 15, 17, -1,
+                                15, 10, 16, -1, 9, 16, 10, -1,
+                                19, 18, 16, -1, 19, 16, 9, -1,
+                                13, 3, 10, -1, 15, 13, 10, -1,
+                                5, 6, 3, -1, 13, 5, 3, -1,
+                                14, 13, 15, -1, 14, 15, 18, -1,
+                                9, 14, 18, -1, 19, 9, 18, -1,
+                                11, 12, 14, -1, 9, 11, 14, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 2, 2, 2, -1,
+                                1, 1, 1, -1, 2, 2, 2, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                3, 3, 3, -1, 5, 5, 5, -1,
+                                4, 4, 4, -1, 6, 6, 6, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                5, 5, 5, -1, 7, 7, 7, -1,
+                                8, 8, 8, -1, 9, 9, 9, -1,
+                                7, 7, 7, -1, 10, 10, 10, -1,
+                                8, 8, 8, -1, 10, 10, 10, -1,
+                                7, 7, 7, -1, 7, 7, 7, -1,
+                                7, 7, 7, -1, 7, 7, 7, -1,
+                                5, 5, 5, -1, 9, 9, 9, -1,
+                                11, 11, 11, -1, 11, 11, 11, -1,
+                                11, 11, 11, -1, 11, 11, 11, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.obj b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..642cc64c8ba947b94688027259e176a78a35d26d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_l1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c09a70809a7108590074ce0e3995c2cf8a18eb35
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l1.wrl
@@ -0,0 +1,101 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation -4.25 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.87840003 0.949 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 10.67 -2.4000001 3.75,
+                                      -5 -2.4000001 -21.25,
+                                      10.67 -2.4000001 -21.25,
+                                      -5 42.25 -21.25,
+                                      10.67 42.25 -21.25,
+                                      -5 -2.4000001 3.75,
+                                      -5 42.25 3.75,
+                                      10.67 42.25 3.75 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                      5.5511198e-017 7.4593103e-017 -1,
+                                      1 -5.5511198e-017 2.7755599e-017,
+                                      -1 5.5511198e-017 -2.7755599e-017,
+                                      -5.5511198e-017 -7.4593103e-017 1,
+                                      2.7755599e-016 1 1.66533e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 3, 4, 2, -1,
+                                    0, 5, 1, -1, 6, 1, 5, -1,
+                                    3, 1, 6, -1, 7, 5, 0, -1,
+                                    6, 5, 7, -1, 7, 0, 4, -1,
+                                    6, 7, 4, -1, 3, 6, 4, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 3, 3, 3, -1,
+                                    3, 3, 3, -1, 4, 4, 4, -1,
+                                    4, 4, 4, -1, 2, 2, 2, -1,
+                                    5, 5, 5, -1, 5, 5, 5, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.obj b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8a66328e2b78d902c72d57b2061cdb8fe5e69d3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_l2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.572046 -1.570795 -1.569546
+v -0.004258 -0.010004 -0.008742 0.000000 0.000000 1.000000
+vn 1.572046 1.568294 -1.572045
+v 0.020758 0.009977 -0.008758 0.000000 0.000000 1.000000
+vn 1.569545 -1.573297 -1.569544
+v 0.020742 -0.010023 -0.008742 0.000000 0.000000 1.000000
+vn 3.073076 -2.852223 0.453636
+v 0.020742 -0.010016 0.001258 0.000000 0.000000 1.000000
+vn -1.569545 1.570795 -1.572047
+v -0.004242 0.009996 -0.008758 0.000000 0.000000 1.000000
+vn -1.569545 1.573297 1.569544
+v -0.004242 0.010044 0.051242 0.000000 0.000000 1.000000
+vn 3.077615 2.848045 0.449098
+v 0.020758 0.009984 0.001242 0.000000 0.000000 1.000000
+vn -1.572046 -1.568294 1.572045
+v -0.004258 -0.009956 0.051258 0.000000 0.000000 1.000000
+vn 1.503067 -1.861840 2.023644
+v 0.005742 -0.009964 0.051258 0.000000 0.000000 1.000000
+vn 1.506032 1.862664 2.020679
+v 0.005758 0.010036 0.051242 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..001476b50833be05e08fc7b481c951595147a779
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_l2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -10 -8.75 -4.25,
+                                  10 -8.75 20.75,
+                                  -10 -8.75 20.75,
+                                  -10 1.25 20.75,
+                                  10 -8.75 -4.25,
+                                  10 51.25 -4.25,
+                                  10 1.25 20.75,
+                                  -10 51.25 -4.25,
+                                  -10 51.25 5.75,
+                                  10 51.25 5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 2.22045e-016 -1 -5.20417e-018,
+                                  6.2449999e-017 2.4286101e-017 1,
+                                  -1 1.11022e-016 1.56125e-017,
+                                  1 -1.11022e-016 -1.56125e-017,
+                                  -6.2449999e-017 -2.4286101e-017 -1,
+                                  -2.22045e-016 1 5.20417e-018,
+                                  -3.9877501e-018 0.287348 0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.obj b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5411d532d38358597413f97926757e3f77c61e37
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_r1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn -1.569545 -1.573297 -1.569544
+v -0.003742 -0.010675 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.570795 -1.572047
+v 0.021246 0.005015 -0.002404 0.874510 0.945098 1.000000
+vn 1.572046 -1.570795 -1.569546
+v 0.021258 -0.010655 -0.002392 0.874510 0.945098 1.000000
+vn 1.569545 1.573297 1.569544
+v 0.021246 0.005051 0.042246 0.874510 0.945098 1.000000
+vn 1.572046 -1.568294 1.572045
+v 0.021258 -0.010619 0.042258 0.874510 0.945098 1.000000
+vn -1.572046 1.568294 -1.572045
+v -0.003754 0.004995 -0.002404 0.874510 0.945098 1.000000
+vn -1.572046 1.570795 1.569546
+v -0.003754 0.005031 0.042246 0.874510 0.945098 1.000000
+vn -1.569545 -1.570795 1.572047
+v -0.003742 -0.010639 0.042258 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..242a9fab9c7b3643b7abb31fa05a72734b618eb5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r1.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.87840003 0.949 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10.67 -2.4000001 3.75,
+                                  -5 -2.4000001 -21.25,
+                                  10.67 -2.4000001 -21.25,
+                                  -5 42.25 -21.25,
+                                  10.67 42.25 -21.25,
+                                  -5 -2.4000001 3.75,
+                                  -5 42.25 3.75,
+                                  10.67 42.25 3.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                  5.5511198e-017 7.4593103e-017 -1,
+                                  1 -5.5511198e-017 2.7755599e-017,
+                                  -1 5.5511198e-017 -2.7755599e-017,
+                                  -5.5511198e-017 -7.4593103e-017 1,
+                                  2.7755599e-016 1 1.66533e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.obj b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943ca45965977c92824ca1f7a63076ffa155d527
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_r2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn -1.572046 -1.570795 -1.569546
+v -0.004258 -0.010004 -0.008742 0.000000 0.000000 1.000000
+vn 1.572046 1.568294 -1.572045
+v 0.020758 0.009977 -0.008758 0.000000 0.000000 1.000000
+vn 1.569545 -1.573297 -1.569544
+v 0.020742 -0.010023 -0.008742 0.000000 0.000000 1.000000
+vn 3.073076 -2.852223 0.453636
+v 0.020742 -0.010016 0.001258 0.000000 0.000000 1.000000
+vn -1.569545 1.570795 -1.572047
+v -0.004242 0.009996 -0.008758 0.000000 0.000000 1.000000
+vn -1.569545 1.573297 1.569544
+v -0.004242 0.010044 0.051242 0.000000 0.000000 1.000000
+vn 3.077615 2.848045 0.449098
+v 0.020758 0.009984 0.001242 0.000000 0.000000 1.000000
+vn -1.572046 -1.568294 1.572045
+v -0.004258 -0.009956 0.051258 0.000000 0.000000 1.000000
+vn 1.503067 -1.861840 2.023644
+v 0.005742 -0.009964 0.051258 0.000000 0.000000 1.000000
+vn 1.506032 1.862664 2.020679
+v 0.005758 0.010036 0.051242 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..001476b50833be05e08fc7b481c951595147a779
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/ring_r2.wrl
@@ -0,0 +1,99 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0 0 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -10 -8.75 -4.25,
+                                  10 -8.75 20.75,
+                                  -10 -8.75 20.75,
+                                  -10 1.25 20.75,
+                                  10 -8.75 -4.25,
+                                  10 51.25 -4.25,
+                                  10 1.25 20.75,
+                                  -10 51.25 -4.25,
+                                  -10 51.25 5.75,
+                                  10 51.25 5.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 2.22045e-016 -1 -5.20417e-018,
+                                  6.2449999e-017 2.4286101e-017 1,
+                                  -1 1.11022e-016 1.56125e-017,
+                                  1 -1.11022e-016 -1.56125e-017,
+                                  -6.2449999e-017 -2.4286101e-017 -1,
+                                  -2.22045e-016 1 5.20417e-018,
+                                  -3.9877501e-018 0.287348 0.95782602 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                3, 0, 2, -1, 0, 4, 1, -1,
+                                5, 1, 4, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 4, 0, -1,
+                                5, 4, 7, -1, 7, 0, 8, -1,
+                                3, 8, 0, -1, 7, 8, 9, -1,
+                                3, 9, 8, -1, 5, 7, 9, -1,
+                                6, 5, 9, -1, 3, 6, 9, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 0, 0, 0, -1,
+                                3, 3, 3, -1, 3, 3, 3, -1,
+                                1, 1, 1, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 5, 5, 5, -1,
+                                6, 6, 6, -1, 5, 5, 5, -1,
+                                3, 3, 3, -1, 6, 6, 6, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.obj b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6afac1d5f93f588c75ac81cad22096db60d19cc9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_l.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 1.423459 -2.036738 2.203562
+v 0.021854 -0.090654 0.034497 0.600000 0.600000 0.600000
+vn -1.165777 -2.342253 2.593483
+v -0.015472 -0.090624 0.034497 0.600000 0.600000 0.600000
+vn -2.736633 -2.417490 1.021479
+v -0.081177 -0.089569 -0.037996 0.600000 0.600000 0.600000
+vn -1.162104 2.271468 2.657311
+v -0.015332 0.084359 0.036918 0.600000 0.600000 0.600000
+vn 2.993716 -2.718726 0.623200
+v 0.061823 -0.089493 -0.051700 0.600000 0.600000 0.600000
+vn -1.572028 -1.547667 -1.592375
+v -0.081177 -0.088587 -0.108989 0.600000 0.600000 0.600000
+vn -2.732802 2.392662 1.088021
+v -0.081038 0.085414 -0.035575 0.600000 0.600000 0.600000
+vn 1.426652 1.972734 2.259031
+v 0.021993 0.084329 0.036918 0.600000 0.600000 0.600000
+vn 2.998024 2.695676 0.698102
+v 0.061962 0.085490 -0.049280 0.600000 0.600000 0.600000
+vn 1.569563 -1.550168 -1.592372
+v 0.061823 -0.088701 -0.108989 0.600000 0.600000 0.600000
+vn 1.572065 1.591123 -1.548918
+v 0.061963 0.086283 -0.106568 0.600000 0.600000 0.600000
+vn -1.569527 1.593624 -1.548920
+v -0.081037 0.086396 -0.106568 0.600000 0.600000 0.600000
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 4//4 7//7 3//3
+f 8//8 2//2 1//1
+f 4//4 2//2 8//8
+f 9//9 1//1 5//5
+f 9//9 8//8 1//1
+f 6//6 10//10 5//5
+f 11//11 5//5 10//10
+f 11//11 9//9 5//5
+f 12//12 10//10 6//6
+f 12//12 11//11 10//10
+f 7//7 12//12 6//6
+f 4//4 8//8 9//9
+f 7//7 9//9 11//11
+f 4//4 9//9 7//7
+f 7//7 11//11 12//12
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..53848f4974cdc23273ab707adcbf150aac1fe054
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_l.wrl
@@ -0,0 +1,115 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 -110 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.60000002 0.60000002 0.60000002
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -90.663803 144.425 21.926201,
+                                      -90.663803 144.425 -15.3995,
+                                      -89.603203 71.932999 -81.106102,
+                                      84.317497 146.985 -15.3995,
+                                      -89.402702 58.228401 61.893902,
+                                      -88.564598 0.940611 -81.106102,
+                                      85.378098 74.492996 -81.106102,
+                                      84.317497 146.985 21.926201,
+                                      85.578598 60.788502 61.893902,
+                                      -88.564598 0.940611 61.893902,
+                                      86.416702 3.5006199 61.893902,
+                                      86.416702 3.5006199 -81.106102 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.99989301 -0.0146287 -7.9835301e-016,
+                                      -0.0098237097 0.67146701 -0.740969,
+                                      6.9996098e-016 -5.5511199e-016 -1,
+                                      -0.0146287 0.99989301 -5.5511199e-016,
+                                      -0.0061531202 0.42057601 0.90723598,
+                                      -6.9996098e-016 5.5511199e-016 1,
+                                      0.0146287 -0.99989301 5.5511199e-016,
+                                      0.99989301 0.0146287 7.9835301e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 5, 4, 2, -1,
+                                    6, 5, 2, -1, 3, 6, 2, -1,
+                                    7, 1, 0, -1, 3, 1, 7, -1,
+                                    8, 0, 4, -1, 8, 7, 0, -1,
+                                    5, 9, 4, -1, 10, 4, 9, -1,
+                                    10, 8, 4, -1, 11, 9, 5, -1,
+                                    11, 10, 9, -1, 6, 11, 5, -1,
+                                    3, 7, 8, -1, 6, 8, 10, -1,
+                                    3, 8, 6, -1, 6, 10, 11, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 0, 0, 0, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    3, 3, 3, -1, 3, 3, 3, -1,
+                                    4, 4, 4, -1, 4, 4, 4, -1,
+                                    0, 0, 0, -1, 5, 5, 5, -1,
+                                    5, 5, 5, -1, 6, 6, 6, -1,
+                                    6, 6, 6, -1, 2, 2, 2, -1,
+                                    7, 7, 7, -1, 7, 7, 7, -1,
+                                    7, 7, 7, -1, 7, 7, 7, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.obj b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c959d43744b9bd09e753b9ff589e64d58e78ffec
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_r.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 1.423459 2.040244 -2.200316
+v 0.021854 0.090709 -0.034353 0.600000 0.600000 0.600000
+vn -1.165777 2.346379 -2.589750
+v -0.015472 0.090679 -0.034353 0.600000 0.600000 0.600000
+vn -2.736633 2.419114 -1.017628
+v -0.081177 0.089508 0.038138 0.600000 0.600000 0.600000
+vn -1.162104 -2.267234 -2.660925
+v -0.015332 -0.084300 -0.037052 0.600000 0.600000 0.600000
+vn 2.993716 2.719715 -0.618871
+v 0.061823 0.089411 0.051843 0.600000 0.600000 0.600000
+vn -1.572028 1.545129 1.594837
+v -0.081177 0.088413 0.109130 0.600000 0.600000 0.600000
+vn -2.732802 -2.390927 -1.091830
+v -0.081038 -0.085471 0.035439 0.600000 0.600000 0.600000
+vn 1.426652 -1.969134 -2.262169
+v 0.021993 -0.084271 -0.037052 0.600000 0.600000 0.600000
+vn 2.998024 -2.694561 -0.702394
+v 0.061962 -0.085568 0.049143 0.600000 0.600000 0.600000
+vn 1.569563 1.547631 1.594839
+v 0.061823 0.088527 0.109130 0.600000 0.600000 0.600000
+vn 1.572065 -1.593587 1.546382
+v 0.061963 -0.086452 0.106431 0.600000 0.600000 0.600000
+vn -1.569527 -1.596089 1.546380
+v -0.081037 -0.086566 0.106430 0.600000 0.600000 0.600000
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 4//4 7//7 3//3
+f 8//8 2//2 1//1
+f 4//4 2//2 8//8
+f 9//9 1//1 5//5
+f 9//9 8//8 1//1
+f 6//6 10//10 5//5
+f 11//11 5//5 10//10
+f 11//11 9//9 5//5
+f 12//12 10//10 6//6
+f 12//12 11//11 10//10
+f 7//7 12//12 6//6
+f 4//4 8//8 9//9
+f 7//7 9//9 11//11
+f 4//4 9//9 7//7
+f 7//7 11//11 12//12
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.wrl b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3666f1597e7f58b4c8c05088e74b9d987a0bf620
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/shoulder_r.wrl
@@ -0,0 +1,115 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 -110 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.60000002 0.60000002 0.60000002
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -90.663803 144.425 21.926201,
+                                      -90.663803 144.425 -15.3995,
+                                      -89.603203 71.932999 -81.106102,
+                                      84.317497 146.985 -15.3995,
+                                      -89.402702 58.228401 61.893902,
+                                      -88.564598 0.940611 -81.106102,
+                                      85.378098 74.492996 -81.106102,
+                                      84.317497 146.985 21.926201,
+                                      85.578598 60.788502 61.893902,
+                                      -88.564598 0.940611 61.893902,
+                                      86.416702 3.5006199 61.893902,
+                                      86.416702 3.5006199 -81.106102 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.99989301 -0.0146287 -7.9835301e-016,
+                                      -0.0098237097 0.67146701 -0.740969,
+                                      6.9996098e-016 -5.5511199e-016 -1,
+                                      -0.0146287 0.99989301 -5.5511199e-016,
+                                      -0.0061531202 0.42057601 0.90723598,
+                                      -6.9996098e-016 5.5511199e-016 1,
+                                      0.0146287 -0.99989301 5.5511199e-016,
+                                      0.99989301 0.0146287 7.9835301e-016 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 5, 4, 2, -1,
+                                    6, 5, 2, -1, 3, 6, 2, -1,
+                                    7, 1, 0, -1, 3, 1, 7, -1,
+                                    8, 0, 4, -1, 8, 7, 0, -1,
+                                    5, 9, 4, -1, 10, 4, 9, -1,
+                                    10, 8, 4, -1, 11, 9, 5, -1,
+                                    11, 10, 9, -1, 6, 11, 5, -1,
+                                    3, 7, 8, -1, 6, 8, 10, -1,
+                                    3, 8, 6, -1, 6, 10, 11, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                    0, 0, 0, -1, 0, 0, 0, -1,
+                                    2, 2, 2, -1, 1, 1, 1, -1,
+                                    3, 3, 3, -1, 3, 3, 3, -1,
+                                    4, 4, 4, -1, 4, 4, 4, -1,
+                                    0, 0, 0, -1, 5, 5, 5, -1,
+                                    5, 5, 5, -1, 6, 6, 6, -1,
+                                    6, 6, 6, -1, 2, 2, 2, -1,
+                                    7, 7, 7, -1, 7, 7, 7, -1,
+                                    7, 7, 7, -1, 7, 7, 7, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.obj b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be003036487c82873b96e2405a8bcd934facc30
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_l1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn 1.572046 1.569545 1.570796
+v 0.002405 0.006418 0.003750 0.874510 0.945098 1.000000
+vn 1.569545 -1.572046 -1.570796
+v 0.002393 -0.009252 -0.021250 0.874510 0.945098 1.000000
+vn 1.572046 1.569545 -1.570796
+v 0.002405 0.006418 -0.021250 0.874510 0.945098 1.000000
+vn -1.572046 -1.569545 -1.570796
+v -0.042257 -0.009216 -0.021250 0.874510 0.945098 1.000000
+vn -1.569545 1.572046 -1.570796
+v -0.042245 0.006454 -0.021250 0.874510 0.945098 1.000000
+vn 1.569545 -1.572046 1.570796
+v 0.002393 -0.009252 0.003750 0.874510 0.945098 1.000000
+vn -1.572046 -1.569545 1.570796
+v -0.042257 -0.009216 0.003750 0.874510 0.945098 1.000000
+vn -1.569545 1.572046 1.570796
+v -0.042245 0.006454 0.003750 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7a2cd4a9ded653525c76192875a0d03ecbdabe63
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l1.wrl
@@ -0,0 +1,92 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation -4.25 0 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.87840003 0.949 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 10.67 -2.4000001 3.75,
+                                  -5 -2.4000001 -21.25,
+                                  10.67 -2.4000001 -21.25,
+                                  -5 42.25 -21.25,
+                                  10.67 42.25 -21.25,
+                                  -5 -2.4000001 3.75,
+                                  -5 42.25 3.75,
+                                  10.67 42.25 3.75 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7755599e-016 -1 -1.66533e-016,
+                                  5.5511198e-017 7.4593103e-017 -1,
+                                  1 -5.5511198e-017 2.7755599e-017,
+                                  -1 5.5511198e-017 -2.7755599e-017,
+                                  -5.5511198e-017 -7.4593103e-017 1,
+                                  2.7755599e-016 1 1.66533e-016 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 3, 4, 2, -1,
+                                0, 5, 1, -1, 6, 1, 5, -1,
+                                3, 1, 6, -1, 7, 5, 0, -1,
+                                6, 5, 7, -1, 7, 0, 4, -1,
+                                6, 7, 4, -1, 3, 6, 4, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 1, 1, 1, -1,
+                                0, 0, 0, -1, 3, 3, 3, -1,
+                                3, 3, 3, -1, 4, 4, 4, -1,
+                                4, 4, 4, -1, 2, 2, 2, -1,
+                                5, 5, 5, -1, 5, 5, 5, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.obj b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29064e2869b5b7e7a28eac657d1751d9b3f76684
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_l2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn 1.572046 1.569545 1.570796
+v 0.001258 0.009999 0.004250 0.000000 0.000000 1.000000
+vn 1.569545 -1.572046 -1.570796
+v 0.001242 -0.010001 -0.020750 0.000000 0.000000 1.000000
+vn 1.572046 1.569545 -1.570796
+v 0.001258 0.009999 -0.020750 0.000000 0.000000 1.000000
+vn -0.449096 2.850494 -3.075346
+v -0.008742 0.010007 -0.020750 0.000000 0.000000 1.000000
+vn 1.569545 -1.572046 1.570796
+v 0.001242 -0.010001 0.004250 0.000000 0.000000 1.000000
+vn -1.572046 -1.569545 1.570796
+v -0.058758 -0.009953 0.004250 0.000000 0.000000 1.000000
+vn -0.453634 -2.849776 -3.075346
+v -0.008758 -0.009993 -0.020750 0.000000 0.000000 1.000000
+vn -1.569545 1.572046 1.570796
+v -0.058742 0.010047 0.004250 0.000000 0.000000 1.000000
+vn -2.020678 1.863862 -1.504550
+v -0.058742 0.010047 -0.005750 0.000000 0.000000 1.000000
+vn -2.023643 -1.860643 -1.504550
+v -0.058758 -0.009953 -0.005750 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..60af21ab9243a4f1d34cb9635091312cd8e299f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_l2.wrl
@@ -0,0 +1,90 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0 0 1
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 10 -1.25 4.25,
+                              -10 -1.25 -20.75,
+                              10 -1.25 -20.75,
+                              10 8.75 -20.75,
+                              -10 -1.25 4.25,
+                              -10 58.75 4.25,
+                              -10 8.75 -20.75,
+                              10 58.75 4.25,
+                              10 58.75 -5.75,
+                              -10 58.75 -5.75 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ 0 -1 1.30104e-016,
+                              -6.7654202e-017 8.5001503e-017 -1,
+                              1 -1.66533e-016 -6.0715302e-017,
+                              -1 1.66533e-016 6.0715302e-017,
+                              6.7654202e-017 -8.5001503e-017 1,
+                              0 1 -1.30104e-016,
+                              -6.4800998e-017 0.287348 -0.95782602 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            3, 0, 2, -1, 0, 4, 1, -1,
+                            5, 1, 4, -1, 6, 1, 5, -1,
+                            3, 1, 6, -1, 7, 4, 0, -1,
+                            5, 4, 7, -1, 7, 0, 8, -1,
+                            3, 8, 0, -1, 7, 8, 9, -1,
+                            3, 9, 8, -1, 5, 7, 9, -1,
+                            6, 5, 9, -1, 3, 6, 9, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            2, 2, 2, -1, 0, 0, 0, -1,
+                            3, 3, 3, -1, 3, 3, 3, -1,
+                            1, 1, 1, -1, 4, 4, 4, -1,
+                            4, 4, 4, -1, 2, 2, 2, -1,
+                            2, 2, 2, -1, 5, 5, 5, -1,
+                            6, 6, 6, -1, 5, 5, 5, -1,
+                            3, 3, 3, -1, 6, 6, 6, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.obj b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adeef293b128ecface138cf37624bfe5610bae72
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.obj
@@ -0,0 +1,44 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_r1.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+vn 1.572046 1.569545 1.570796
+v 0.002408 0.010668 0.003750 0.874510 0.945098 1.000000
+vn 1.569545 -1.572046 -1.570796
+v 0.002396 -0.005002 -0.021250 0.874510 0.945098 1.000000
+vn 1.572046 1.569545 -1.570796
+v 0.002408 0.010668 -0.021250 0.874510 0.945098 1.000000
+vn -1.572046 -1.569545 -1.570796
+v -0.042254 -0.004966 -0.021250 0.874510 0.945098 1.000000
+vn -1.569545 1.572046 -1.570796
+v -0.042241 0.010704 -0.021250 0.874510 0.945098 1.000000
+vn 1.569545 -1.572046 1.570796
+v 0.002396 -0.005002 0.003750 0.874510 0.945098 1.000000
+vn -1.572046 -1.569545 1.570796
+v -0.042254 -0.004966 0.003750 0.874510 0.945098 1.000000
+vn -1.569545 1.572046 1.570796
+v -0.042241 0.010704 0.003750 0.874510 0.945098 1.000000
+# 8 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 6//6 1//1
+f 7//7 6//6 8//8
+f 8//8 1//1 5//5
+f 7//7 8//8 5//5
+f 4//4 7//7 5//5
+# 12 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.wrl b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6ace776f5b3c393abc795009743eaed40c461d4b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r1.wrl
@@ -0,0 +1,83 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.87840003 0.949 1
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 10.67 -2.4000001 3.75,
+                              -5 -2.4000001 -21.25,
+                              10.67 -2.4000001 -21.25,
+                              -5 42.25 -21.25,
+                              10.67 42.25 -21.25,
+                              -5 -2.4000001 3.75,
+                              -5 42.25 3.75,
+                              10.67 42.25 3.75 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ -2.7755599e-016 -1 -1.66533e-016,
+                              5.5511198e-017 7.4593103e-017 -1,
+                              1 -5.5511198e-017 2.7755599e-017,
+                              -1 5.5511198e-017 -2.7755599e-017,
+                              -5.5511198e-017 -7.4593103e-017 1,
+                              2.7755599e-016 1 1.66533e-016 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            4, 0, 2, -1, 3, 4, 2, -1,
+                            0, 5, 1, -1, 6, 1, 5, -1,
+                            3, 1, 6, -1, 7, 5, 0, -1,
+                            6, 5, 7, -1, 7, 0, 4, -1,
+                            6, 7, 4, -1, 3, 6, 4, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            2, 2, 2, -1, 1, 1, 1, -1,
+                            0, 0, 0, -1, 3, 3, 3, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            4, 4, 4, -1, 2, 2, 2, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.obj b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e63adfbad114092fc60b52270523ae241c266ca3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.obj
@@ -0,0 +1,52 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_r2.obj
+#
+# Vertices: 10
+# Faces: 16
+#
+####
+vn 1.572046 1.569545 1.570796
+v 0.001258 0.009999 0.004250 0.000000 0.000000 1.000000
+vn 1.569545 -1.572046 -1.570796
+v 0.001242 -0.010001 -0.020750 0.000000 0.000000 1.000000
+vn 1.572046 1.569545 -1.570796
+v 0.001258 0.009999 -0.020750 0.000000 0.000000 1.000000
+vn -0.449096 2.850494 -3.075346
+v -0.008742 0.010007 -0.020750 0.000000 0.000000 1.000000
+vn 1.569545 -1.572046 1.570796
+v 0.001242 -0.010001 0.004250 0.000000 0.000000 1.000000
+vn -1.572046 -1.569545 1.570796
+v -0.058758 -0.009953 0.004250 0.000000 0.000000 1.000000
+vn -0.453634 -2.849776 -3.075346
+v -0.008758 -0.009993 -0.020750 0.000000 0.000000 1.000000
+vn -1.569545 1.572046 1.570796
+v -0.058742 0.010047 0.004250 0.000000 0.000000 1.000000
+vn -2.020678 1.863862 -1.504550
+v -0.058742 0.010047 -0.005750 0.000000 0.000000 1.000000
+vn -2.023643 -1.860643 -1.504550
+v -0.058758 -0.009953 -0.005750 0.000000 0.000000 1.000000
+# 10 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 4//4 1//1 3//3
+f 1//1 5//5 2//2
+f 6//6 2//2 5//5
+f 7//7 2//2 6//6
+f 4//4 2//2 7//7
+f 8//8 5//5 1//1
+f 6//6 5//5 8//8
+f 8//8 1//1 9//9
+f 4//4 9//9 1//1
+f 8//8 9//9 10//10
+f 4//4 10//10 9//9
+f 6//6 8//8 10//10
+f 7//7 6//6 10//10
+f 4//4 7//7 10//10
+# 16 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.wrl b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..60af21ab9243a4f1d34cb9635091312cd8e299f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/thumb_r2.wrl
@@ -0,0 +1,90 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0 0 1
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 10 -1.25 4.25,
+                              -10 -1.25 -20.75,
+                              10 -1.25 -20.75,
+                              10 8.75 -20.75,
+                              -10 -1.25 4.25,
+                              -10 58.75 4.25,
+                              -10 8.75 -20.75,
+                              10 58.75 4.25,
+                              10 58.75 -5.75,
+                              -10 58.75 -5.75 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ 0 -1 1.30104e-016,
+                              -6.7654202e-017 8.5001503e-017 -1,
+                              1 -1.66533e-016 -6.0715302e-017,
+                              -1 1.66533e-016 6.0715302e-017,
+                              6.7654202e-017 -8.5001503e-017 1,
+                              0 1 -1.30104e-016,
+                              -6.4800998e-017 0.287348 -0.95782602 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            3, 0, 2, -1, 0, 4, 1, -1,
+                            5, 1, 4, -1, 6, 1, 5, -1,
+                            3, 1, 6, -1, 7, 4, 0, -1,
+                            5, 4, 7, -1, 7, 0, 8, -1,
+                            3, 8, 0, -1, 7, 8, 9, -1,
+                            3, 9, 8, -1, 5, 7, 9, -1,
+                            6, 5, 9, -1, 3, 6, 9, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            2, 2, 2, -1, 0, 0, 0, -1,
+                            3, 3, 3, -1, 3, 3, 3, -1,
+                            1, 1, 1, -1, 4, 4, 4, -1,
+                            4, 4, 4, -1, 2, 2, 2, -1,
+                            2, 2, 2, -1, 5, 5, 5, -1,
+                            6, 6, 6, -1, 5, 5, 5, -1,
+                            3, 3, 3, -1, 6, 6, 6, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/torso.obj b/data/RobotAPI/robots/Armar3/collisionModel/torso.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20ea507cda8af48e04388bad9335da88e309b185
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/torso.obj
@@ -0,0 +1,108 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object torso.obj
+#
+# Vertices: 24
+# Faces: 44
+#
+####
+vn 1.569545 1.572046 -1.570796
+v 0.182924 0.096146 0.000000 0.239216 0.768627 1.000000
+vn -1.569545 -1.572046 -1.570796
+v -0.176868 -0.165725 0.000000 0.239216 0.768627 1.000000
+vn -1.572046 1.569545 -1.570796
+v -0.177076 0.095859 0.000000 0.239216 0.768627 1.000000
+vn -2.313866 -2.066581 1.383041
+v -0.176868 -0.165725 0.368000 0.239216 0.768627 1.000000
+vn -2.317154 2.062894 1.383041
+v -0.177076 0.095859 0.368000 0.239216 0.768627 1.000000
+vn 1.572046 -1.569545 -1.570796
+v 0.183132 -0.165438 0.000000 0.239216 0.768627 1.000000
+vn 2.317154 -2.062894 1.383041
+v 0.183132 -0.165438 0.368000 0.239216 0.768627 1.000000
+vn 2.313866 2.066581 1.383041
+v 0.182924 0.096146 0.368000 0.239216 0.768627 1.000000
+vn 1.572046 -1.569545 4.712389
+v 0.079431 -0.088937 0.573000 0.239216 0.768627 1.000000
+vn -1.569545 -1.572046 1.570796
+v -0.111868 -0.165673 0.573000 0.239216 0.768627 1.000000
+vn 1.572046 -1.569545 1.570796
+v 0.118132 -0.165490 0.573000 0.239216 0.768627 1.000000
+vn -2.312151 -4.220290 1.383041
+v -0.111868 -0.165673 0.403000 0.239216 0.768627 1.000000
+vn 1.569545 1.572046 1.570796
+v 0.117924 0.096094 0.573000 0.239216 0.768627 1.000000
+vn 2.312151 4.220290 1.383041
+v 0.117924 0.096094 0.403000 0.239216 0.768627 1.000000
+vn 2.318868 -4.216603 1.383041
+v 0.118132 -0.165490 0.403000 0.239216 0.768627 1.000000
+vn -1.572046 1.569545 4.712389
+v -0.082674 0.042934 0.573000 0.239216 0.768627 1.000000
+vn -1.572046 1.569545 1.570796
+v -0.112076 0.095911 0.573000 0.239216 0.768627 1.000000
+vn -1.569545 -1.572046 4.712389
+v -0.082569 -0.089066 0.573000 0.239216 0.768627 1.000000
+vn -2.318868 4.216603 1.383041
+v -0.112076 0.095911 0.403000 0.239216 0.768627 1.000000
+vn 1.569545 1.572046 4.712389
+v 0.079326 0.043063 0.573000 0.239216 0.768627 1.000000
+vn -1.572046 1.569545 1.570796
+v -0.082674 0.042934 0.638000 0.239216 0.768627 1.000000
+vn 1.569545 1.572046 1.570796
+v 0.079326 0.043063 0.638000 0.239216 0.768627 1.000000
+vn -1.569545 -1.572046 1.570796
+v -0.082569 -0.089066 0.638000 0.239216 0.768627 1.000000
+vn 1.572046 -1.569545 1.570796
+v 0.079431 -0.088937 0.638000 0.239216 0.768627 1.000000
+# 24 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 4//4 5//5 3//3
+f 1//1 6//6 2//2
+f 7//7 2//2 6//6
+f 7//7 4//4 2//2
+f 8//8 6//6 1//1
+f 8//8 7//7 6//6
+f 8//8 1//1 5//5
+f 9//9 10//10 11//11
+f 12//12 11//11 10//10
+f 9//9 11//11 13//13
+f 14//14 13//13 11//11
+f 12//12 15//15 11//11
+f 14//14 11//11 15//15
+f 16//16 17//17 10//10
+f 12//12 10//10 17//17
+f 18//18 16//16 10//10
+f 9//9 18//18 10//10
+f 16//16 13//13 17//17
+f 14//14 17//17 13//13
+f 19//19 12//12 17//17
+f 19//19 17//17 14//14
+f 20//20 13//13 16//16
+f 20//20 9//9 13//13
+f 21//21 16//16 18//18
+f 22//22 20//20 16//16
+f 22//22 16//16 21//21
+f 23//23 18//18 9//9
+f 23//23 21//21 18//18
+f 24//24 9//9 20//20
+f 23//23 9//9 24//24
+f 24//24 20//20 22//22
+f 19//19 5//5 4//4
+f 19//19 8//8 5//5
+f 7//7 15//15 4//4
+f 12//12 4//4 15//15
+f 19//19 4//4 12//12
+f 8//8 15//15 7//7
+f 14//14 15//15 8//8
+f 19//19 14//14 8//8
+f 24//24 22//22 21//21
+f 23//23 24//24 21//21
+# 44 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/torso.wrl b/data/RobotAPI/robots/Armar3/collisionModel/torso.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f4d51ac1cff095f935db195fb0a2cf3c75ca9955
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/torso.wrl
@@ -0,0 +1,129 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation -0 -0 -0.99999994  1.5700002
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.23999999 0.76999998 1
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ -96 183 3.5953399e-013,
+                              165.584 -177 4.9311802e-013,
+                              -96 -177 4.3946999e-013,
+                              165.584 -177 368,
+                              -96 -177 368,
+                              165.584 183 4.1318199e-013,
+                              165.584 183 368,
+                              -96 183 368,
+                              89 79.360001 573,
+                              165.584 -112 573,
+                              165.584 118 573,
+                              165.584 -112 403,
+                              -96 118 573,
+                              -96 118 403,
+                              165.584 118 403,
+                              -43 -82.639999 573,
+                              -96 -112 573,
+                              89 -82.639999 573,
+                              -96 -112 403,
+                              -43 79.360001 573,
+                              -43 -82.639999 638,
+                              -43 79.360001 638,
+                              89 -82.639999 638,
+                              89 79.360001 638 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ 2.05088e-016 0 -1,
+                              -1.8369101e-016 -1 2.22045e-016,
+                              -1 1.8369101e-016 -2.05088e-016,
+                              1 -1.8369101e-016 2.05088e-016,
+                              1.8369101e-016 1 -2.22045e-016,
+                              -2.05088e-016 0 1,
+                              -2.6766199e-016 -0.47409999 0.88047099,
+                              -9.3486603e-017 0.47409999 0.88047099 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                            4, 0, 2, -1, 3, 4, 2, -1,
+                            0, 5, 1, -1, 6, 1, 5, -1,
+                            6, 3, 1, -1, 7, 5, 0, -1,
+                            7, 6, 5, -1, 7, 0, 4, -1,
+                            8, 9, 10, -1, 11, 10, 9, -1,
+                            8, 10, 12, -1, 13, 12, 10, -1,
+                            11, 14, 10, -1, 13, 10, 14, -1,
+                            15, 16, 9, -1, 11, 9, 16, -1,
+                            17, 15, 9, -1, 8, 17, 9, -1,
+                            15, 12, 16, -1, 13, 16, 12, -1,
+                            18, 11, 16, -1, 18, 16, 13, -1,
+                            19, 12, 15, -1, 19, 8, 12, -1,
+                            20, 15, 17, -1, 21, 19, 15, -1,
+                            21, 15, 20, -1, 22, 17, 8, -1,
+                            22, 20, 17, -1, 23, 8, 19, -1,
+                            22, 8, 23, -1, 23, 19, 21, -1,
+                            18, 4, 3, -1, 18, 7, 4, -1,
+                            6, 14, 3, -1, 11, 3, 14, -1,
+                            18, 3, 11, -1, 7, 14, 6, -1,
+                            13, 14, 7, -1, 18, 13, 7, -1,
+                            23, 21, 20, -1, 22, 23, 20, -1 ]
+                        normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                            2, 2, 2, -1, 1, 1, 1, -1,
+                            0, 0, 0, -1, 3, 3, 3, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            4, 4, 4, -1, 2, 2, 2, -1,
+                            5, 5, 5, -1, 3, 3, 3, -1,
+                            5, 5, 5, -1, 4, 4, 4, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            5, 5, 5, -1, 1, 1, 1, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1,
+                            5, 5, 5, -1, 2, 2, 2, -1,
+                            1, 1, 1, -1, 2, 2, 2, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1,
+                            1, 1, 1, -1, 2, 2, 2, -1,
+                            2, 2, 2, -1, 3, 3, 3, -1,
+                            1, 1, 1, -1, 4, 4, 4, -1,
+                            3, 3, 3, -1, 4, 4, 4, -1,
+                            6, 6, 6, -1, 2, 2, 2, -1,
+                            3, 3, 3, -1, 3, 3, 3, -1,
+                            6, 6, 6, -1, 7, 7, 7, -1,
+                            7, 7, 7, -1, 2, 2, 2, -1,
+                            5, 5, 5, -1, 5, 5, 5, -1 ]
+                        ccw TRUE
+                        solid TRUE
+                        convex TRUE
+                        creaseAngle 0
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.obj b/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ea70d8b4ee909980fc417e1c4a507bec4805efd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_l.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 1.357021 2.356179 2.096548
+v 0.023427 0.040702 0.000037 1.000000 1.000000 1.000000
+vn -1.363692 2.356179 2.092215
+v -0.023575 0.040702 -0.000037 1.000000 1.000000 1.000000
+vn -2.724049 0.000000 2.090082
+v -0.047074 0.000000 -0.000075 1.000000 1.000000 1.000000
+vn -2.717378 0.000000 -2.098748
+v -0.046692 0.000000 -0.240075 1.000000 1.000000 1.000000
+vn 2.717378 0.000000 2.098748
+v 0.046926 0.000000 0.000075 1.000000 1.000000 1.000000
+vn -1.363692 -2.356179 2.092215
+v -0.023575 -0.040702 -0.000037 1.000000 1.000000 1.000000
+vn -1.357021 -2.356179 -2.096548
+v -0.023193 -0.040702 -0.240037 1.000000 1.000000 1.000000
+vn -1.357021 2.356179 -2.096548
+v -0.023193 0.040702 -0.240037 1.000000 1.000000 1.000000
+vn 1.363692 2.356179 -2.092215
+v 0.023809 0.040702 -0.239962 1.000000 1.000000 1.000000
+vn 1.357021 -2.356179 2.096548
+v 0.023427 -0.040702 0.000037 1.000000 1.000000 1.000000
+vn 2.724049 0.000000 -2.090082
+v 0.047308 0.000000 -0.239925 1.000000 1.000000 1.000000
+vn 1.363692 -2.356179 -2.092215
+v 0.023809 -0.040702 -0.239962 1.000000 1.000000 1.000000
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 7//7 3//3 4//4
+f 8//8 2//2 1//1
+f 8//8 4//4 2//2
+f 9//9 1//1 5//5
+f 8//8 1//1 9//9
+f 6//6 10//10 5//5
+f 11//11 5//5 10//10
+f 9//9 5//5 11//11
+f 12//12 10//10 6//6
+f 11//11 10//10 12//12
+f 12//12 6//6 7//7
+f 12//12 7//7 4//4
+f 11//11 12//12 4//4
+f 8//8 11//11 4//4
+f 8//8 9//9 11//11
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..11d002d712b8605d821a009b9b5615bddd1dc3ad
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/underarm_l.wrl
@@ -0,0 +1,107 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 -46.5
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 1 1 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -23.501301 40.702 -46.5,
+                                  23.501301 40.702 -46.5,
+                                  47 9.6276197e-014 -46.5,
+                                  47 6.9630899e-014 193.5,
+                                  -47 1.02676e-013 -46.5,
+                                  23.501301 -40.702 -46.5,
+                                  23.501301 -40.702 193.5,
+                                  23.501301 40.702 193.5,
+                                  -23.501301 40.702 193.5,
+                                  -23.501301 -40.702 -46.5,
+                                  -47 7.6030402e-014 193.5,
+                                  -23.501301 -40.702 193.5 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7842e-018 1.11022e-016 -1,
+                                  1 5.4380501e-017 4.4562399e-018,
+                                  0.5 0.86602497 5.03022e-017,
+                                  0.5 -0.86602497 -4.58459e-017,
+                                  1 -1.90541e-016 4.4562399e-018,
+                                  -0.5 0.86602497 4.58459e-017,
+                                  -1 6.80802e-017 -4.4562399e-018,
+                                  -0.5 -0.86602497 -5.03022e-017,
+                                  2.7842e-018 -1.11022e-016 1 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 5, 4, 2, -1,
+                                6, 5, 2, -1, 6, 2, 3, -1,
+                                7, 1, 0, -1, 7, 3, 1, -1,
+                                8, 0, 4, -1, 7, 0, 8, -1,
+                                5, 9, 4, -1, 10, 4, 9, -1,
+                                8, 4, 10, -1, 11, 9, 5, -1,
+                                10, 9, 11, -1, 11, 5, 6, -1,
+                                11, 6, 3, -1, 10, 11, 3, -1,
+                                7, 10, 3, -1, 7, 8, 10, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 2, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                3, 3, 4, -1, 3, 4, 4, -1,
+                                2, 2, 5, -1, 2, 1, 2, -1,
+                                5, 5, 6, -1, 2, 5, 5, -1,
+                                0, 0, 0, -1, 6, 6, 7, -1,
+                                5, 6, 6, -1, 7, 7, 3, -1,
+                                6, 7, 7, -1, 7, 3, 3, -1,
+                                8, 8, 8, -1, 8, 8, 8, -1,
+                                8, 8, 8, -1, 8, 8, 8, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.obj b/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa929b7b3d8b2f199fe28b0cdf6043d0d80d368a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_r.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 1.357021 2.356179 2.096548
+v 0.023427 0.040702 0.000037 1.000000 1.000000 1.000000
+vn -1.363692 2.356179 2.092215
+v -0.023575 0.040702 -0.000037 1.000000 1.000000 1.000000
+vn -2.724049 0.000000 2.090082
+v -0.047074 0.000000 -0.000075 1.000000 1.000000 1.000000
+vn -2.717378 0.000000 -2.098748
+v -0.046692 0.000000 -0.240075 1.000000 1.000000 1.000000
+vn 2.717378 0.000000 2.098748
+v 0.046926 0.000000 0.000075 1.000000 1.000000 1.000000
+vn -1.363692 -2.356179 2.092215
+v -0.023575 -0.040702 -0.000037 1.000000 1.000000 1.000000
+vn -1.357021 -2.356179 -2.096548
+v -0.023193 -0.040702 -0.240037 1.000000 1.000000 1.000000
+vn -1.357021 2.356179 -2.096548
+v -0.023193 0.040702 -0.240037 1.000000 1.000000 1.000000
+vn 1.363692 2.356179 -2.092215
+v 0.023809 0.040702 -0.239962 1.000000 1.000000 1.000000
+vn 1.357021 -2.356179 2.096548
+v 0.023427 -0.040702 0.000037 1.000000 1.000000 1.000000
+vn 2.724049 0.000000 -2.090082
+v 0.047308 0.000000 -0.239925 1.000000 1.000000 1.000000
+vn 1.363692 -2.356179 -2.092215
+v 0.023809 -0.040702 -0.239962 1.000000 1.000000 1.000000
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 7//7 3//3 4//4
+f 8//8 2//2 1//1
+f 8//8 4//4 2//2
+f 9//9 1//1 5//5
+f 8//8 1//1 9//9
+f 6//6 10//10 5//5
+f 11//11 5//5 10//10
+f 9//9 5//5 11//11
+f 12//12 10//10 6//6
+f 11//11 10//10 12//12
+f 12//12 6//6 7//7
+f 12//12 7//7 4//4
+f 11//11 12//12 4//4
+f 8//8 11//11 4//4
+f 8//8 9//9 11//11
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.wrl b/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..11d002d712b8605d821a009b9b5615bddd1dc3ad
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/underarm_r.wrl
@@ -0,0 +1,107 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 -46.5
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 1 1 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -23.501301 40.702 -46.5,
+                                  23.501301 40.702 -46.5,
+                                  47 9.6276197e-014 -46.5,
+                                  47 6.9630899e-014 193.5,
+                                  -47 1.02676e-013 -46.5,
+                                  23.501301 -40.702 -46.5,
+                                  23.501301 -40.702 193.5,
+                                  23.501301 40.702 193.5,
+                                  -23.501301 40.702 193.5,
+                                  -23.501301 -40.702 -46.5,
+                                  -47 7.6030402e-014 193.5,
+                                  -23.501301 -40.702 193.5 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -2.7842e-018 1.11022e-016 -1,
+                                  1 5.4380501e-017 4.4562399e-018,
+                                  0.5 0.86602497 5.03022e-017,
+                                  0.5 -0.86602497 -4.58459e-017,
+                                  1 -1.90541e-016 4.4562399e-018,
+                                  -0.5 0.86602497 4.58459e-017,
+                                  -1 6.80802e-017 -4.4562399e-018,
+                                  -0.5 -0.86602497 -5.03022e-017,
+                                  2.7842e-018 -1.11022e-016 1 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 5, 4, 2, -1,
+                                6, 5, 2, -1, 6, 2, 3, -1,
+                                7, 1, 0, -1, 7, 3, 1, -1,
+                                8, 0, 4, -1, 7, 0, 8, -1,
+                                5, 9, 4, -1, 10, 4, 9, -1,
+                                8, 4, 10, -1, 11, 9, 5, -1,
+                                10, 9, 11, -1, 11, 5, 6, -1,
+                                11, 6, 3, -1, 10, 11, 3, -1,
+                                7, 10, 3, -1, 7, 8, 10, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 2, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                3, 3, 4, -1, 3, 4, 4, -1,
+                                2, 2, 5, -1, 2, 1, 2, -1,
+                                5, 5, 6, -1, 2, 5, 5, -1,
+                                0, 0, 0, -1, 6, 6, 7, -1,
+                                5, 6, 6, -1, 7, 7, 3, -1,
+                                6, 7, 7, -1, 7, 3, 3, -1,
+                                8, 8, 8, -1, 8, 8, 8, -1,
+                                8, 8, 8, -1, 8, 8, 8, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.obj b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cb64981abd09793d569d9874ed2c1c9458cf02a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.obj
@@ -0,0 +1,76 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_l.obj
+#
+# Vertices: 16
+# Faces: 28
+#
+####
+vn -2.052354 -2.054229 2.354583
+v -0.028284 -0.028264 -0.025323 1.000000 1.000000 1.000000
+vn 2.052354 -2.054229 2.354583
+v 0.028284 -0.028264 -0.025323 1.000000 1.000000 1.000000
+vn 2.902439 -0.001876 2.356171
+v 0.040000 0.000020 -0.025300 1.000000 1.000000 1.000000
+vn 2.902439 0.001876 -2.356171
+v 0.040000 0.000246 -0.309300 1.000000 1.000000 1.000000
+vn -2.902439 -0.001876 2.356171
+v -0.040000 0.000020 -0.025300 1.000000 1.000000 1.000000
+vn 2.052354 2.050478 2.357851
+v 0.028284 0.028304 -0.025277 1.000000 1.000000 1.000000
+vn 2.052354 2.054229 -2.354583
+v 0.028284 0.028530 -0.309277 1.000000 1.000000 1.000000
+vn 0.000000 -2.904314 2.353860
+v 0.000000 -0.039980 -0.025332 1.000000 1.000000 1.000000
+vn 2.052354 -2.050478 -2.357851
+v 0.028284 -0.028038 -0.309322 1.000000 1.000000 1.000000
+vn 0.000000 -2.900562 -2.358481
+v 0.000000 -0.039754 -0.309332 1.000000 1.000000 1.000000
+vn -2.052354 -2.050478 -2.357851
+v -0.028284 -0.028038 -0.309322 1.000000 1.000000 1.000000
+vn -2.052354 2.050478 2.357851
+v -0.028284 0.028304 -0.025277 1.000000 1.000000 1.000000
+vn -2.902439 0.001876 -2.356171
+v -0.040000 0.000246 -0.309300 1.000000 1.000000 1.000000
+vn 0.000000 2.900562 2.358481
+v 0.000000 0.040020 -0.025268 1.000000 1.000000 1.000000
+vn -2.052354 2.054229 -2.354583
+v -0.028284 0.028530 -0.309277 1.000000 1.000000 1.000000
+vn 0.000000 2.904314 -2.353860
+v 0.000000 0.040246 -0.309268 1.000000 1.000000 1.000000
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 7//7 3//3 4//4
+f 1//1 8//8 2//2
+f 9//9 2//2 8//8
+f 9//9 4//4 2//2
+f 10//10 8//8 1//1
+f 9//9 8//8 10//10
+f 11//11 1//1 5//5
+f 10//10 1//1 11//11
+f 6//6 12//12 5//5
+f 13//13 5//5 12//12
+f 11//11 5//5 13//13
+f 6//6 14//14 12//12
+f 15//15 12//12 14//14
+f 13//13 12//12 15//15
+f 16//16 14//14 6//6
+f 15//15 14//14 16//16
+f 16//16 6//6 7//7
+f 15//15 7//7 4//4
+f 13//13 15//15 4//4
+f 9//9 13//13 4//4
+f 15//15 16//16 7//7
+f 9//9 11//11 13//13
+f 9//9 10//10 11//11
+# 28 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a7284648c32b01ba05d97a6bb03424a3a1009ea9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_l.wrl
@@ -0,0 +1,121 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 25.299999 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 1 1 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -28.284 1.15818e-013 -28.284,
+                                  28.284 1.1390999e-013 -28.284,
+                                  40 1.12338e-013 1.18516e-013,
+                                  40 284 1.19009e-013,
+                                  -40 1.1503601e-013 1.08858e-013,
+                                  28.284 1.11555e-013 28.284,
+                                  28.284 284 28.284,
+                                  7.7944399e-014 1.15352e-013 -40,
+                                  28.284 284 -28.284,
+                                  8.85931e-014 284 -40,
+                                  -28.284 284 -28.284,
+                                  -28.284 1.13463e-013 28.284,
+                                  -40 284 1.0935e-013,
+                                  5.9265703e-014 1.12022e-013 40,
+                                  -28.284 284 28.284,
+                                  6.9914499e-014 284 40 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -3.7495601e-017 -1 -1.73465e-018,
+                                  1 -3.3728902e-017 -1.7347301e-018,
+                                  0.70710701 5.5884401e-018 -0.70710701,
+                                  0.70710701 -5.3288199e-017 0.70710701,
+                                  1 -3.3728902e-017 2.43187e-016,
+                                  1.72253e-016 4.1632099e-017 -1,
+                                  -0.70710701 5.3288199e-017 -0.70710701,
+                                  -1 3.3728902e-017 -1.20726e-016,
+                                  -0.70710701 -5.5884401e-018 0.70710701,
+                                  -2.9471299e-016 -4.1632099e-017 1,
+                                  3.7495601e-017 1 1.73465e-018 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 5, 4, 2, -1,
+                                6, 5, 2, -1, 6, 2, 3, -1,
+                                0, 7, 1, -1, 8, 1, 7, -1,
+                                8, 3, 1, -1, 9, 7, 0, -1,
+                                8, 7, 9, -1, 10, 0, 4, -1,
+                                9, 0, 10, -1, 5, 11, 4, -1,
+                                12, 4, 11, -1, 10, 4, 12, -1,
+                                5, 13, 11, -1, 14, 11, 13, -1,
+                                12, 11, 14, -1, 15, 13, 5, -1,
+                                14, 13, 15, -1, 15, 5, 6, -1,
+                                14, 6, 3, -1, 12, 14, 3, -1,
+                                8, 12, 3, -1, 14, 15, 6, -1,
+                                8, 10, 12, -1, 8, 9, 10, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 2, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                3, 3, 4, -1, 3, 4, 4, -1,
+                                0, 0, 0, -1, 2, 2, 5, -1,
+                                2, 1, 2, -1, 5, 5, 6, -1,
+                                2, 5, 5, -1, 6, 6, 7, -1,
+                                5, 6, 6, -1, 0, 0, 0, -1,
+                                7, 7, 8, -1, 6, 7, 7, -1,
+                                0, 0, 0, -1, 8, 8, 9, -1,
+                                7, 8, 8, -1, 9, 9, 3, -1,
+                                8, 9, 9, -1, 9, 3, 3, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.obj b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7722c44646ff626ef4ed29254dc247f3fc2d54d0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.obj
@@ -0,0 +1,76 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_r.obj
+#
+# Vertices: 16
+# Faces: 28
+#
+####
+vn -2.052354 -2.054229 2.354583
+v -0.028284 -0.028264 -0.025323 1.000000 1.000000 1.000000
+vn 2.052354 -2.054229 2.354583
+v 0.028284 -0.028264 -0.025323 1.000000 1.000000 1.000000
+vn 2.902439 -0.001876 2.356171
+v 0.040000 0.000020 -0.025300 1.000000 1.000000 1.000000
+vn 2.902439 0.001876 -2.356171
+v 0.040000 0.000246 -0.309300 1.000000 1.000000 1.000000
+vn -2.902439 -0.001876 2.356171
+v -0.040000 0.000020 -0.025300 1.000000 1.000000 1.000000
+vn 2.052354 2.050478 2.357851
+v 0.028284 0.028304 -0.025277 1.000000 1.000000 1.000000
+vn 2.052354 2.054229 -2.354583
+v 0.028284 0.028530 -0.309277 1.000000 1.000000 1.000000
+vn 0.000000 -2.904314 2.353860
+v 0.000000 -0.039980 -0.025332 1.000000 1.000000 1.000000
+vn 2.052354 -2.050478 -2.357851
+v 0.028284 -0.028038 -0.309322 1.000000 1.000000 1.000000
+vn 0.000000 -2.900562 -2.358481
+v 0.000000 -0.039754 -0.309332 1.000000 1.000000 1.000000
+vn -2.052354 -2.050478 -2.357851
+v -0.028284 -0.028038 -0.309322 1.000000 1.000000 1.000000
+vn -2.052354 2.050478 2.357851
+v -0.028284 0.028304 -0.025277 1.000000 1.000000 1.000000
+vn -2.902439 0.001876 -2.356171
+v -0.040000 0.000246 -0.309300 1.000000 1.000000 1.000000
+vn 0.000000 2.900562 2.358481
+v 0.000000 0.040020 -0.025268 1.000000 1.000000 1.000000
+vn -2.052354 2.054229 -2.354583
+v -0.028284 0.028530 -0.309277 1.000000 1.000000 1.000000
+vn 0.000000 2.904314 -2.353860
+v 0.000000 0.040246 -0.309268 1.000000 1.000000 1.000000
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 6//6 5//5 3//3
+f 7//7 6//6 3//3
+f 7//7 3//3 4//4
+f 1//1 8//8 2//2
+f 9//9 2//2 8//8
+f 9//9 4//4 2//2
+f 10//10 8//8 1//1
+f 9//9 8//8 10//10
+f 11//11 1//1 5//5
+f 10//10 1//1 11//11
+f 6//6 12//12 5//5
+f 13//13 5//5 12//12
+f 11//11 5//5 13//13
+f 6//6 14//14 12//12
+f 15//15 12//12 14//14
+f 13//13 12//12 15//15
+f 16//16 14//14 6//6
+f 15//15 14//14 16//16
+f 16//16 6//6 7//7
+f 15//15 7//7 4//4
+f 13//13 15//15 4//4
+f 9//9 13//13 4//4
+f 15//15 16//16 7//7
+f 9//9 11//11 13//13
+f 9//9 10//10 11//11
+# 28 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.wrl b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a7284648c32b01ba05d97a6bb03424a3a1009ea9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/upperarm_r.wrl
@@ -0,0 +1,121 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 25.299999 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 1 1 1
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -28.284 1.15818e-013 -28.284,
+                                  28.284 1.1390999e-013 -28.284,
+                                  40 1.12338e-013 1.18516e-013,
+                                  40 284 1.19009e-013,
+                                  -40 1.1503601e-013 1.08858e-013,
+                                  28.284 1.11555e-013 28.284,
+                                  28.284 284 28.284,
+                                  7.7944399e-014 1.15352e-013 -40,
+                                  28.284 284 -28.284,
+                                  8.85931e-014 284 -40,
+                                  -28.284 284 -28.284,
+                                  -28.284 1.13463e-013 28.284,
+                                  -40 284 1.0935e-013,
+                                  5.9265703e-014 1.12022e-013 40,
+                                  -28.284 284 28.284,
+                                  6.9914499e-014 284 40 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -3.7495601e-017 -1 -1.73465e-018,
+                                  1 -3.3728902e-017 -1.7347301e-018,
+                                  0.70710701 5.5884401e-018 -0.70710701,
+                                  0.70710701 -5.3288199e-017 0.70710701,
+                                  1 -3.3728902e-017 2.43187e-016,
+                                  1.72253e-016 4.1632099e-017 -1,
+                                  -0.70710701 5.3288199e-017 -0.70710701,
+                                  -1 3.3728902e-017 -1.20726e-016,
+                                  -0.70710701 -5.5884401e-018 0.70710701,
+                                  -2.9471299e-016 -4.1632099e-017 1,
+                                  3.7495601e-017 1 1.73465e-018 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 0, 2, -1, 5, 4, 2, -1,
+                                6, 5, 2, -1, 6, 2, 3, -1,
+                                0, 7, 1, -1, 8, 1, 7, -1,
+                                8, 3, 1, -1, 9, 7, 0, -1,
+                                8, 7, 9, -1, 10, 0, 4, -1,
+                                9, 0, 10, -1, 5, 11, 4, -1,
+                                12, 4, 11, -1, 10, 4, 12, -1,
+                                5, 13, 11, -1, 14, 11, 13, -1,
+                                12, 11, 14, -1, 15, 13, 5, -1,
+                                14, 13, 15, -1, 15, 5, 6, -1,
+                                14, 6, 3, -1, 12, 14, 3, -1,
+                                8, 12, 3, -1, 14, 15, 6, -1,
+                                8, 10, 12, -1, 8, 9, 10, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 2, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                3, 3, 4, -1, 3, 4, 4, -1,
+                                0, 0, 0, -1, 2, 2, 5, -1,
+                                2, 1, 2, -1, 5, 5, 6, -1,
+                                2, 5, 5, -1, 6, 6, 7, -1,
+                                5, 6, 6, -1, 0, 0, 0, -1,
+                                7, 7, 8, -1, 6, 7, 7, -1,
+                                0, 0, 0, -1, 8, 8, 9, -1,
+                                7, 8, 8, -1, 9, 9, 3, -1,
+                                8, 9, 9, -1, 9, 3, 3, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8fd0cecd139343cd8d8e1c113e4688903a185e80
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/wrist1_l.wrl
@@ -0,0 +1,65 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      scale 0.001 0.001 0.001
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 -21
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 1 0.80000001 0.40000001
+                                  transparency 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              Box {
+                                size 57 57 60
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.wrl b/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8fd0cecd139343cd8d8e1c113e4688903a185e80
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/collisionModel/wrist2_l.wrl
@@ -0,0 +1,65 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      scale 0.001 0.001 0.001
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 -21
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 1 0.80000001 0.40000001
+                                  transparency 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              Box {
+                                size 57 57 60
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d446a195ca10e4a45aa15bb1385d2826c16077f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_green_conv.obj
@@ -0,0 +1,84 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object handlink_green_conv.obj
+#
+# Vertices: 18
+# Faces: 32
+#
+####
+vn -5.548066 0.827420 0.195762
+v -22.476601 1.026160 -32.000000 0.898039 0.898039 0.898039
+vn -2.948533 -0.044931 -2.275574
+v -22.499800 0.000000 -35.000000 0.898039 0.898039 0.898039
+vn 5.548066 0.827420 0.195762
+v 22.476601 1.026160 -32.000000 0.898039 0.898039 0.898039
+vn 2.948533 -0.044931 -2.275574
+v 22.499800 0.000000 -35.000000 0.898039 0.898039 0.898039
+vn -1.220072 2.532205 -2.393812
+v -4.000000 29.000000 -36.000000 0.898039 0.898039 0.898039
+vn 1.220072 -2.532205 -2.393812
+v 4.000000 -29.000000 -36.000000 0.898039 0.898039 0.898039
+vn -1.220072 -2.532205 -2.393812
+v -4.000000 -29.000000 -36.000000 0.898039 0.898039 0.898039
+vn 1.220072 2.532205 -2.393812
+v 4.000000 29.000000 -36.000000 0.898039 0.898039 0.898039
+vn 3.054063 -3.701736 0.257647
+v 11.030500 -29.000000 -3.252080 0.898039 0.898039 0.898039
+vn 0.000000 -2.212873 2.808925
+v 0.000000 -29.000000 11.499800 0.898039 0.898039 0.898039
+vn 2.216109 -2.343270 1.819810
+v 9.209780 -29.000000 6.886710 0.898039 0.898039 0.898039
+vn -3.054063 -3.701736 0.257647
+v -11.030500 -29.000000 -3.252080 0.898039 0.898039 0.898039
+vn -2.216109 -2.343270 1.819810
+v -9.209780 -29.000000 6.886710 0.898039 0.898039 0.898039
+vn 0.000000 2.212873 2.808925
+v 0.000000 29.000000 11.499800 0.898039 0.898039 0.898039
+vn -2.214765 2.345449 1.824667
+v -9.209780 29.000000 6.886710 0.898039 0.898039 0.898039
+vn 2.214765 2.345449 1.824667
+v 9.209780 29.000000 6.886710 0.898039 0.898039 0.898039
+vn -3.046562 3.742846 0.249766
+v -11.030500 29.000000 -3.252080 0.898039 0.898039 0.898039
+vn 3.046562 3.742846 0.249766
+v 11.030500 29.000000 -3.252080 0.898039 0.898039 0.898039
+# 18 vertices, 0 vertices normals
+
+f 6//6 8//8 4//4
+f 7//7 12//12 2//2
+f 5//5 7//7 2//2
+f 15//15 1//1 13//13
+f 1//1 12//12 13//13
+f 1//1 2//2 12//12
+f 9//9 6//6 4//4
+f 17//17 1//1 15//15
+f 17//17 5//5 2//2
+f 2//2 1//1 17//17
+f 18//18 4//4 8//8
+f 18//18 16//16 3//3
+f 4//4 18//18 3//3
+f 3//3 16//16 11//11
+f 9//9 3//3 11//11
+f 3//3 9//9 4//4
+f 5//5 6//6 7//7
+f 5//5 8//8 6//6
+f 9//9 11//11 10//10
+f 9//9 12//12 7//7
+f 6//6 9//9 7//7
+f 13//13 12//12 9//9
+f 9//9 10//10 13//13
+f 14//14 13//13 10//10
+f 14//14 15//15 13//13
+f 5//5 16//16 8//8
+f 15//15 14//14 16//16
+f 16//16 5//5 17//17
+f 16//16 17//17 15//15
+f 16//16 18//18 8//8
+f 16//16 10//10 11//11
+f 16//16 14//14 10//10
+# 32 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd1db3a57e343945a13b401f850c66c940e3891
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/handlink_red_conv.obj
@@ -0,0 +1,76 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object handlink_red_conv.obj
+#
+# Vertices: 16
+# Faces: 28
+#
+####
+vn 3.242549 0.000000 -3.793300
+v 27.500000 0.000000 -9.499870 0.898039 0.898039 0.898039
+vn 3.242549 0.000000 3.793300
+v 27.500000 0.000000 9.499870 0.898039 0.898039 0.898039
+vn 2.119304 -2.084750 1.457124
+v 28.500000 -22.000000 5.000000 0.898039 0.898039 0.898039
+vn 2.119304 -2.084750 -1.457124
+v 28.500000 -22.000000 -5.000000 0.898039 0.898039 0.898039
+vn 2.119304 2.084750 -1.457124
+v 28.500000 22.000000 -5.000000 0.898039 0.898039 0.898039
+vn 2.119304 2.084750 1.457124
+v 28.500000 22.000000 5.000000 0.898039 0.898039 0.898039
+vn -2.140675 2.115852 1.446193
+v -27.500000 22.000000 5.000000 0.898039 0.898039 0.898039
+vn -0.005567 2.912080 3.098538
+v 0.000000 22.000000 12.000000 0.898039 0.898039 0.898039
+vn -0.005567 2.912080 -3.098538
+v 0.000000 22.000000 -12.000000 0.898039 0.898039 0.898039
+vn -2.140675 2.115852 -1.446193
+v -27.500000 22.000000 -5.000000 0.898039 0.898039 0.898039
+vn -2.140675 -2.115852 -1.446193
+v -27.500000 -22.000000 -5.000000 0.898039 0.898039 0.898039
+vn -0.005567 -2.912080 -3.098538
+v 0.000000 -22.000000 -12.000000 0.898039 0.898039 0.898039
+vn -0.005567 -2.912080 3.098538
+v 0.000000 -22.000000 12.000000 0.898039 0.898039 0.898039
+vn -2.140675 -2.115852 1.446193
+v -27.500000 -22.000000 5.000000 0.898039 0.898039 0.898039
+vn -3.310893 0.000000 -3.111705
+v -27.500000 0.000000 -9.499870 0.898039 0.898039 0.898039
+vn -3.310893 0.000000 3.111705
+v -27.500000 0.000000 9.499870 0.898039 0.898039 0.898039
+# 16 vertices, 0 vertices normals
+
+f 7//7 16//16 8//8
+f 13//13 16//16 14//14
+f 13//13 8//8 16//16
+f 1//1 5//5 4//4
+f 1//1 9//9 5//5
+f 4//4 12//12 1//1
+f 1//1 12//12 9//9
+f 2//2 3//3 6//6
+f 2//2 6//6 8//8
+f 2//2 13//13 3//3
+f 13//13 2//2 8//8
+f 15//15 10//10 9//9
+f 9//9 12//12 15//15
+f 12//12 11//11 15//15
+f 3//3 4//4 5//5
+f 3//3 5//5 6//6
+f 7//7 6//6 5//5
+f 8//8 6//6 7//7
+f 7//7 9//9 10//10
+f 5//5 9//9 7//7
+f 3//3 11//11 4//4
+f 11//11 12//12 4//4
+f 13//13 11//11 3//3
+f 11//11 13//13 14//14
+f 15//15 11//11 14//14
+f 14//14 16//16 15//15
+f 15//15 16//16 7//7
+f 15//15 7//7 10//10
+# 28 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c63d382ca8a5a8c03a1eede8a20fd9e6fb914ccc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/metacarpals_conv.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object metacarpals_conv.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.314623 2.064096 1.383518
+v -42.250000 2.250000 2.500000 0.898039 0.898039 0.898039
+vn -0.743829 2.648294 -2.954315
+v -37.599998 2.250000 -5.000000 0.898039 0.898039 0.898039
+vn 1.570171 1.526500 -1.546798
+v 2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
+vn 1.570762 1.557886 1.562562
+v 2.400000 2.250000 5.000000 0.898039 0.898039 0.898039
+vn -0.743830 2.648295 2.954315
+v -37.599998 2.250000 5.000000 0.898039 0.898039 0.898039
+vn -2.314623 2.064096 -1.383518
+v -42.250000 2.250000 -2.500000 0.898039 0.898039 0.898039
+vn -1.180766 -2.452335 3.943359
+v -37.599998 -2.250000 5.000000 0.898039 0.898039 0.898039
+vn -2.647716 -2.039281 1.532583
+v -42.250000 -2.250000 2.500000 0.898039 0.898039 0.898039
+vn -2.639446 -2.040620 -1.530906
+v -42.250000 -2.250000 -2.500000 0.898039 0.898039 0.898039
+vn -1.195821 -2.437713 -3.978494
+v -37.599998 -2.250000 -5.000000 0.898039 0.898039 0.898039
+vn 2.875267 -0.887823 2.575057
+v 2.379070 -0.291737 5.000000 0.898039 0.898039 0.898039
+vn 1.589977 -2.447521 2.407851
+v 1.211650 -1.984850 5.000080 0.898039 0.898039 0.898039
+vn 0.057782 -3.138482 3.132584
+v -12.000000 -3.750000 5.000000 0.898039 0.898039 0.898039
+vn 2.624725 -1.219956 -2.359798
+v 2.303910 -0.754205 -5.000000 0.898039 0.898039 0.898039
+vn 1.318831 -2.732624 -2.649111
+v 0.813474 -2.071900 -5.000050 0.898039 0.898039 0.898039
+vn -0.146417 -3.138647 -3.090327
+v -29.515301 -3.750180 -4.997290 0.898039 0.898039 0.898039
+vn -0.114941 -3.136004 3.113064
+v -29.182301 -3.749980 4.999540 0.898039 0.898039 0.898039
+vn 0.216942 -3.212306 -3.037801
+v -9.253250 -3.747280 -4.968590 0.898039 0.898039 0.898039
+vn 0.700183 -6.096999 0.610291
+v -7.038430 -3.749060 2.700920 0.898039 0.898039 0.898039
+vn -0.616262 -6.192077 0.185848
+v -33.101002 -3.758450 1.152410 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 15//15 12//12 19//19
+f 7//7 8//8 17//17
+f 16//16 9//9 10//10
+f 19//19 12//12 13//13
+f 18//18 15//15 19//19
+f 9//9 20//20 8//8
+f 20//20 17//17 8//8
+f 20//20 9//9 16//16
+f 2//2 1//1 3//3
+f 4//4 3//3 1//1
+f 4//4 1//1 5//5
+f 6//6 1//1 2//2
+f 5//5 1//1 7//7
+f 7//7 1//1 8//8
+f 9//9 1//1 6//6
+f 1//1 9//9 8//8
+f 9//9 6//6 2//2
+f 10//10 9//9 2//2
+f 4//4 11//11 3//3
+f 3//3 11//11 14//14
+f 5//5 12//12 4//4
+f 17//17 12//12 7//7
+f 7//7 12//12 5//5
+f 17//17 13//13 12//12
+f 11//11 4//4 12//12
+f 14//14 12//12 15//15
+f 11//11 12//12 14//14
+f 2//2 3//3 15//15
+f 18//18 16//16 15//15
+f 10//10 15//15 16//16
+f 10//10 2//2 15//15
+f 14//14 15//15 3//3
+f 19//19 16//16 18//18
+f 17//17 16//16 13//13
+f 13//13 16//16 19//19
+f 20//20 16//16 17//17
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dcebc526794c536a936b4bb6563981496ec4c99
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_l_conv.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_l_conv.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn -2.248023 -2.018286 -2.329307
+v -18.500000 -38.500000 -0.000000 0.898039 0.898039 0.898039
+vn 1.604878 -2.959990 -3.384766
+v 18.500000 -38.500000 -0.000000 0.898039 0.898039 0.898039
+vn -2.132036 -1.322131 1.633716
+v -23.512400 -41.376801 33.492199 0.898039 0.898039 0.898039
+vn 0.919763 2.154574 -1.500366
+v 13.330800 10.841100 -9.088040 0.898039 0.898039 0.898039
+vn 0.311229 3.443805 4.140425
+v 16.190399 -6.497170 31.504200 0.898039 0.898039 0.898039
+vn -1.858240 1.828180 -1.175910
+v -17.559700 6.541840 -5.895610 0.898039 0.898039 0.898039
+vn -1.689534 2.839128 3.081932
+v -15.913300 -6.339580 31.412800 0.898039 0.898039 0.898039
+vn -0.277012 0.490572 -5.339035
+v 0.020597 1.486350 -12.514200 0.898039 0.898039 0.898039
+vn 1.218177 -0.404142 0.372457
+v 68.488297 -23.601299 33.464600 0.898039 0.898039 0.898039
+vn -2.849242 0.591995 2.449384
+v -23.813700 -19.875099 33.503201 0.898039 0.898039 0.898039
+vn -0.059147 -2.706455 1.541542
+v -0.601310 -53.311699 32.734200 0.898039 0.898039 0.898039
+vn 1.584609 1.057137 0.782945
+v 66.570099 -17.393299 33.509602 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 9//9 11//11 2//2
+f 4//4 9//9 2//2
+f 12//12 9//9 4//4
+f 2//2 8//8 4//4
+f 1//1 11//11 3//3
+f 4//4 6//6 7//7
+f 1//1 8//8 2//2
+f 4//4 8//8 6//6
+f 6//6 8//8 1//1
+f 6//6 10//10 7//7
+f 10//10 5//5 7//7
+f 3//3 10//10 1//1
+f 1//1 10//10 6//6
+f 1//1 2//2 11//11
+f 4//4 7//7 5//5
+f 4//4 5//5 12//12
+f 11//11 9//9 12//12
+f 10//10 3//3 12//12
+f 3//3 11//11 12//12
+f 5//5 10//10 12//12
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f019026acdf94d9931ea760a054fbe9fcc2de515
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm1_r_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_r_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 3.101697 0.595201 5.081987
+v 16.756701 1.894850 5.828530 0.898039 0.898039 0.898039
+vn 2.855030 2.991427 3.537927
+v 13.088200 11.905800 5.041740 0.898039 0.898039 0.898039
+vn -3.300164 1.353604 2.472649
+v -17.573799 4.944680 5.790250 0.898039 0.898039 0.898039
+vn -2.990322 3.876245 -0.418637
+v -12.560600 14.108000 -3.254200 0.898039 0.898039 0.898039
+vn -0.528343 4.203212 -0.075060
+v 0.501579 20.632299 0.529517 0.898039 0.898039 0.898039
+vn 0.051610 -3.439649 -1.440472
+v -0.113528 -52.765301 -31.013700 0.898039 0.898039 0.898039
+vn -2.253783 -2.018944 2.322668
+v -18.500000 -38.500000 -0.000000 0.898039 0.898039 0.898039
+vn 1.607026 -2.957245 3.390652
+v 18.500000 -38.500000 -0.000000 0.898039 0.898039 0.898039
+vn -2.573692 -1.068370 -1.923592
+v -23.806101 -38.278099 -33.436001 0.898039 0.898039 0.898039
+vn -2.864223 0.586271 -2.472781
+v -23.795700 -19.838800 -33.507099 0.898039 0.898039 0.898039
+vn 1.528504 0.566626 -0.532763
+v 68.349503 -19.754999 -33.505901 0.898039 0.898039 0.898039
+vn -1.906939 2.659833 -3.668923
+v -15.800000 -6.450000 -31.500000 0.898039 0.898039 0.898039
+vn 0.302839 3.150222 -4.902654
+v 15.800000 -6.450000 -31.500000 0.898039 0.898039 0.898039
+vn 1.297676 -0.555232 -0.406196
+v 68.521599 -23.591101 -33.486801 0.898039 0.898039 0.898039
+vn 0.490066 -1.434532 -5.889723
+v 19.821501 -40.900002 -33.500000 0.898039 0.898039 0.898039
+vn 0.580232 3.597227 2.376296
+v 3.366270 19.425800 4.514240 0.898039 0.898039 0.898039
+vn -0.047301 0.441353 5.330992
+v 0.034606 1.413000 12.493200 0.898039 0.898039 0.898039
+vn -1.539718 -2.569739 -2.377796
+v -15.061700 -46.427601 -33.498100 0.898039 0.898039 0.898039
+vn 1.301498 2.819159 -3.544825
+v 62.014099 -16.469601 -33.499401 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 13//13 12//12 5//5
+f 12//12 4//4 5//5
+f 8//8 17//17 7//7
+f 7//7 18//18 6//6
+f 13//13 5//5 19//19
+f 1//1 17//17 8//8
+f 5//5 11//11 19//19
+f 16//16 11//11 5//5
+f 17//17 3//3 7//7
+f 6//6 14//14 8//8
+f 15//15 14//14 6//6
+f 11//11 2//2 1//1
+f 1//1 14//14 11//11
+f 14//14 1//1 8//8
+f 12//12 19//19 10//10
+f 2//2 11//11 16//16
+f 2//2 17//17 1//1
+f 7//7 9//9 18//18
+f 16//16 3//3 17//17
+f 4//4 3//3 16//16
+f 10//10 4//4 12//12
+f 16//16 17//17 2//2
+f 10//10 3//3 4//4
+f 4//4 16//16 5//5
+f 7//7 6//6 8//8
+f 7//7 3//3 9//9
+f 9//9 3//3 10//10
+f 13//13 19//19 12//12
+f 11//11 18//18 19//19
+f 19//19 18//18 10//10
+f 15//15 6//6 18//18
+f 15//15 18//18 14//14
+f 11//11 14//14 18//18
+f 9//9 10//10 18//18
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdc30a69ac4c6e57eba53aa5c950f570beb754ca
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_l_conv.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_l_conv.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn -2.521799 -2.546855 -1.360999
+v -42.068100 -2.347630 -2.607280 0.898039 0.898039 0.898039
+vn -1.433670 1.057049 -1.454122
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+vn 2.078221 1.883400 -1.391565
+v 2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
+vn -1.646152 1.437098 1.543994
+v -42.491001 2.250240 77.823303 0.898039 0.898039 0.898039
+vn 2.420696 0.917286 0.199060
+v 2.791500 2.042370 29.990499 0.898039 0.898039 0.898039
+vn 1.794204 1.775093 1.730569
+v -4.254270 2.250030 77.928596 0.898039 0.898039 0.898039
+vn -2.773698 -2.263908 1.486364
+v -42.522701 -2.240490 76.454597 0.898039 0.898039 0.898039
+vn 0.922965 -1.799956 2.356263
+v -7.838560 -4.250810 80.001099 0.898039 0.898039 0.898039
+vn 0.308393 -0.982315 -2.027529
+v -7.846090 -4.249760 -10.778300 0.898039 0.898039 0.898039
+vn 4.205945 -2.698151 0.966942
+v -3.800000 -2.250000 75.000000 0.898039 0.898039 0.898039
+vn 3.005103 -2.218339 -1.618182
+v 2.053650 -1.734340 -5.064570 0.898039 0.898039 0.898039
+vn -0.407311 -2.296515 2.827760
+v -32.183998 -4.250160 79.660301 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 8//8 5//5 10//10
+f 2//2 7//7 4//4
+f 1//1 7//7 2//2
+f 9//9 2//2 3//3
+f 6//6 5//5 3//3
+f 4//4 6//6 2//2
+f 2//2 6//6 3//3
+f 12//12 4//4 7//7
+f 11//11 8//8 9//9
+f 4//4 8//8 6//6
+f 12//12 8//8 4//4
+f 11//11 5//5 8//8
+f 6//6 8//8 10//10
+f 2//2 9//9 1//1
+f 9//9 3//3 11//11
+f 11//11 3//3 5//5
+f 10//10 5//5 6//6
+f 1//1 12//12 7//7
+f 8//8 12//12 9//9
+f 1//1 9//9 12//12
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24b05ed6cda56fd0bad40e2ce32862f392c878cb
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/palm2_r_conv.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_r_conv.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn 0.530144 -1.139520 -2.207911
+v 32.122398 -4.252310 -10.456700 0.898039 0.898039 0.898039
+vn -2.090358 2.025624 -1.565667
+v -2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
+vn -3.555926 -2.504085 1.790440
+v 3.800000 -2.250000 75.000000 0.898039 0.898039 0.898039
+vn -1.164947 1.027596 1.641936
+v 4.281710 2.249920 78.018204 0.898039 0.898039 0.898039
+vn 2.236182 -2.381919 1.443950
+v 42.450001 -2.250000 75.300003 0.898039 0.898039 0.898039
+vn 1.112291 0.830480 1.377228
+v 42.507801 2.250110 77.785301 0.898039 0.898039 0.898039
+vn -2.672509 1.504418 0.212170
+v -2.400000 2.250000 32.000000 0.898039 0.898039 0.898039
+vn 1.954190 1.608573 -1.478094
+v 42.153801 2.251880 -4.781920 0.898039 0.898039 0.898039
+vn 3.352631 -2.636638 -1.007479
+v 42.250000 -2.250100 -2.501020 0.898039 0.898039 0.898039
+vn -0.799028 -3.980586 2.502145
+v 7.800000 -4.250000 75.500000 0.898039 0.898039 0.898039
+vn -0.390953 -0.781002 -1.862672
+v 7.865690 -4.248630 -11.871500 0.898039 0.898039 0.898039
+vn -3.325386 -2.154064 -1.101467
+v -2.910810 -1.583320 -3.673940 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 5//5 10//10 1//1
+f 10//10 5//5 6//6
+f 9//9 5//5 1//1
+f 10//10 4//4 3//3
+f 7//7 12//12 3//3
+f 12//12 10//10 3//3
+f 11//11 8//8 1//1
+f 8//8 11//11 2//2
+f 6//6 4//4 10//10
+f 6//6 2//2 7//7
+f 7//7 4//4 6//6
+f 6//6 8//8 2//2
+f 6//6 9//9 8//8
+f 6//6 5//5 9//9
+f 12//12 2//2 11//11
+f 1//1 8//8 9//9
+f 12//12 7//7 2//2
+f 7//7 3//3 4//4
+f 1//1 10//10 11//11
+f 12//12 11//11 10//10
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da0b7be63d61e83440d10d52c2a7d46205408de8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_index_middle_thumb_conv.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object proximal_index_middle_thumb_conv.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn -1.792798 -2.833246 3.054507
+v -50.442299 -2.096150 9.153850 0.898039 0.898039 0.898039
+vn -1.793823 -2.831355 -3.053118
+v -50.442299 -2.096150 -9.153850 0.898039 0.898039 0.898039
+vn 0.686393 -5.767399 1.256927
+v -7.093470 -3.750420 3.906760 0.898039 0.898039 0.898039
+vn -0.827017 5.259392 -1.928267
+v -35.750000 12.750000 -1.263520 0.898039 0.898039 0.898039
+vn -3.001692 2.634405 1.308245
+v -58.750000 5.750000 4.163260 0.898039 0.898039 0.898039
+vn -3.002051 2.642382 -1.308268
+v -58.750000 5.750000 -4.163260 0.898039 0.898039 0.898039
+vn -0.827029 5.259386 1.928271
+v -35.750000 12.750000 1.263520 0.898039 0.898039 0.898039
+vn 0.627160 4.983206 -2.082303
+v -25.750000 12.750000 -3.000000 0.898039 0.898039 0.898039
+vn 0.627289 4.983099 2.082372
+v -25.750000 12.750000 3.000000 0.898039 0.898039 0.898039
+vn 2.329035 1.055178 1.567076
+v 2.554590 2.196370 4.991590 0.898039 0.898039 0.898039
+vn 2.347585 1.101734 -1.596123
+v 2.509140 2.212730 -4.994690 0.898039 0.898039 0.898039
+vn 0.435391 -2.117564 5.255319
+v -25.750000 -1.250000 10.000000 0.898039 0.898039 0.898039
+vn -0.714532 1.961954 5.324045
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+vn -0.399969 -1.999828 5.315945
+v -46.750000 -1.250000 10.000000 0.898039 0.898039 0.898039
+vn 0.362253 2.233435 5.093444
+v -25.750000 5.642010 10.000000 0.898039 0.898039 0.898039
+vn -2.008519 -0.295765 -1.705248
+v -58.700901 2.717410 -7.167970 0.898039 0.898039 0.898039
+vn -2.007503 -0.297643 1.707543
+v -58.689701 2.707840 7.178510 0.898039 0.898039 0.898039
+vn -1.026012 -5.064849 1.733952
+v -46.750000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn -1.019568 -5.061908 -1.736647
+v -46.750000 -4.250000 -7.000000 0.898039 0.898039 0.898039
+vn -0.394465 -2.002599 -5.313160
+v -46.750000 -1.250000 -10.000000 0.898039 0.898039 0.898039
+vn 0.394268 -2.127179 -5.247698
+v -25.750000 -1.250000 -10.000000 0.898039 0.898039 0.898039
+vn 0.362273 2.233199 -5.093532
+v -25.750000 5.642010 -10.000000 0.898039 0.898039 0.898039
+vn -0.714999 1.961746 -5.324003
+v -46.750000 1.939150 -10.000000 0.898039 0.898039 0.898039
+vn 0.306103 -5.245382 -2.279191
+v -23.838100 -4.234540 -6.886670 0.898039 0.898039 0.898039
+vn 0.218298 -5.277864 2.267202
+v -25.750000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn 2.074761 -2.307001 -2.033443
+v 1.132420 -2.009520 -5.046260 0.898039 0.898039 0.898039
+vn 2.144928 -2.352789 2.097451
+v 1.039710 -2.027600 5.044550 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 9//9 15//15 10//10
+f 7//7 5//5 17//17
+f 11//11 22//22 8//8
+f 8//8 22//22 23//23
+f 23//23 4//4 8//8
+f 16//16 23//23 2//2
+f 13//13 15//15 9//9
+f 13//13 9//9 7//7
+f 13//13 7//7 17//17
+f 17//17 18//18 1//1
+f 18//18 14//14 1//1
+f 14//14 13//13 1//1
+f 6//6 4//4 16//16
+f 16//16 4//4 23//23
+f 19//19 16//16 2//2
+f 17//17 1//1 13//13
+f 27//27 3//3 26//26
+f 20//20 2//2 23//23
+f 20//20 19//19 2//2
+f 27//27 10//10 12//12
+f 25//25 24//24 3//3
+f 26//26 24//24 21//21
+f 24//24 26//26 3//3
+f 21//21 11//11 26//26
+f 25//25 3//3 27//27
+f 27//27 12//12 25//25
+f 5//5 4//4 6//6
+f 4//4 5//5 7//7
+f 8//8 9//9 10//10
+f 8//8 10//10 11//11
+f 8//8 4//4 7//7
+f 9//9 8//8 7//7
+f 12//12 13//13 14//14
+f 13//13 12//12 15//15
+f 16//16 5//5 6//6
+f 16//16 17//17 5//5
+f 16//16 18//18 17//17
+f 16//16 19//19 18//18
+f 20//20 22//22 21//21
+f 20//20 23//23 22//22
+f 24//24 20//20 21//21
+f 20//20 24//24 19//19
+f 12//12 10//10 15//15
+f 25//25 12//12 14//14
+f 25//25 14//14 18//18
+f 19//19 25//25 18//18
+f 24//24 25//25 19//19
+f 11//11 21//21 22//22
+f 26//26 11//11 10//10
+f 10//10 27//27 26//26
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c736413f7149cb758290c6ca934e2ce57db8aa9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_pinky_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object proximal_pinky_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -1.844211 -0.372760 -1.745994
+v -43.420898 2.521750 -7.413410 0.898039 0.898039 0.898039
+vn -0.962165 5.085668 -1.179615
+v -20.750000 12.750000 -1.263520 0.898039 0.898039 0.898039
+vn -2.855670 1.801973 1.249255
+v -43.750000 5.750000 4.163260 0.898039 0.898039 0.898039
+vn -2.988461 2.399640 -1.264747
+v -43.750000 5.750000 -4.163260 0.898039 0.898039 0.898039
+vn 1.031238 4.518325 1.514694
+v -11.598500 13.547600 2.143610 0.898039 0.898039 0.898039
+vn 1.790176 -0.333362 0.832665
+v 5.494070 -0.325212 4.657100 0.898039 0.898039 0.898039
+vn 3.314041 1.755491 -2.472350
+v 2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
+vn 1.366896 4.548311 -2.088505
+v -10.750000 12.750000 -3.000000 0.898039 0.898039 0.898039
+vn 0.865390 2.164309 4.736407
+v -10.750000 5.642010 10.000000 0.898039 0.898039 0.898039
+vn -1.730630 -0.485818 1.959702
+v -42.111401 1.755820 8.403480 0.898039 0.898039 0.898039
+vn 0.721830 -2.000106 5.077980
+v -10.909800 -1.234120 10.021400 0.898039 0.898039 0.898039
+vn 0.705529 -5.096799 2.183209
+v -10.750000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn -1.046777 -4.046587 2.397308
+v -31.750000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn -1.062182 -3.690108 -2.508628
+v -31.750000 -4.250000 -7.000000 0.898039 0.898039 0.898039
+vn 0.636565 -5.130673 -2.180642
+v -10.750000 -4.250000 -7.000000 0.898039 0.898039 0.898039
+vn 0.814722 -1.988469 -5.079764
+v -10.935800 -1.223670 -10.032700 0.898039 0.898039 0.898039
+vn -0.744656 -0.637345 -3.537232
+v -31.750000 1.939150 -10.000000 0.898039 0.898039 0.898039
+vn 0.890221 2.134254 -4.810808
+v -10.750000 5.642010 -10.000000 0.898039 0.898039 0.898039
+vn 2.414477 -2.306974 -2.060284
+v 2.191930 -1.802230 -5.029260 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 3//3 10//10 5//5
+f 7//7 18//18 8//8
+f 8//8 18//18 17//17
+f 2//2 8//8 17//17
+f 12//12 6//6 11//11
+f 5//5 9//9 6//6
+f 5//5 10//10 9//9
+f 11//11 10//10 13//13
+f 1//1 4//4 2//2
+f 1//1 2//2 17//17
+f 16//16 1//1 17//17
+f 1//1 16//16 14//14
+f 16//16 19//19 15//15
+f 3//3 2//2 4//4
+f 2//2 3//3 5//5
+f 5//5 6//6 7//7
+f 7//7 8//8 5//5
+f 8//8 2//2 5//5
+f 11//11 9//9 10//10
+f 13//13 12//12 11//11
+f 1//1 3//3 4//4
+f 3//3 1//1 10//10
+f 14//14 12//12 13//13
+f 14//14 15//15 12//12
+f 14//14 10//10 1//1
+f 14//14 13//13 10//10
+f 6//6 9//9 11//11
+f 17//17 18//18 16//16
+f 14//14 16//16 15//15
+f 19//19 7//7 6//6
+f 19//19 16//16 18//18
+f 19//19 18//18 7//7
+f 12//12 15//15 19//19
+f 19//19 6//6 12//12
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e538afc592ed9995c496186d7d99eaf54934b3a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/hands/proximal_ring_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object proximal_ring_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -2.800728 1.636947 1.061665
+v -51.250000 5.750000 4.163260 0.898039 0.898039 0.898039
+vn -2.783585 3.662042 -1.808589
+v -49.273499 6.404360 -3.862070 0.898039 0.898039 0.898039
+vn -0.858241 5.008230 0.938617
+v -28.250000 12.750000 1.263520 0.898039 0.898039 0.898039
+vn 0.470157 -2.020982 -5.201349
+v -18.455400 -1.234620 -10.025300 0.898039 0.898039 0.898039
+vn 0.483747 2.156311 -5.006341
+v -18.250000 5.642010 -10.000000 0.898039 0.898039 0.898039
+vn -1.757517 -0.369424 -1.766955
+v -49.781700 1.839060 -8.304070 0.898039 0.898039 0.898039
+vn -1.047246 -4.011527 -2.411889
+v -39.250000 -4.250000 -7.000000 0.898039 0.898039 0.898039
+vn 0.407430 -5.227558 -2.211616
+v -18.250000 -4.250000 -7.000000 0.898039 0.898039 0.898039
+vn 0.823593 4.845188 -1.994212
+v -18.250000 12.750000 -3.000000 0.898039 0.898039 0.898039
+vn 0.870098 4.848413 2.002973
+v -18.250000 12.750000 3.000000 0.898039 0.898039 0.898039
+vn 2.619554 1.027365 1.688691
+v 2.511780 2.196570 4.993080 0.898039 0.898039 0.898039
+vn 2.601751 0.983079 -1.656993
+v 2.562740 2.174120 -4.987160 0.898039 0.898039 0.898039
+vn 0.475789 -2.023903 5.201561
+v -18.455400 -1.234620 10.025300 0.898039 0.898039 0.898039
+vn -1.731609 -0.472931 1.910187
+v -49.646198 1.744250 8.407410 0.898039 0.898039 0.898039
+vn 0.487230 2.158945 5.006425
+v -18.250000 5.642010 10.000000 0.898039 0.898039 0.898039
+vn 0.407458 -5.227524 2.211650
+v -18.250000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn -1.044459 -4.053300 2.396668
+v -39.250000 -4.250000 7.000000 0.898039 0.898039 0.898039
+vn 2.179113 -2.503758 1.914829
+v 1.092030 -2.117730 4.902990 0.898039 0.898039 0.898039
+vn 2.166936 -2.559635 -1.951380
+v 1.008880 -2.125240 -4.914760 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 10//10 14//14 15//15
+f 14//14 10//10 3//3
+f 3//3 1//1 14//14
+f 8//8 4//4 19//19
+f 5//5 9//9 12//12
+f 5//5 6//6 9//9
+f 2//2 9//9 6//6
+f 15//15 11//11 10//10
+f 13//13 16//16 18//18
+f 6//6 4//4 7//7
+f 12//12 19//19 4//4
+f 13//13 18//18 11//11
+f 13//13 14//14 17//17
+f 3//3 2//2 1//1
+f 5//5 4//4 6//6
+f 7//7 4//4 8//8
+f 3//3 9//9 2//2
+f 10//10 9//9 3//3
+f 2//2 6//6 1//1
+f 1//1 6//6 14//14
+f 11//11 9//9 10//10
+f 9//9 11//11 12//12
+f 14//14 13//13 15//15
+f 5//5 12//12 4//4
+f 19//19 18//18 8//8
+f 8//8 18//18 16//16
+f 7//7 8//8 17//17
+f 16//16 17//17 8//8
+f 16//16 13//13 17//17
+f 6//6 17//17 14//14
+f 6//6 7//7 17//17
+f 13//13 11//11 15//15
+f 12//12 18//18 19//19
+f 11//11 18//18 12//12
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe462f3c16b59d35dc8710d9dc89a29074dbb19f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_base_conv.obj
@@ -0,0 +1,68 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head_base_conv.obj
+#
+# Vertices: 14
+# Faces: 24
+#
+####
+vn -0.953409 2.089772 2.263098
+v -41.103901 43.760201 617.778992 0.898039 0.898039 0.898039
+vn 1.718046 -2.102007 2.030235
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+f 3//3 1//1 11//11
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+f 9//9 8//8 14//14
+f 14//14 8//8 2//2
+f 14//14 2//2 3//3
+# 24 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f360535bbf04c2bdf2739f36e4d6e2789372e3f9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/head/head_conv.obj
@@ -0,0 +1,140 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head_conv.obj
+#
+# Vertices: 32
+# Faces: 60
+#
+####
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+
+f 6//6 4//4 26//26
+f 31//31 11//11 10//10
+f 18//18 29//29 7//7
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+f 26//26 27//27 28//28
+f 18//18 20//20 29//29
+f 31//31 30//30 7//7
+f 7//7 1//1 31//31
+# 60 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/elbow_link_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/elbow_link_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4a059ad6302f7cfaf8fddb6c30c840d732a83e6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/elbow_link_l_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object elbow_link_l_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
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+v -23.502600 21.918800 45.869999 0.898039 0.898039 0.898039
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+
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+f 13//13 14//14 18//18
+f 12//12 18//18 7//7
+f 19//19 18//18 12//12
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..992882102f85310998e3a69b9fc6c6c1d6951fb8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_l_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_l_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
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+# 19 vertices, 0 vertices normals
+
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+f 10//10 8//8 9//9
+f 9//9 8//8 11//11
+f 13//13 7//7 12//12
+f 15//15 14//14 16//16
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d3aef1843264d0dfc3fa47f09dac74eab49dd4d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/shoulder_link_l_conv.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_link_l_conv.obj
+#
+# Vertices: 15
+# Faces: 26
+#
+####
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+vn 1.641525 -4.023690 -1.828948
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+# 15 vertices, 0 vertices normals
+
+f 1//1 4//4 6//6
+f 6//6 14//14 10//10
+f 10//10 13//13 11//11
+f 10//10 14//14 13//13
+f 12//12 9//9 11//11
+f 1//1 3//3 4//4
+f 1//1 2//2 3//3
+f 1//1 6//6 10//10
+f 5//5 7//7 6//6
+f 5//5 6//6 15//15
+f 5//5 3//3 8//8
+f 9//9 1//1 10//10
+f 2//2 1//1 9//9
+f 9//9 10//10 11//11
+f 9//9 3//3 2//2
+f 8//8 3//3 9//9
+f 7//7 5//5 12//12
+f 12//12 5//5 8//8
+f 9//9 12//12 8//8
+f 11//11 13//13 12//12
+f 12//12 13//13 14//14
+f 14//14 6//6 7//7
+f 7//7 12//12 14//14
+f 3//3 15//15 4//4
+f 15//15 3//3 5//5
+f 15//15 6//6 4//4
+# 26 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ee9493abc1f0d89006eb826b6f2f1357a9dbda
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/underarm_l_conv.obj
@@ -0,0 +1,108 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_l_conv.obj
+#
+# Vertices: 24
+# Faces: 44
+#
+####
+vn -4.790132 0.013214 -1.680604
+v -45.500000 1.500000 20.000000 0.898039 0.898039 0.898039
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+v -31.733700 34.733700 166.000000 0.898039 0.898039 0.898039
+vn -3.457274 3.505601 -1.537559
+v -31.733700 34.733700 20.000000 0.898039 0.898039 0.898039
+vn -5.207583 0.016322 1.232127
+v -45.500000 1.500000 166.000000 0.898039 0.898039 0.898039
+vn 3.505601 -3.457274 -1.537559
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+vn 3.497276 -3.602917 1.440051
+v 34.733700 -31.733700 166.000000 0.898039 0.898039 0.898039
+vn 5.105466 0.014875 1.353015
+v 48.500000 1.500000 166.000000 0.898039 0.898039 0.898039
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+v 48.500000 1.500000 20.000000 0.898039 0.898039 0.898039
+vn -2.051076 -1.609814 3.802688
+v -22.500000 -8.306620 203.500000 0.898039 0.898039 0.898039
+vn -2.074124 1.543874 3.903313
+v -22.500000 8.306620 203.500000 0.898039 0.898039 0.898039
+vn 2.000399 1.564493 4.057125
+v 22.500000 8.306620 203.500000 0.898039 0.898039 0.898039
+vn 1.979971 -1.632677 3.957496
+v 22.500000 -8.306620 203.500000 0.898039 0.898039 0.898039
+vn -1.871533 1.739340 -4.329894
+v -22.500000 22.500000 0.000000 0.898039 0.898039 0.898039
+vn 1.739943 1.739943 -4.539864
+v 22.500000 22.500000 0.000000 0.898039 0.898039 0.898039
+vn 1.739340 -1.871533 -4.329894
+v 22.500000 -22.500000 0.000000 0.898039 0.898039 0.898039
+vn -1.863377 -1.863377 -4.107778
+v -22.500000 -22.500000 0.000000 0.898039 0.898039 0.898039
+vn 0.011747 4.641745 -1.792722
+v 1.500000 48.500000 20.000000 0.898039 0.898039 0.898039
+vn 0.009326 4.779567 1.677453
+v 1.500000 48.500000 166.000000 0.898039 0.898039 0.898039
+vn 3.397317 3.397317 -1.645387
+v 34.733700 34.733700 20.000000 0.898039 0.898039 0.898039
+vn 3.436038 3.560194 1.514010
+v 34.733700 34.733700 166.000000 0.898039 0.898039 0.898039
+vn 0.013214 -4.790132 -1.680604
+v 1.500000 -45.500000 20.000000 0.898039 0.898039 0.898039
+vn 0.010122 -4.867374 1.602958
+v 1.500000 -45.500000 166.000000 0.898039 0.898039 0.898039
+vn -3.573928 -3.573928 -1.404975
+v -31.733700 -31.733700 20.000000 0.898039 0.898039 0.898039
+vn -3.524231 -3.666277 1.370677
+v -31.733700 -31.733700 166.000000 0.898039 0.898039 0.898039
+# 24 vertices, 0 vertices normals
+
+f 11//11 12//12 7//7
+f 6//6 7//7 12//12
+f 20//20 11//11 7//7
+f 11//11 20//20 18//18
+f 14//14 8//8 15//15
+f 10//10 18//18 2//2
+f 10//10 11//11 18//18
+f 10//10 2//2 4//4
+f 15//15 8//8 5//5
+f 9//9 10//10 4//4
+f 13//13 1//1 3//3
+f 13//13 16//16 1//1
+f 14//14 13//13 17//17
+f 17//17 13//13 3//3
+f 12//12 9//9 22//22
+f 22//22 6//6 12//12
+f 8//8 14//14 19//19
+f 14//14 17//17 19//19
+f 21//21 16//16 15//15
+f 5//5 21//21 15//15
+f 24//24 9//9 4//4
+f 24//24 22//22 9//9
+f 16//16 21//21 23//23
+f 23//23 1//1 16//16
+f 1//1 2//2 3//3
+f 1//1 4//4 2//2
+f 6//6 5//5 7//7
+f 5//5 8//8 7//7
+f 10//10 9//9 11//11
+f 9//9 12//12 11//11
+f 13//13 14//14 15//15
+f 13//13 15//15 16//16
+f 2//2 17//17 3//3
+f 17//17 2//2 18//18
+f 7//7 8//8 19//19
+f 19//19 20//20 7//7
+f 19//19 17//17 18//18
+f 20//20 19//19 18//18
+f 21//21 5//5 6//6
+f 22//22 21//21 6//6
+f 23//23 21//21 22//22
+f 24//24 23//23 22//22
+f 4//4 1//1 23//23
+f 23//23 24//24 4//4
+# 44 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73b0d75a6a40f2ba7b27a89228ebeb4e4c595064
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/left_arm/upperarm_l_conv.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_l_conv.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn 0.938258 4.292203 3.944691
+v -69.835503 28.178101 26.889400 0.898039 0.898039 0.898039
+vn -0.854243 0.012007 5.347795
+v -229.119003 1.548140 38.403900 0.898039 0.898039 0.898039
+vn 0.969040 2.084728 5.424860
+v -69.926399 15.290900 35.692299 0.898039 0.898039 0.898039
+vn -0.393228 4.270132 3.529318
+v -244.141006 37.296101 19.257299 0.898039 0.898039 0.898039
+vn -2.052136 2.248300 1.692518
+v -284.721008 39.367699 10.083600 0.898039 0.898039 0.898039
+vn 1.004427 4.714766 -3.002802
+v -70.604401 33.278099 -24.141701 0.898039 0.898039 0.898039
+vn 1.013956 5.472127 0.711677
+v -69.114304 39.898300 5.136650 0.898039 0.898039 0.898039
+vn 0.913217 -4.905533 1.712878
+v -68.929100 -38.860401 12.122500 0.898039 0.898039 0.898039
+vn 1.023749 -1.173038 -5.389137
+v -69.265404 -6.717790 -41.343201 0.898039 0.898039 0.898039
+vn 0.808141 -1.539650 5.119656
+v -71.973602 -9.724860 39.421501 0.898039 0.898039 0.898039
+vn -2.757915 -2.175197 2.240976
+v -284.106995 -22.944599 11.019900 0.898039 0.898039 0.898039
+vn -0.829723 -4.195389 3.368506
+v -233.270996 -33.225800 21.160400 0.898039 0.898039 0.898039
+vn 1.106814 2.220307 -5.333687
+v -69.156998 14.531100 -38.210899 0.898039 0.898039 0.898039
+vn -1.657068 1.423617 -1.330971
+v -294.131012 36.874401 -33.730000 0.898039 0.898039 0.898039
+vn -0.541138 -5.605177 -0.787531
+v -231.350998 -40.172001 -8.045250 0.898039 0.898039 0.898039
+vn 0.862136 -4.431647 -2.946706
+v -71.559898 -33.931999 -24.705601 0.898039 0.898039 0.898039
+vn -1.922690 -1.380534 -1.359002
+v -295.204987 -23.020700 -32.377399 0.898039 0.898039 0.898039
+vn 0.019984 -0.628722 -5.764765
+v -136.223999 -0.947640 -43.374802 0.898039 0.898039 0.898039
+vn 2.737943 -1.440675 2.043119
+v 2.723950 -8.845170 13.831000 0.898039 0.898039 0.898039
+vn 2.870305 1.496271 -2.067652
+v 2.653210 9.833390 -12.580000 0.898039 0.898039 0.898039
+vn 2.888752 1.822399 1.278367
+v 4.766820 11.752600 8.277850 0.898039 0.898039 0.898039
+vn 2.946809 -2.363727 -1.706514
+v 0.704879 -12.818600 -9.532150 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 3//3 21//21
+f 19//19 21//21 3//3
+f 1//1 7//7 4//4
+f 1//1 21//21 7//7
+f 1//1 4//4 3//3
+f 19//19 3//3 10//10
+f 5//5 14//14 17//17
+f 8//8 22//22 19//19
+f 3//3 2//2 10//10
+f 4//4 2//2 3//3
+f 4//4 5//5 2//2
+f 14//14 7//7 6//6
+f 20//20 13//13 6//6
+f 9//9 13//13 20//20
+f 6//6 13//13 14//14
+f 14//14 5//5 7//7
+f 7//7 5//5 4//4
+f 11//11 5//5 17//17
+f 5//5 11//11 2//2
+f 14//14 18//18 17//17
+f 8//8 16//16 22//22
+f 15//15 16//16 8//8
+f 19//19 10//10 8//8
+f 10//10 12//12 8//8
+f 12//12 10//10 2//2
+f 21//21 20//20 7//7
+f 6//6 7//7 20//20
+f 9//9 18//18 13//13
+f 11//11 15//15 12//12
+f 12//12 15//15 8//8
+f 22//22 9//9 20//20
+f 2//2 11//11 12//12
+f 13//13 18//18 14//14
+f 15//15 11//11 17//17
+f 18//18 16//16 17//17
+f 16//16 15//15 17//17
+f 16//16 9//9 22//22
+f 16//16 18//18 9//9
+f 19//19 20//20 21//21
+f 19//19 22//22 20//20
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840d04ea64f74e9c6013938cbadc6f52cad48be5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_pitch_link_conv.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_pitch_link_conv.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
+vn 3.124739 -0.105687 -3.169382
+v 24.265200 -7.270710 -11.713700 0.898039 0.898039 0.898039
+vn 3.936423 0.006374 2.963644
+v 24.635300 0.000000 11.389900 0.898039 0.898039 0.898039
+vn 0.964231 -1.046061 5.855980
+v -18.500000 -23.000000 25.000000 0.898039 0.898039 0.898039
+vn 3.865105 1.203694 1.839023
+v 24.500000 36.000000 5.000000 0.898039 0.898039 0.898039
+vn 4.036795 -1.220932 -2.436297
+v 24.500000 -36.000000 -5.000000 0.898039 0.898039 0.898039
+vn 4.082150 -1.191573 2.428085
+v 24.500000 -36.000000 5.000000 0.898039 0.898039 0.898039
+vn -2.834573 -0.969748 -2.720663
+v -24.999500 -39.950699 -10.120900 0.898039 0.898039 0.898039
+vn 0.109560 0.901009 -0.063809
+v 3.785240 79.536797 -1.178400 0.898039 0.898039 0.898039
+vn -2.730805 0.015398 -3.101034
+v -25.002100 0.128458 -14.922400 0.898039 0.898039 0.898039
+vn -2.814416 1.166629 -2.533541
+v -25.000000 36.000000 -10.000000 0.898039 0.898039 0.898039
+vn 2.992714 1.260098 -3.520122
+v 20.033600 40.078602 -8.241460 0.898039 0.898039 0.898039
+vn -2.805215 -0.706549 2.992250
+v -25.000000 -23.000000 25.000000 0.898039 0.898039 0.898039
+vn -5.153151 2.043660 1.108748
+v -25.000000 36.000000 10.000000 0.898039 0.898039 0.898039
+vn -1.795320 0.730067 2.885739
+v -24.018200 23.246500 26.828199 0.898039 0.898039 0.898039
+vn -4.694426 -1.993470 1.547793
+v -25.000000 -43.500000 10.000000 0.898039 0.898039 0.898039
+vn 0.423887 -1.927154 0.783670
+v 1.291190 -83.290497 2.161290 0.898039 0.898039 0.898039
+vn -0.261961 -1.938274 -1.194799
+v -0.831482 -82.725601 -3.286110 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 6//6 16//16 5//5
+f 1//1 5//5 17//17
+f 17//17 5//5 16//16
+f 8//8 13//13 14//14
+f 3//3 6//6 2//2
+f 1//1 7//7 9//9
+f 7//7 1//1 17//17
+f 4//4 14//14 2//2
+f 17//17 15//15 7//7
+f 14//14 4//4 8//8
+f 8//8 10//10 13//13
+f 8//8 4//4 11//11
+f 8//8 11//11 10//10
+f 1//1 9//9 11//11
+f 16//16 12//12 15//15
+f 17//17 16//16 15//15
+f 3//3 12//12 16//16
+f 16//16 6//6 3//3
+f 2//2 14//14 3//3
+f 1//1 11//11 4//4
+f 1//1 6//6 5//5
+f 1//1 2//2 6//6
+f 1//1 4//4 2//2
+f 10//10 11//11 9//9
+f 14//14 13//13 12//12
+f 12//12 10//10 9//9
+f 7//7 15//15 12//12
+f 12//12 13//13 10//10
+f 12//12 9//9 7//7
+f 12//12 3//3 14//14
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c67e2427664a6c4bcd09286486a959918c9717b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_roll_link_conv.obj
@@ -0,0 +1,64 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_roll_link_conv.obj
+#
+# Vertices: 13
+# Faces: 22
+#
+####
+vn -2.433167 -2.666894 1.080464
+v -16.000000 -57.500000 -100.000000 0.898039 0.898039 0.898039
+vn -3.633236 0.000001 2.960974
+v -4.622060 0.000002 -35.759701 0.898039 0.898039 0.898039
+vn -2.433744 2.666894 1.081130
+v -16.000000 57.500000 -100.000000 0.898039 0.898039 0.898039
+vn 3.633237 -0.000000 2.960974
+v 4.622060 0.000000 -35.759701 0.898039 0.898039 0.898039
+vn 2.433744 2.666894 1.081130
+v 16.000000 57.500000 -100.000000 0.898039 0.898039 0.898039
+vn 2.433047 -2.666893 1.079707
+v 16.000000 -57.500000 -100.000000 0.898039 0.898039 0.898039
+vn 0.000000 -0.000000 2.730413
+v 0.000001 0.000000 -31.988100 0.898039 0.898039 0.898039
+vn -1.795642 1.908274 -1.533441
+v -16.000000 57.500000 -104.000000 0.898039 0.898039 0.898039
+vn 1.795666 1.908468 -1.533396
+v 16.000000 57.500000 -104.000000 0.898039 0.898039 0.898039
+vn 1.148771 -1.624209 -2.217979
+v 6.223400 -57.480099 -130.345001 0.898039 0.898039 0.898039
+vn -2.948942 -2.618238 -0.747648
+v -16.000000 -57.499100 -111.382004 0.898039 0.898039 0.898039
+vn -1.255810 -1.662469 -2.280028
+v -6.378850 -57.311100 -130.054001 0.898039 0.898039 0.898039
+vn 2.965318 -2.617732 -0.750680
+v 16.000000 -57.478199 -111.379997 0.898039 0.898039 0.898039
+# 13 vertices, 0 vertices normals
+
+f 3//3 7//7 5//5
+f 4//4 5//5 7//7
+f 2//2 7//7 3//3
+f 1//1 6//6 7//7
+f 1//1 7//7 2//2
+f 4//4 7//7 6//6
+f 11//11 8//8 12//12
+f 10//10 9//9 13//13
+f 1//1 2//2 3//3
+f 4//4 6//6 5//5
+f 9//9 8//8 5//5
+f 5//5 8//8 3//3
+f 9//9 10//10 8//8
+f 12//12 8//8 10//10
+f 3//3 11//11 1//1
+f 8//8 11//11 3//3
+f 6//6 13//13 5//5
+f 5//5 13//13 9//9
+f 11//11 10//10 1//1
+f 1//1 10//10 6//6
+f 10//10 11//11 12//12
+f 10//10 13//13 6//6
+# 22 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d4500240df7447024a9cf24828651f38e15083
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/neck/neck_yaw_link_conv.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_yaw_link_conv.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
+vn -1.789028 -5.493935 1.960715
+v -12.500000 -16.500000 7.000000 0.898039 0.898039 0.898039
+vn -1.766957 5.531987 1.915813
+v -12.500000 16.500000 7.000000 0.898039 0.898039 0.898039
+vn 0.958752 -1.494964 2.072672
+v 14.653500 -15.747700 28.140600 0.898039 0.898039 0.898039
+vn 0.957806 1.502278 2.092174
+v 14.653500 15.747700 28.140499 0.898039 0.898039 0.898039
+vn 5.873045 0.197979 1.092598
+v 23.500500 1.832020 2.995030 0.898039 0.898039 0.898039
+vn -0.540325 -2.739835 -2.002671
+v -6.308190 -34.961800 -77.843903 0.898039 0.898039 0.898039
+vn -2.267126 2.076199 -2.814970
+v -25.779100 20.619400 -77.800003 0.898039 0.898039 0.898039
+vn -0.388850 2.625659 -1.973393
+v -6.039160 35.104801 -78.202103 0.898039 0.898039 0.898039
+vn 1.297826 -2.611134 -2.176038
+v 14.964900 -31.203899 -77.766403 0.898039 0.898039 0.898039
+vn 2.817093 -1.204869 -1.983635
+v 31.170500 -15.865600 -76.787697 0.898039 0.898039 0.898039
+vn -2.262230 -2.079205 -2.821101
+v -25.779100 -20.619400 -77.800003 0.898039 0.898039 0.898039
+vn -3.412079 -2.103484 1.469159
+v -47.738300 -3.147190 1.965540 0.898039 0.898039 0.898039
+vn -2.868631 1.112604 1.620945
+v -48.325298 2.582410 3.436420 0.898039 0.898039 0.898039
+vn -3.003904 -0.734911 -3.244511
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+v -32.230999 7.167170 -77.797897 0.898039 0.898039 0.898039
+vn 2.426674 1.219347 -1.978015
+v 30.957100 16.422899 -77.775101 0.898039 0.898039 0.898039
+vn 2.550643 5.244984 -0.162481
+v 14.318500 29.731800 -65.800003 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 12//12 6//6 1//1
+f 3//3 12//12 1//1
+f 6//6 9//9 3//3
+f 6//6 3//3 1//1
+f 13//13 2//2 8//8
+f 7//7 13//13 8//8
+f 6//6 12//12 11//11
+f 12//12 14//14 11//11
+f 15//15 14//14 12//12
+f 13//13 7//7 15//15
+f 4//4 8//8 2//2
+f 13//13 4//4 2//2
+f 9//9 10//10 3//3
+f 4//4 13//13 3//3
+f 3//3 13//13 12//12
+f 16//16 17//17 4//4
+f 4//4 17//17 8//8
+f 16//16 4//4 5//5
+f 10//10 16//16 5//5
+f 5//5 4//4 3//3
+f 3//3 10//10 5//5
+f 15//15 12//12 13//13
+f 11//11 14//14 16//16
+f 14//14 15//15 16//16
+f 16//16 10//10 9//9
+f 16//16 6//6 11//11
+f 16//16 15//15 7//7
+f 8//8 16//16 7//7
+f 16//16 9//9 6//6
+f 17//17 16//16 8//8
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..886d3bcfed6b0b8b896f00e18eb90c18b1c7f6b7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_pitch_link_conv.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object hd_platform_pitch_link_conv.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn 5.103676 2.466895 -0.312853
+v 43.000000 188.000000 0.000000 0.898039 0.898039 0.898039
+vn -0.012285 1.761670 -5.455975
+v 0.000000 188.000000 -42.999901 0.898039 0.898039 0.898039
+vn -0.016009 2.329610 5.232281
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+vn -3.388428 1.101186 3.111156
+v -45.500000 157.000000 40.500000 0.898039 0.898039 0.898039
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+v -45.500000 -162.000000 40.500000 0.898039 0.898039 0.898039
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+v 45.500000 157.000000 -40.500000 0.898039 0.898039 0.898039
+vn -2.706457 -0.002767 -4.687699
+v -41.500000 -96.000000 -44.500000 0.898039 0.898039 0.898039
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+vn 3.460488 1.086173 3.006524
+v 45.500000 157.000000 40.500000 0.898039 0.898039 0.898039
+vn 3.878529 -1.786042 2.487192
+v 45.500000 -162.000000 40.500000 0.898039 0.898039 0.898039
+vn 0.357028 -2.833578 -2.806384
+v 4.784200 -187.000000 -42.460899 0.898039 0.898039 0.898039
+vn 0.332759 -3.888882 2.716890
+v 9.568400 -187.000000 41.921902 0.898039 0.898039 0.898039
+vn 2.874274 -3.088149 -0.331030
+v 43.000000 -187.000000 0.000000 0.898039 0.898039 0.898039
+vn -2.823707 -3.346625 0.027992
+v -43.000000 -187.000000 0.000000 0.898039 0.898039 0.898039
+vn 1.721279 3.477446 1.778042
+v 19.124399 219.800003 19.124399 0.898039 0.898039 0.898039
+vn 0.140063 3.125254 -1.641518
+v 0.421480 228.029007 -23.206900 0.898039 0.898039 0.898039
+vn -2.683527 2.733088 0.912003
+v -37.488998 213.798004 11.923700 0.898039 0.898039 0.898039
+vn 5.738401 -0.022561 -0.129141
+v 62.750000 1.026300 -1.072940 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 7//7 2//2 8//8
+f 16//16 11//11 5//5
+f 13//13 14//14 22//22
+f 7//7 9//9 2//2
+f 7//7 15//15 10//10
+f 18//18 5//5 6//6
+f 18//18 6//6 10//10
+f 11//11 16//16 14//14
+f 2//2 20//20 8//8
+f 13//13 3//3 11//11
+f 11//11 4//4 6//6
+f 11//11 3//3 4//4
+f 5//5 11//11 6//6
+f 21//21 6//6 4//4
+f 8//8 1//1 22//22
+f 1//1 13//13 22//22
+f 17//17 15//15 7//7
+f 7//7 22//22 17//17
+f 17//17 22//22 14//14
+f 12//12 2//2 9//9
+f 12//12 21//21 20//20
+f 6//6 21//21 12//12
+f 18//18 16//16 5//5
+f 16//16 17//17 14//14
+f 1//1 8//8 20//20
+f 19//19 3//3 13//13
+f 10//10 15//15 18//18
+f 12//12 20//20 2//2
+f 19//19 21//21 3//3
+f 21//21 4//4 3//3
+f 1//1 20//20 19//19
+f 1//1 19//19 13//13
+f 22//22 7//7 8//8
+f 10//10 9//9 7//7
+f 6//6 9//9 10//10
+f 11//11 14//14 13//13
+f 16//16 18//18 15//15
+f 16//16 15//15 17//17
+f 21//21 19//19 20//20
+f 6//6 12//12 9//9
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2607b0e67dd64927dd041b1a84186f6caa986bf2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/hd_platform_roll_link_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object hd_platform_roll_link_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -1.313433 -2.810033 2.579524
+v -28.565701 -70.001198 151.031998 0.898039 0.898039 0.898039
+vn 3.208991 -0.091758 4.714145
+v 82.852097 17.937201 152.434006 0.898039 0.898039 0.898039
+vn 4.295530 -1.574567 2.124519
+v 125.251999 -19.139400 108.492996 0.898039 0.898039 0.898039
+vn -1.546755 -1.440207 -1.425116
+v -119.204002 -69.973602 -0.543015 0.898039 0.898039 0.898039
+vn 5.727164 -0.209845 -1.762562
+v 121.500000 -23.000000 8.000000 0.898039 0.898039 0.898039
+vn 5.630126 0.124082 -1.964612
+v 121.500000 23.000000 8.000000 0.898039 0.898039 0.898039
+vn 1.552465 -1.759200 -1.711421
+v 115.677002 -69.980499 -0.545597 0.898039 0.898039 0.898039
+vn 4.980978 0.819790 2.131755
+v 125.536003 14.524500 109.334000 0.898039 0.898039 0.898039
+vn 2.989147 3.264805 0.386781
+v 114.515999 131.000000 9.993000 0.898039 0.898039 0.898039
+vn -1.605588 4.321898 2.095991
+v -29.957800 131.000000 149.772003 0.898039 0.898039 0.898039
+vn -1.522046 1.279000 -0.862069
+v -118.526001 131.000000 9.970510 0.898039 0.898039 0.898039
+vn 1.986014 4.222461 2.057687
+v 35.118999 131.000000 137.699997 0.898039 0.898039 0.898039
+vn 1.590606 1.687302 -1.746158
+v 114.503998 130.475998 0.001312 0.898039 0.898039 0.898039
+vn -3.041406 -2.621856 1.100377
+v -116.089996 -68.958000 35.923000 0.898039 0.898039 0.898039
+vn -2.182276 1.772483 3.751556
+v -25.933300 99.029900 187.580002 0.898039 0.898039 0.898039
+vn 1.141627 1.473988 4.313162
+v 6.619640 93.734703 193.042007 0.898039 0.898039 0.898039
+vn -2.608043 -0.655533 4.648157
+v -26.020100 70.789703 187.421005 0.898039 0.898039 0.898039
+vn 1.004269 -3.548566 2.835378
+v 29.817200 -70.012100 147.026993 0.898039 0.898039 0.898039
+vn 3.158945 -3.605256 0.458202
+v 115.999001 -69.001701 35.997700 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 6//6 7//7 13//13
+f 11//11 15//15 10//10
+f 9//9 12//12 8//8
+f 9//9 8//8 13//13
+f 6//6 13//13 8//8
+f 14//14 15//15 11//11
+f 12//12 16//16 8//8
+f 14//14 1//1 17//17
+f 4//4 1//1 14//14
+f 2//2 16//16 18//18
+f 16//16 2//2 8//8
+f 3//3 18//18 19//19
+f 5//5 3//3 7//7
+f 2//2 18//18 3//3
+f 5//5 7//7 6//6
+f 4//4 13//13 7//7
+f 12//12 9//9 10//10
+f 12//12 10//10 16//16
+f 11//11 10//10 9//9
+f 11//11 13//13 4//4
+f 9//9 13//13 11//11
+f 10//10 15//15 16//16
+f 4//4 14//14 11//11
+f 14//14 17//17 15//15
+f 1//1 16//16 17//17
+f 17//17 16//16 15//15
+f 7//7 18//18 4//4
+f 19//19 18//18 7//7
+f 18//18 1//1 4//4
+f 18//18 16//16 1//1
+f 3//3 8//8 2//2
+f 7//7 3//3 19//19
+f 6//6 3//3 5//5
+f 8//8 3//3 6//6
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e0d903bf35039b8e0193e366a5e4f5974f19829
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/platform/platform_conv.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object platform_conv.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn -1.301024 2.858448 -2.811902
+v -777.000000 240.000000 -230.000000 0.898039 0.898039 0.898039
+vn 2.663233 -2.999270 -0.658429
+v -0.012670 -328.558990 -74.455200 0.898039 0.898039 0.898039
+vn 2.289948 2.400993 1.697334
+v -0.487683 288.019989 174.363998 0.898039 0.898039 0.898039
+vn 2.392974 3.007671 0.263320
+v -0.858991 340.565002 14.035700 0.898039 0.898039 0.898039
+vn 0.534864 -5.885120 0.472195
+v -39.640099 -336.459015 13.524500 0.898039 0.898039 0.898039
+vn 2.536904 -2.813336 1.189493
+v -0.065148 -307.972992 130.227997 0.898039 0.898039 0.898039
+vn -1.189917 -2.944824 -2.851593
+v -777.000000 -240.000000 -230.000000 0.898039 0.898039 0.898039
+vn -0.532468 -2.670576 5.357186
+v -140.492996 -164.987000 270.160004 0.898039 0.898039 0.898039
+vn 2.371615 -2.011827 2.178000
+v -0.041210 -252.945007 217.779007 0.898039 0.898039 0.898039
+vn -0.635923 2.917337 5.208711
+v -140.494003 164.987000 270.160004 0.898039 0.898039 0.898039
+vn -2.058176 -2.455138 2.370539
+v -777.000000 -240.000000 90.000000 0.898039 0.898039 0.898039
+vn -2.052319 2.456884 2.373082
+v -777.000000 240.000000 90.000000 0.898039 0.898039 0.898039
+vn -2.977822 1.490836 -0.636230
+v -935.447998 179.270004 -150.677002 0.898039 0.898039 0.898039
+vn 1.087739 0.009286 -5.501636
+v -39.019299 -0.000132 -348.997986 0.898039 0.898039 0.898039
+vn -2.441062 -1.095554 -0.888784
+v -953.892029 -171.373001 -180.869995 0.898039 0.898039 0.898039
+vn 0.210901 -0.767566 5.295920
+v -64.344803 0.000033 333.358002 0.898039 0.898039 0.898039
+vn 2.564548 1.255610 -2.746829
+v -0.014024 124.401001 -320.079987 0.898039 0.898039 0.898039
+vn 2.619927 2.793941 -2.045053
+v -5.519030 279.346008 -189.550003 0.898039 0.898039 0.898039
+vn 2.694678 3.047673 -0.826321
+v -1.520540 326.951996 -79.566399 0.898039 0.898039 0.898039
+vn 2.639908 -2.470657 -1.791755
+v -0.056634 -279.605011 -189.274994 0.898039 0.898039 0.898039
+vn 2.561369 -1.245511 -2.767004
+v -0.337348 -122.693001 -320.957001 0.898039 0.898039 0.898039
+vn 2.395981 0.404737 2.865478
+v 0.000435 43.608101 328.365997 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 7//7 2//2 5//5
+f 1//1 15//15 13//13
+f 4//4 1//1 12//12
+f 10//10 16//16 22//22
+f 16//16 10//10 12//12
+f 10//10 3//3 12//12
+f 1//1 17//17 14//14
+f 7//7 20//20 2//2
+f 19//19 18//18 1//1
+f 12//12 3//3 4//4
+f 1//1 4//4 19//19
+f 22//22 8//8 9//9
+f 22//22 16//16 8//8
+f 8//8 16//16 11//11
+f 5//5 6//6 11//11
+f 11//11 6//6 9//9
+f 5//5 2//2 6//6
+f 11//11 7//7 5//5
+f 9//9 8//8 11//11
+f 10//10 22//22 3//3
+f 14//14 21//21 7//7
+f 20//20 7//7 21//21
+f 1//1 18//18 17//17
+f 11//11 13//13 15//15
+f 12//12 13//13 11//11
+f 1//1 13//13 12//12
+f 1//1 14//14 7//7
+f 17//17 21//21 14//14
+f 11//11 15//15 7//7
+f 1//1 7//7 15//15
+f 11//11 16//16 12//12
+f 22//22 9//9 17//17
+f 6//6 2//2 17//17
+f 3//3 17//17 4//4
+f 19//19 17//17 18//18
+f 21//21 17//17 20//20
+f 2//2 20//20 17//17
+f 4//4 17//17 19//19
+f 9//9 6//6 17//17
+f 22//22 17//17 3//3
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bec6c1a812950d92d201d82103f96ae229e2c045
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/elbow_link_r_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object elbow_link_r_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -2.150462 2.561319 -1.491792
+v -36.126099 24.389400 -12.086900 0.898039 0.898039 0.898039
+vn -1.751283 0.779660 -2.549520
+v -36.331799 8.255420 -27.052500 0.898039 0.898039 0.898039
+vn -1.968295 -1.277135 -2.507372
+v -36.475201 -13.337800 -23.869801 0.898039 0.898039 0.898039
+vn -2.768228 -0.625321 4.085532
+v -27.500000 -11.390900 46.500000 0.898039 0.898039 0.898039
+vn -5.816617 0.444155 1.521713
+v -36.518101 10.973600 25.244101 0.898039 0.898039 0.898039
+vn 5.547827 1.157672 1.544164
+v 36.502102 13.796900 25.425200 0.898039 0.898039 0.898039
+vn 2.534551 3.293072 0.013908
+v 33.192402 28.924900 18.879999 0.898039 0.898039 0.898039
+vn 2.792643 -2.647716 0.955616
+v 36.500000 -28.500000 25.500000 0.898039 0.898039 0.898039
+vn 2.631259 0.200320 3.849663
+v 28.756201 0.609600 47.792999 0.898039 0.898039 0.898039
+vn -2.706463 -2.655683 0.693305
+v -36.625301 -28.951099 24.711800 0.898039 0.898039 0.898039
+vn 2.755070 -2.938368 -0.762123
+v 36.500000 -28.500000 17.000000 0.898039 0.898039 0.898039
+vn -2.805466 2.895658 0.413325
+v -36.342300 28.679399 17.535101 0.898039 0.898039 0.898039
+vn -0.557302 -2.980192 3.200125
+v -11.390900 -27.500000 46.500000 0.898039 0.898039 0.898039
+vn 0.673988 -2.915246 3.125900
+v 11.390900 -27.500000 46.500000 0.898039 0.898039 0.898039
+vn -2.184430 -2.550852 -1.383090
+v -36.498299 -24.404800 -12.362100 0.898039 0.898039 0.898039
+vn 2.833963 -1.476967 -2.616225
+v 36.505600 -8.140290 -11.546700 0.898039 0.898039 0.898039
+vn 2.754197 1.199561 -2.274036
+v 38.027199 8.004170 -11.486500 0.898039 0.898039 0.898039
+vn 0.734519 2.833925 2.960342
+v 11.390900 27.500000 46.500000 0.898039 0.898039 0.898039
+vn -1.869627 2.144203 3.252902
+v -23.502600 21.918800 45.869999 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 7//7 17//17 1//1
+f 6//6 7//7 9//9
+f 12//12 7//7 1//1
+f 17//17 7//7 6//6
+f 14//14 8//8 9//9
+f 10//10 8//8 14//14
+f 12//12 5//5 19//19
+f 13//13 4//4 10//10
+f 16//16 15//15 3//3
+f 11//11 15//15 16//16
+f 17//17 2//2 1//1
+f 2//2 17//17 16//16
+f 2//2 16//16 3//3
+f 7//7 18//18 9//9
+f 10//10 4//4 5//5
+f 5//5 4//4 19//19
+f 8//8 6//6 9//9
+f 10//10 11//11 8//8
+f 10//10 14//14 13//13
+f 10//10 15//15 11//11
+f 10//10 12//12 15//15
+f 2//2 12//12 1//1
+f 5//5 12//12 10//10
+f 3//3 15//15 12//12
+f 3//3 12//12 2//2
+f 8//8 16//16 6//6
+f 6//6 16//16 17//17
+f 8//8 11//11 16//16
+f 13//13 18//18 4//4
+f 9//9 18//18 14//14
+f 4//4 18//18 19//19
+f 13//13 14//14 18//18
+f 12//12 18//18 7//7
+f 19//19 18//18 12//12
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..733c08e96d598f48b84f203df92c0f155feed05a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_link_r_conv.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_link_r_conv.obj
+#
+# Vertices: 15
+# Faces: 26
+#
+####
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+
+f 13//13 11//11 5//5
+f 12//12 5//5 4//4
+f 14//14 10//10 8//8
+f 15//15 13//13 10//10
+f 11//11 13//13 15//15
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+f 14//14 7//7 5//5
+f 11//11 14//14 5//5
+# 26 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..410fae8e9e7f89de28b7db7733e9541170e99b23
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/shoulder_r_conv.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_r_conv.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
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+vn -2.388141 -2.792779 1.102816
+v -86.144402 -82.468002 72.974197 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 6//6 3//3 2//2
+f 10//10 1//1 16//16
+f 11//11 15//15 4//4
+f 14//14 16//16 7//7
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+f 12//12 6//6 15//15
+f 13//13 15//15 17//17
+f 16//16 15//15 10//10
+f 11//11 10//10 15//15
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6238002b4d2d624671cf0e2e87beea4154aa15d4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/underarm_r_conv.obj
@@ -0,0 +1,108 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_r_conv.obj
+#
+# Vertices: 24
+# Faces: 44
+#
+####
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+vn 3.497276 -3.602917 -1.440051
+v 34.733700 -31.733700 -166.000000 0.898039 0.898039 0.898039
+# 24 vertices, 0 vertices normals
+
+f 17//17 2//2 8//8
+f 2//2 17//17 4//4
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+f 13//13 14//14 23//23
+f 24//24 23//23 14//14
+f 7//7 23//23 8//8
+f 24//24 8//8 23//23
+# 44 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ce08dfc42c299c0e5ca13ba8478bbf9349caa65
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/right_arm/upperarm_r_conv.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_r_conv.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
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+vn 2.248107 -1.204580 1.027730
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+# 19 vertices, 0 vertices normals
+
+f 16//16 12//12 2//2
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+f 4//4 15//15 1//1
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+f 3//3 13//13 14//14
+f 16//16 15//15 3//3
+f 3//3 14//14 16//16
+f 19//19 17//17 18//18
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.obj b/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d272be28d94a5c4f9dee8d389fa32c8559fb1ae
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/armar/torso/torso_conv.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object torso_conv.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
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+f 7//7 22//22 19//19
+f 3//3 15//15 4//4
+f 17//17 16//16 11//11
+f 8//8 18//18 5//5
+f 6//6 18//18 9//9
+f 18//18 8//8 9//9
+f 9//9 20//20 15//15
+f 13//13 7//7 19//19
+f 17//17 7//7 13//13
+f 7//7 17//17 14//14
+f 8//8 12//12 9//9
+f 22//22 4//4 21//21
+f 20//20 12//12 19//19
+f 6//6 3//3 2//2
+f 10//10 4//4 14//14
+f 6//6 15//15 3//3
+f 13//13 16//16 17//17
+f 9//9 12//12 20//20
+f 19//19 22//22 20//20
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_l.obj b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d2e6d9bb816aee834b7557484963d94998855e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object elbow_l.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 3.291053 -0.015924 -2.537160
+v 0.028893 -0.018912 -0.040700 0.898039 0.898039 0.898039
+vn 1.197365 2.271842 -2.756961
+v 0.007968 0.011450 -0.045543 0.898039 0.898039 0.898039
+vn 2.563028 1.493505 2.147233
+v 0.024412 0.012110 0.028597 0.898039 0.898039 0.898039
+vn 1.153257 -1.548581 -5.547516
+v 0.013762 -0.025460 -0.043993 0.898039 0.898039 0.898039
+vn 0.198230 -3.851757 -2.628351
+v 0.000581 -0.047822 -0.036219 0.898039 0.898039 0.898039
+vn 2.897891 -0.411089 2.803488
+v 0.028702 -0.017512 0.028833 0.898039 0.898039 0.898039
+vn -2.915778 -3.126437 -0.669177
+v -0.027515 -0.046515 -0.018832 0.898039 0.898039 0.898039
+vn -2.649938 -0.957842 -2.789772
+v -0.028535 -0.025535 -0.043957 0.898039 0.898039 0.898039
+vn -2.653527 -0.691151 2.709127
+v -0.028928 -0.024689 0.029168 0.898039 0.898039 0.898039
+vn 0.448787 -1.517080 5.817472
+v 0.010997 -0.025221 0.029029 0.898039 0.898039 0.898039
+vn 2.145695 -3.251411 1.870509
+v 0.021932 -0.045857 0.016022 0.898039 0.898039 0.898039
+vn -2.979743 -3.199683 0.562223
+v -0.027497 -0.046497 0.003950 0.898039 0.898039 0.898039
+vn -0.623112 -4.083326 2.771977
+v -0.011375 -0.046484 0.020046 0.898039 0.898039 0.898039
+vn -1.479226 2.613966 -2.834868
+v -0.008175 0.011512 -0.044008 0.898039 0.898039 0.898039
+vn -2.549114 1.384828 2.185358
+v -0.024382 0.012385 0.029008 0.898039 0.898039 0.898039
+vn -1.275571 2.508938 1.967314
+v -0.013315 0.023893 0.028967 0.898039 0.898039 0.898039
+vn -2.940561 0.759927 -2.753336
+v -0.028535 -0.017035 -0.043964 0.898039 0.898039 0.898039
+vn 0.781051 2.550914 1.748630
+v 0.008278 0.027075 0.028804 0.898039 0.898039 0.898039
+vn 2.833343 -2.960924 -0.734417
+v 0.027485 -0.046515 -0.018876 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 1//1 5//5
+f 6//6 1//1 3//3
+f 2//2 1//1 4//4
+f 7//7 8//8 5//5
+f 9//9 8//8 7//7
+f 6//6 10//10 11//11
+f 12//12 13//13 9//9
+f 14//14 15//15 16//16
+f 17//17 15//15 14//14
+f 2//2 18//18 3//3
+f 18//18 2//2 14//14
+f 18//18 14//14 16//16
+f 1//1 19//19 5//5
+f 9//9 13//13 10//10
+f 10//10 13//13 11//11
+f 8//8 4//4 5//5
+f 9//9 17//17 8//8
+f 9//9 7//7 12//12
+f 9//9 15//15 17//17
+f 9//9 6//6 15//15
+f 18//18 6//6 3//3
+f 10//10 6//6 9//9
+f 16//16 15//15 6//6
+f 16//16 6//6 18//18
+f 8//8 14//14 4//4
+f 4//4 14//14 2//2
+f 8//8 17//17 14//14
+f 12//12 19//19 13//13
+f 5//5 19//19 7//7
+f 13//13 19//19 11//11
+f 12//12 7//7 19//19
+f 6//6 19//19 1//1
+f 11//11 19//19 6//6
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..76563dc1e3e972e765854bf3afffc58363f33472
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_l.wrl
@@ -0,0 +1,197 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 1 0  3.1400001
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 7.5 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Transform {
+                              translation 0 0 0
+                              rotation 0 0 1  0
+                              scale 1 1 1
+                              scaleOrientation 0 0 1  0
+                              center 0 0 0
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.89999998 0.89999998 0.89999998
+                                      ambientIntensity 0.17999999
+                                      specularColor 0.1 0.1 0.1
+                                      shininess 0.5
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
+                                      point [ 33.192402 28.9249 18.879999,
+                                          38.027199 8.0041704 -11.4865,
+                                          -36.126099 24.3894 -12.0869,
+                                          36.502102 13.7969 25.4252,
+                                          28.756201 0.60960001 47.792999,
+                                          -36.3423 28.679399 17.535101,
+                                          11.3909 -27.5 46.5,
+                                          36.5 -28.5 25.5,
+                                          -36.625301 -28.951099 24.7118,
+                                          -36.518101 10.9736 25.244101,
+                                          -23.5026 21.9188 45.869999,
+                                          -11.3909 -27.5 46.5,
+                                          -27.5 -11.3909 46.5,
+                                          36.5056 -8.1402903 -11.5467,
+                                          -36.498299 -24.4048 -12.3621,
+                                          -36.475201 -13.3378 -23.869801,
+                                          36.5 -28.5 17,
+                                          -36.331799 8.2554197 -27.0525,
+                                          11.3909 27.5 46.5 ]
+
+                                    }
+                                    normal 
+                                    Normal {
+                                      vector [ 0.095339492 0.93192047 -0.34990638,
+                                          0.17140387 0.75240326 -0.63601112,
+                                          0.11814905 0.86412424 -0.48921373,
+                                          0.88430858 0.19788033 0.42289692,
+                                          0.73188996 0.42732263 0.53078479,
+                                          0.82813472 0.29373303 0.47740316,
+                                          -0.054809362 0.99617386 0.068069763,
+                                          0.062676966 0.97369516 -0.21906485,
+                                          0.99757916 0.062003352 0.031486936,
+                                          0.9762938 0.21635549 0.0063842558,
+                                          0.99459422 0.031232581 0.099029906,
+                                          0.5810371 -0.39176261 0.71338493,
+                                          0.0012606672 -0.99999923 -0.00026791499,
+                                          0.0058741905 -0.99961501 0.027117237,
+                                          0.0027877239 -0.99817431 0.060335144,
+                                          -0.8730846 0.20189776 0.44380242,
+                                          -0.89111179 0.10460445 0.44156268,
+                                          -0.87073934 0.15772207 0.46576443,
+                                          -0.53451806 -0.53451806 0.65466088,
+                                          0.17579487 -0.75754482 -0.62866688,
+                                          0.16602223 -0.71093708 -0.68337768,
+                                          0.18464264 -0.80016708 -0.57064867,
+                                          0.15411375 0.67088026 -0.72537488,
+                                          0.19020592 -0.080359086 -0.97844988,
+                                          0.20481877 -0.015654661 -0.97867477,
+                                          0.17475609 -0.14470991 -0.97391957,
+                                          0.68200231 0.46746865 0.56244648,
+                                          -0.99210989 0.0016140324 0.12536092,
+                                          -0.89686924 0.055412129 0.43881097,
+                                          -0.93906504 0.08086966 0.33409134,
+                                          0.99386775 7.0101582e-005 0.11057494,
+                                          0.9771235 0.10575326 0.18451491,
+                                          -0.00027388395 -0.99813879 -0.060982864,
+                                          0 -0.99778962 0.066453025,
+                                          -0.0067154751 -0.99253976 -0.12173621,
+                                          -0.99994922 0.0077649672 -0.0064219562,
+                                          -0.99999285 0.003596494 -0.0011679981,
+                                          -0.99987364 0.014365654 -0.006815894,
+                                          -0.99969018 0.022541761 -0.010561032,
+                                          -0.98176837 0.00010184027 0.19008088,
+                                          -0.99998945 0.0044139507 -0.0012694878,
+                                          0.99933106 -0.031447604 0.018667862,
+                                          1 -0.00027505183 0,
+                                          0 0 1,
+                                          -0.023946088 0.0053734099 0.99969876,
+                                          -0.010742638 0.010742638 0.99988461,
+                                          -0.074253239 0 0.99723947,
+                                          -0.037152268 0 0.99930966,
+                                          -0.021482797 0.021482797 0.99953836,
+                                          -0.081162579 0.98144555 0.17371598,
+                                          -0.0026004703 0.99884969 -0.047881119,
+                                          -0.15608542 0.94247454 0.29559952 ]
+
+                                    }
+                                    coordIndex [ 0, 1, 2, -1, 3, 0, 4, -1,
+                                        5, 0, 2, -1, 1, 0, 3, -1,
+                                        6, 7, 4, -1, 8, 7, 6, -1,
+                                        5, 9, 10, -1, 11, 12, 8, -1,
+                                        13, 14, 15, -1, 16, 14, 13, -1,
+                                        1, 17, 2, -1, 17, 1, 13, -1,
+                                        17, 13, 15, -1, 0, 18, 4, -1,
+                                        8, 12, 9, -1, 9, 12, 10, -1,
+                                        7, 3, 4, -1, 8, 16, 7, -1,
+                                        8, 6, 11, -1, 8, 14, 16, -1,
+                                        8, 5, 14, -1, 17, 5, 2, -1,
+                                        9, 5, 8, -1, 15, 14, 5, -1,
+                                        15, 5, 17, -1, 7, 13, 3, -1,
+                                        3, 13, 1, -1, 7, 16, 13, -1,
+                                        11, 18, 12, -1, 4, 18, 6, -1,
+                                        12, 18, 10, -1, 11, 6, 18, -1,
+                                        5, 18, 0, -1, 10, 18, 5, -1 ]
+                                    normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                        6, 7, 0, -1, 8, 9, 10, -1,
+                                        11, 11, 11, -1, 12, 13, 14, -1,
+                                        15, 16, 17, -1, 18, 18, 18, -1,
+                                        19, 19, 20, -1, 21, 19, 19, -1,
+                                        1, 22, 1, -1, 23, 24, 23, -1,
+                                        23, 23, 25, -1, 4, 26, 4, -1,
+                                        27, 28, 29, -1, 16, 28, 17, -1,
+                                        30, 31, 3, -1, 12, 32, 13, -1,
+                                        12, 14, 33, -1, 12, 34, 32, -1,
+                                        27, 35, 36, -1, 37, 35, 38, -1,
+                                        39, 35, 27, -1, 40, 36, 35, -1,
+                                        40, 35, 37, -1, 30, 41, 10, -1,
+                                        10, 41, 8, -1, 30, 42, 41, -1,
+                                        43, 44, 45, -1, 46, 44, 47, -1,
+                                        45, 44, 48, -1, 43, 47, 44, -1,
+                                        6, 49, 50, -1, 51, 49, 6, -1 ]
+                                    ccw TRUE
+                                    solid FALSE
+                                    convex TRUE
+                                    creaseAngle 0.5
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_r.obj b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572a51ddadb502eab3bc78a83c63beed9e8b713e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object elbow_r.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -3.291053 -0.011888 2.537182
+v -0.028892 -0.018848 0.040730 0.898039 0.898039 0.898039
+vn -1.197368 2.276229 2.753340
+v -0.007968 0.011523 0.045524 0.898039 0.898039 0.898039
+vn -2.563030 1.490081 -2.149609
+v -0.024412 0.012064 -0.028616 0.898039 0.898039 0.898039
+vn -1.153255 -1.539746 5.549975
+v -0.013762 -0.025390 0.044033 0.898039 0.898039 0.898039
+vn -0.198225 -3.847567 2.634482
+v -0.000581 -0.047764 0.036295 0.898039 0.898039 0.898039
+vn -2.897891 -0.415557 -2.802829
+v -0.028702 -0.017558 -0.028805 0.898039 0.898039 0.898039
+vn 2.915782 -3.125364 0.674155
+v 0.027515 -0.046485 0.018906 0.898039 0.898039 0.898039
+vn 2.649939 -0.953394 2.791294
+v 0.028535 -0.025465 0.043998 0.898039 0.898039 0.898039
+vn 2.653528 -0.695461 -2.708023
+v 0.028928 -0.024735 -0.029129 0.898039 0.898039 0.898039
+vn -0.448785 -1.526343 -5.815049
+v -0.010997 -0.025267 -0.028989 0.898039 0.898039 0.898039
+vn -2.145691 -3.254388 -1.865329
+v -0.021932 -0.045883 -0.015949 0.898039 0.898039 0.898039
+vn 2.979747 -3.200570 -0.557127
+v 0.027497 -0.046503 -0.003876 0.898039 0.898039 0.898039
+vn 0.623117 -4.087735 -2.765471
+v 0.011375 -0.046516 -0.019972 0.898039 0.898039 0.898039
+vn 1.479223 2.618479 2.830702
+v 0.008175 0.011582 0.043990 0.898039 0.898039 0.898039
+vn 2.549112 1.381349 -2.187561
+v 0.024382 0.012339 -0.029028 0.898039 0.898039 0.898039
+vn 1.275568 2.505803 -1.971307
+v 0.013315 0.023847 -0.029005 0.898039 0.898039 0.898039
+vn 2.940560 0.764314 2.752122
+v 0.028535 -0.016965 0.043991 0.898039 0.898039 0.898039
+vn -0.781054 2.548125 -1.752691
+v -0.008278 0.027030 -0.028847 0.898039 0.898039 0.898039
+vn -2.833339 -2.959754 0.739132
+v -0.027485 -0.046485 0.018950 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 1//1 5//5
+f 6//6 1//1 3//3
+f 2//2 1//1 4//4
+f 7//7 8//8 5//5
+f 9//9 8//8 7//7
+f 6//6 10//10 11//11
+f 12//12 13//13 9//9
+f 14//14 15//15 16//16
+f 17//17 15//15 14//14
+f 2//2 18//18 3//3
+f 18//18 2//2 14//14
+f 18//18 14//14 16//16
+f 1//1 19//19 5//5
+f 9//9 13//13 10//10
+f 10//10 13//13 11//11
+f 8//8 4//4 5//5
+f 9//9 17//17 8//8
+f 9//9 7//7 12//12
+f 9//9 15//15 17//17
+f 9//9 6//6 15//15
+f 18//18 6//6 3//3
+f 10//10 6//6 9//9
+f 16//16 15//15 6//6
+f 16//16 6//6 18//18
+f 8//8 14//14 4//4
+f 4//4 14//14 2//2
+f 8//8 17//17 14//14
+f 12//12 19//19 13//13
+f 5//5 19//19 7//7
+f 13//13 19//19 11//11
+f 12//12 7//7 19//19
+f 6//6 19//19 1//1
+f 11//11 19//19 6//6
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/elbow_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f58ba0f041459f1464b0e5ad12f006fc076504f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/elbow_r.wrl
@@ -0,0 +1,188 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 7.5 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 33.192402 28.9249 18.879999,
+                                      38.027199 8.0041704 -11.4865,
+                                      -36.126099 24.3894 -12.0869,
+                                      36.502102 13.7969 25.4252,
+                                      28.756201 0.60960001 47.792999,
+                                      -36.3423 28.679399 17.535101,
+                                      11.3909 -27.5 46.5,
+                                      36.5 -28.5 25.5,
+                                      -36.625301 -28.951099 24.7118,
+                                      -36.518101 10.9736 25.244101,
+                                      -23.5026 21.9188 45.869999,
+                                      -11.3909 -27.5 46.5,
+                                      -27.5 -11.3909 46.5,
+                                      36.5056 -8.1402903 -11.5467,
+                                      -36.498299 -24.4048 -12.3621,
+                                      -36.475201 -13.3378 -23.869801,
+                                      36.5 -28.5 17,
+                                      -36.331799 8.2554197 -27.0525,
+                                      11.3909 27.5 46.5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.095339492 0.93192047 -0.34990638,
+                                      0.17140387 0.75240326 -0.63601112,
+                                      0.11814905 0.86412424 -0.48921373,
+                                      0.88430858 0.19788033 0.42289692,
+                                      0.73188996 0.42732263 0.53078479,
+                                      0.82813472 0.29373303 0.47740316,
+                                      -0.054809362 0.99617386 0.068069763,
+                                      0.062676966 0.97369516 -0.21906485,
+                                      0.99757916 0.062003352 0.031486936,
+                                      0.9762938 0.21635549 0.0063842558,
+                                      0.99459422 0.031232581 0.099029906,
+                                      0.5810371 -0.39176261 0.71338493,
+                                      0.0012606672 -0.99999923 -0.00026791499,
+                                      0.0058741905 -0.99961501 0.027117237,
+                                      0.0027877239 -0.99817431 0.060335144,
+                                      -0.8730846 0.20189776 0.44380242,
+                                      -0.89111179 0.10460445 0.44156268,
+                                      -0.87073934 0.15772207 0.46576443,
+                                      -0.53451806 -0.53451806 0.65466088,
+                                      0.17579487 -0.75754482 -0.62866688,
+                                      0.16602223 -0.71093708 -0.68337768,
+                                      0.18464264 -0.80016708 -0.57064867,
+                                      0.15411375 0.67088026 -0.72537488,
+                                      0.19020592 -0.080359086 -0.97844988,
+                                      0.20481877 -0.015654661 -0.97867477,
+                                      0.17475609 -0.14470991 -0.97391957,
+                                      0.68200231 0.46746865 0.56244648,
+                                      -0.99210989 0.0016140324 0.12536092,
+                                      -0.89686924 0.055412129 0.43881097,
+                                      -0.93906504 0.08086966 0.33409134,
+                                      0.99386775 7.0101582e-005 0.11057494,
+                                      0.9771235 0.10575326 0.18451491,
+                                      -0.00027388395 -0.99813879 -0.060982864,
+                                      0 -0.99778962 0.066453025,
+                                      -0.0067154751 -0.99253976 -0.12173621,
+                                      -0.99994922 0.0077649672 -0.0064219562,
+                                      -0.99999285 0.003596494 -0.0011679981,
+                                      -0.99987364 0.014365654 -0.006815894,
+                                      -0.99969018 0.022541761 -0.010561032,
+                                      -0.98176837 0.00010184027 0.19008088,
+                                      -0.99998945 0.0044139507 -0.0012694878,
+                                      0.99933106 -0.031447604 0.018667862,
+                                      1 -0.00027505183 0,
+                                      0 0 1,
+                                      -0.023946088 0.0053734099 0.99969876,
+                                      -0.010742638 0.010742638 0.99988461,
+                                      -0.074253239 0 0.99723947,
+                                      -0.037152268 0 0.99930966,
+                                      -0.021482797 0.021482797 0.99953836,
+                                      -0.081162579 0.98144555 0.17371598,
+                                      -0.0026004703 0.99884969 -0.047881119,
+                                      -0.15608542 0.94247454 0.29559952 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 0, 4, -1,
+                                    5, 0, 2, -1, 1, 0, 3, -1,
+                                    6, 7, 4, -1, 8, 7, 6, -1,
+                                    5, 9, 10, -1, 11, 12, 8, -1,
+                                    13, 14, 15, -1, 16, 14, 13, -1,
+                                    1, 17, 2, -1, 17, 1, 13, -1,
+                                    17, 13, 15, -1, 0, 18, 4, -1,
+                                    8, 12, 9, -1, 9, 12, 10, -1,
+                                    7, 3, 4, -1, 8, 16, 7, -1,
+                                    8, 6, 11, -1, 8, 14, 16, -1,
+                                    8, 5, 14, -1, 17, 5, 2, -1,
+                                    9, 5, 8, -1, 15, 14, 5, -1,
+                                    15, 5, 17, -1, 7, 13, 3, -1,
+                                    3, 13, 1, -1, 7, 16, 13, -1,
+                                    11, 18, 12, -1, 4, 18, 6, -1,
+                                    12, 18, 10, -1, 11, 6, 18, -1,
+                                    5, 18, 0, -1, 10, 18, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 0, -1, 8, 9, 10, -1,
+                                    11, 11, 11, -1, 12, 13, 14, -1,
+                                    15, 16, 17, -1, 18, 18, 18, -1,
+                                    19, 19, 20, -1, 21, 19, 19, -1,
+                                    1, 22, 1, -1, 23, 24, 23, -1,
+                                    23, 23, 25, -1, 4, 26, 4, -1,
+                                    27, 28, 29, -1, 16, 28, 17, -1,
+                                    30, 31, 3, -1, 12, 32, 13, -1,
+                                    12, 14, 33, -1, 12, 34, 32, -1,
+                                    27, 35, 36, -1, 37, 35, 38, -1,
+                                    39, 35, 27, -1, 40, 36, 35, -1,
+                                    40, 35, 37, -1, 30, 41, 10, -1,
+                                    10, 41, 8, -1, 30, 42, 41, -1,
+                                    43, 44, 45, -1, 46, 44, 47, -1,
+                                    45, 44, 48, -1, 43, 47, 44, -1,
+                                    6, 49, 50, -1, 51, 49, 6, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/eye_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3797feb255316755853c7bf020d8c5518bc0ce5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_l.wrl
@@ -0,0 +1,28 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0fbb3d358247f38807792c74ce663771e5d8a825
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_link_l.wrl
@@ -0,0 +1,28 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0fbb3d358247f38807792c74ce663771e5d8a825
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_link_r.wrl
@@ -0,0 +1,28 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/eye_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/eye_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..3797feb255316755853c7bf020d8c5518bc0ce5e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/eye_r.wrl
@@ -0,0 +1,28 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head.obj b/data/RobotAPI/robots/Armar3/convexModel/head.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8dbd76e66f8a8f6aa63ede28c766d4338ab1a97
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head.obj
@@ -0,0 +1,140 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head.obj
+#
+# Vertices: 32
+# Faces: 60
+#
+####
+vn 2.775149 3.054333 -2.819589
+v 0.092864 0.134203 -0.062852 0.898039 0.898039 0.898039
+vn 4.128976 3.778877 1.046360
+v 0.095343 0.146167 0.028118 0.898039 0.898039 0.898039
+vn 5.408158 1.557042 -1.374149
+v 0.124148 0.088004 -0.047385 0.898039 0.898039 0.898039
+vn -6.041607 -0.287240 -0.922290
+v -0.043103 0.065186 -0.078440 0.898039 0.898039 0.898039
+vn -5.594265 -2.181971 -0.981037
+v -0.032108 0.008270 -0.077096 0.898039 0.898039 0.898039
+vn -5.340119 -2.226144 1.034240
+v -0.035264 0.005099 0.074965 0.898039 0.898039 0.898039
+vn -1.692820 3.934970 2.341748
+v -0.018535 0.151967 0.062019 0.898039 0.898039 0.898039
+vn -2.383505 3.590501 -2.144797
+v -0.022023 0.149482 -0.061651 0.898039 0.898039 0.898039
+vn -3.889911 2.141463 1.908712
+v -0.040804 0.130394 0.064714 0.898039 0.898039 0.898039
+vn 0.442666 3.955028 -4.406592
+v 0.028155 0.143950 -0.071152 0.898039 0.898039 0.898039
+vn -0.142790 0.925303 -5.197163
+v -0.003894 0.062416 -0.118330 0.898039 0.898039 0.898039
+vn 3.822991 1.003585 -4.007619
+v 0.114278 0.085049 -0.067520 0.898039 0.898039 0.898039
+vn 4.668894 1.528695 2.153061
+v 0.123538 0.089271 0.052891 0.898039 0.898039 0.898039
+vn 1.754672 4.868670 1.271357
+v 0.068437 0.166733 0.028046 0.898039 0.898039 0.898039
+vn 1.980171 3.163377 4.152949
+v 0.072136 0.133938 0.070766 0.898039 0.898039 0.898039
+vn -6.058851 -0.030870 0.922536
+v -0.043193 0.065115 0.077555 0.898039 0.898039 0.898039
+vn -2.655472 -0.715366 3.272423
+v -0.034391 0.036278 0.111444 0.898039 0.898039 0.898039
+vn -2.433535 -0.848975 -3.249749
+v -0.031706 0.034012 -0.114332 0.898039 0.898039 0.898039
+vn -0.244468 0.798156 5.103913
+v -0.003946 0.061995 0.118268 0.898039 0.898039 0.898039
+vn -3.999371 1.770702 -2.338576
+v -0.041720 0.111549 -0.076262 0.898039 0.898039 0.898039
+vn 2.457562 -1.833196 -4.443078
+v 0.099068 -0.027175 -0.078734 0.898039 0.898039 0.898039
+vn -2.344806 -3.552055 2.118395
+v -0.007309 -0.038251 0.074396 0.898039 0.898039 0.898039
+vn -1.193316 -3.924188 -2.550055
+v 0.022882 -0.050402 -0.073896 0.898039 0.898039 0.898039
+vn 0.602055 -3.623139 2.320376
+v 0.075183 -0.063304 0.069524 0.898039 0.898039 0.898039
+vn 0.993093 -4.507817 -2.148172
+v 0.079964 -0.060284 -0.059128 0.898039 0.898039 0.898039
+vn 3.782078 -2.301500 0.035481
+v 0.139663 -0.042139 0.002851 0.898039 0.898039 0.898039
+vn 4.418671 -1.840152 -2.703429
+v 0.122635 -0.027117 -0.054517 0.898039 0.898039 0.898039
+vn 0.200837 5.216994 -1.009785
+v 0.034931 0.174416 -0.024111 0.898039 0.898039 0.898039
+vn 4.407809 -1.797727 2.909399
+v 0.121019 -0.028773 0.056940 0.898039 0.898039 0.898039
+vn 3.354723 0.916776 4.874352
+v 0.106727 0.078547 0.071414 0.898039 0.898039 0.898039
+vn 2.796776 -1.204676 4.801128
+v 0.101887 -0.021561 0.077841 0.898039 0.898039 0.898039
+vn -4.052892 -3.669850 -1.637299
+v -0.017774 -0.020822 -0.070829 0.898039 0.898039 0.898039
+# 32 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 10//10 11//11 8//8
+f 11//11 1//1 12//12
+f 2//2 13//13 3//3
+f 2//2 1//1 14//14
+f 2//2 14//14 15//15
+f 9//9 16//16 17//17
+f 16//16 4//4 6//6
+f 16//16 6//6 17//17
+f 4//4 18//18 5//5
+f 19//19 9//9 17//17
+f 19//19 7//7 9//9
+f 8//8 20//20 9//9
+f 11//11 18//18 20//20
+f 8//8 11//11 20//20
+f 21//21 11//11 12//12
+f 15//15 13//13 2//2
+f 22//22 17//17 6//6
+f 4//4 20//20 18//18
+f 18//18 21//21 23//23
+f 24//24 25//25 26//26
+f 25//25 27//27 26//26
+f 10//10 28//28 1//1
+f 10//10 8//8 28//28
+f 1//1 11//11 10//10
+f 26//26 13//13 29//29
+f 15//15 19//19 30//30
+f 29//29 13//13 31//31
+f 12//12 1//1 3//3
+f 3//3 27//27 12//12
+f 14//14 1//1 28//28
+f 14//14 7//7 15//15
+f 14//14 28//28 7//7
+f 27//27 21//21 12//12
+f 24//24 26//26 29//29
+f 23//23 32//32 18//18
+f 22//22 32//32 23//23
+f 23//23 24//24 22//22
+f 23//23 21//21 25//25
+f 21//21 27//27 25//25
+f 32//32 22//22 6//6
+f 32//32 6//6 5//5
+f 32//32 5//5 18//18
+f 15//15 7//7 19//19
+f 21//21 18//18 11//11
+f 3//3 26//26 27//27
+f 24//24 31//31 19//19
+f 13//13 15//15 30//30
+f 30//30 31//31 13//13
+f 23//23 25//25 24//24
+f 19//19 31//31 30//30
+f 24//24 19//19 17//17
+f 24//24 17//17 22//22
+f 24//24 29//29 31//31
+f 3//3 13//13 26//26
+f 7//7 28//28 8//8
+f 4//4 16//16 9//9
+f 9//9 20//20 4//4
+# 60 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head.wrl b/data/RobotAPI/robots/Armar3/convexModel/head.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2bcf64b8921ffec3bbe98554a73a6b17b0017d03
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head.wrl
@@ -0,0 +1,278 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0.99999994 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.89999998 0.89999998 0.89999998
+                          ambientIntensity 0.17999999
+                          specularColor 0.1 0.1 0.1
+                          shininess 0.5
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 62.9263 134.203 92.814301,
+                              -28.042 146.16701 95.365501,
+                              47.4841 88.004097 124.11,
+                              78.405998 65.185799 -43.165001,
+                              77.070297 8.2703695 -32.169201,
+                              -74.992599 5.0989699 -35.203999,
+                              -62.034 151.967 -18.486099,
+                              61.6339 149.48199 -22.072001,
+                              -64.746803 130.394 -40.752701,
+                              71.174202 143.95 28.098499,
+                              118.327 62.416 -3.9886799,
+                              67.610703 85.049301 114.224,
+                              -52.792702 89.2714 123.58,
+                              -27.9918 166.733 68.459801,
+                              -70.708702 133.938 72.192101,
+                              -77.588997 65.114998 -43.1315,
+                              -111.471 36.277599 -34.3022,
+                              114.307 34.0121 -31.7969,
+                              -118.271 61.995399 -3.8521199,
+                              76.228401 111.549 -41.780499,
+                              78.813202 -27.174999 99.0056,
+                              -74.402199 -38.2505 -7.24999,
+                              73.914398 -50.4021 22.822701,
+                              -69.463997 -63.303699 75.2388,
+                              59.1917 -60.283501 79.917,
+                              -2.7402699 -42.138802 139.66499,
+                              54.614899 -27.1168 122.592,
+                              24.1388 174.416 34.911301,
+                              -56.8438 -28.773199 121.064,
+                              -71.329201 78.546501 106.784,
+                              -77.759598 -21.560699 101.949,
+                              70.815002 -20.821699 -17.8304 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ 0.22024162 0.6709702 0.70802021,
+                              0.073341765 0.60185033 0.79523402,
+                              0.14019385 0.38574892 0.91189003,
+                              0.084074765 -0.06793429 -0.99414104,
+                              0.13462646 -0.3318336 -0.93368208,
+                              -0.01748408 -0.29454127 -0.95547879,
+                              0.00061111117 0.83167213 -0.55526674,
+                              0.020298468 0.73156142 -0.68147331,
+                              0.026174771 0.60529387 -0.79557163,
+                              0.78170776 0.62323356 0.022650663,
+                              0.86945254 0.46048757 -0.17889543,
+                              0.76041102 0.6335513 -0.14278574,
+                              0.91961187 0.24264224 0.30893183,
+                              0.90239084 0.34080794 0.26370576,
+                              0.91945642 0.13870758 0.36791331,
+                              -0.0014479953 0.28614789 0.95818436,
+                              0.13452639 0.74470603 0.6536938,
+                              0.15081854 0.82700133 0.5415926,
+                              -0.50320876 0.62520528 0.59657288,
+                              -0.55824673 0.76396793 0.32359505,
+                              -0.60888249 0.62722552 0.48564407,
+                              -0.11227378 0.055747002 -0.99211228,
+                              -0.11912987 -0.0332863 -0.99232054,
+                              -0.23730592 -0.018556656 -0.97125775,
+                              0.27926064 -0.21311842 -0.93626595,
+                              -0.81160194 0.41124603 -0.41494438,
+                              -0.79660267 0.36230928 -0.48389682,
+                              -0.84293693 0.46277431 -0.27440345,
+                              -0.84841532 0.50397861 -0.16185457,
+                              0.02784135 0.26090363 -0.96496332,
+                              0.012718327 0.33324578 -0.94275421,
+                              0.84064949 0.45446995 -0.29455981,
+                              0.81636178 0.34088925 -0.46620604,
+                              0.82593757 0.4103196 -0.38660702,
+                              0.83925718 0.50421637 -0.20350248,
+                              0.89759779 -0.088818319 0.43177477,
+                              0.95508951 0.1168946 0.27228606,
+                              0.86453569 0.085031778 0.49532586,
+                              -0.58767349 0.54607439 0.59702814,
+                              -0.63047338 0.46346664 0.62265712,
+                              -0.22316842 -0.53042054 -0.81783235,
+                              -0.43850183 -0.49127164 -0.75257456,
+                              -0.13943364 -0.50629884 -0.85101098,
+                              0.16887559 0.037343848 -0.98492974,
+                              0.24172743 -0.074428715 -0.96748561,
+                              0.93771613 -0.33310694 0.098631598,
+                              0.90593004 -0.41013363 0.10526734,
+                              0.87345099 -0.47857007 0.089743622,
+                              0.020826694 -0.99725455 0.0710603,
+                              0.011422858 -0.95343381 0.30138603,
+                              0.45312786 -0.67966527 0.57682782,
+                              0.36473241 -0.71582639 0.59545183,
+                              0.55066681 0.82969576 0.091493078,
+                              0.44101167 0.86811209 0.22779433,
+                              0.37715784 0.85972404 0.3444221,
+                              0.66455561 0.74673688 0.027381612,
+                              0.71050769 0.70131332 -0.057778854,
+                              0.92560071 0.36310345 0.10686105,
+                              0.87151605 0.48885062 0.03853498,
+                              -0.16801909 0.056468405 0.98416513,
+                              -0.44063455 0.03312213 0.89707541,
+                              -0.51061648 -0.00080240367 0.85980821,
+                              -0.8599779 0.39046621 0.32859418,
+                              -0.92414844 0.27724299 0.26284206,
+                              -0.86934942 0.21599978 0.44449502,
+                              -0.62314123 0.096506111 0.7761324,
+                              -0.77267367 0.018922504 0.63452131,
+                              0.54576272 0.13040702 0.82773012,
+                              0.27795324 0.47333014 0.83588302,
+                              0.26633245 0.2914876 0.91875029,
+                              0.30338591 0.13764663 0.94287348,
+                              0.48460817 -0.0023397966 0.8747282,
+                              0.25035453 0.79144216 0.55762166,
+                              -0.45450351 0.86988258 0.19165263,
+                              -0.58164686 0.81333101 0.013399801,
+                              -0.67305046 0.70353371 0.22813037,
+                              -0.41217509 0.9110803 0.0066515733,
+                              -0.098332405 0.96410686 -0.24663489,
+                              -0.28058845 0.95016927 -0.13582554,
+                              0.82625836 0.00609734 0.56325829,
+                              0.66356194 0.11083652 0.73986536,
+                              -0.53715169 -0.59590638 0.59696203,
+                              -0.38250118 -0.68421853 0.62091702,
+                              0.61568052 -0.61410159 -0.49377811,
+                              0.48800847 -0.5580188 -0.67116523,
+                              0.013132139 -0.80129558 -0.59812444,
+                              0.10785569 -0.58211857 -0.80591875,
+                              0.021439971 -0.93475449 -0.35464668,
+                              0.0046969387 -0.97391379 -0.22686937,
+                              0.017237898 -0.89461416 -0.44650671,
+                              0.82358563 -0.55514163 0.11629575,
+                              0.537233 -0.63706887 0.55274236,
+                              -0.13231778 -0.63850856 -0.75815481,
+                              -0.09040992 -0.33394012 -0.93824846,
+                              0.21800029 -0.60647839 -0.76463062,
+                              0.38579234 -0.45134389 -0.8046447,
+                              -0.82268393 0.54359329 0.1664259,
+                              -0.78371215 0.61655122 -0.075232133,
+                              -0.90370452 0.42800003 0.011579072,
+                              0.93488586 -0.30521077 0.18120365,
+                              0.9568994 -0.11591588 0.26628384,
+                              0.14192325 0.063299805 0.98785168,
+                              -0.93148327 -0.3616339 0.039495781,
+                              -0.95527357 -0.12212307 0.26932937,
+                              -0.96015614 -0.19293901 0.20217498,
+                              -0.67112881 0.24102874 0.70106429,
+                              -0.68603987 0.47794357 0.54856104,
+                              -0.83318889 0.16586348 0.52752775,
+                              -0.79969901 0.14251059 0.58324277,
+                              0.0071689077 -0.9986136 -0.05214889,
+                              -0.96564943 -0.087225854 0.24477075,
+                              -0.84719008 -0.059040818 0.52799916,
+                              -0.91626942 -0.40036461 -0.012589763,
+                              -0.87831354 -0.46953288 -0.090024471,
+                              -0.67445773 -0.48835275 0.55373144,
+                              0.17083621 0.2341608 0.95707029,
+                              -0.11352012 0.19100788 0.97500223,
+                              -0.016110281 0.040057752 0.99906749,
+                              -0.069214664 0.90916026 -0.41065407,
+                              -0.070917204 0.16571605 -0.98362035,
+                              0.13467897 0.1902633 -0.97245133 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                            6, 7, 8, -1, 9, 10, 7, -1,
+                            10, 0, 11, -1, 1, 12, 2, -1,
+                            1, 0, 13, -1, 1, 13, 14, -1,
+                            8, 15, 16, -1, 15, 3, 5, -1,
+                            15, 5, 16, -1, 3, 17, 4, -1,
+                            18, 8, 16, -1, 18, 6, 8, -1,
+                            7, 19, 8, -1, 10, 17, 19, -1,
+                            7, 10, 19, -1, 20, 10, 11, -1,
+                            14, 12, 1, -1, 21, 16, 5, -1,
+                            3, 19, 17, -1, 17, 20, 22, -1,
+                            23, 24, 25, -1, 24, 26, 25, -1,
+                            9, 27, 0, -1, 9, 7, 27, -1,
+                            0, 10, 9, -1, 25, 12, 28, -1,
+                            14, 18, 29, -1, 28, 12, 30, -1,
+                            11, 0, 2, -1, 2, 26, 11, -1,
+                            13, 0, 27, -1, 13, 6, 14, -1,
+                            13, 27, 6, -1, 26, 20, 11, -1,
+                            23, 25, 28, -1, 22, 31, 17, -1,
+                            21, 31, 22, -1, 22, 23, 21, -1,
+                            22, 20, 24, -1, 20, 26, 24, -1,
+                            31, 21, 5, -1, 31, 5, 4, -1,
+                            31, 4, 17, -1, 14, 6, 18, -1,
+                            20, 17, 10, -1, 2, 25, 26, -1,
+                            23, 30, 18, -1, 12, 14, 29, -1,
+                            29, 30, 12, -1, 22, 24, 23, -1,
+                            18, 30, 29, -1, 23, 18, 16, -1,
+                            23, 16, 21, -1, 23, 28, 30, -1,
+                            2, 12, 25, -1, 6, 27, 7, -1,
+                            3, 15, 8, -1, 8, 19, 3, -1 ]
+                        normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                            6, 7, 8, -1, 9, 10, 11, -1,
+                            12, 13, 14, -1, 1, 15, 2, -1,
+                            1, 16, 17, -1, 18, 19, 20, -1,
+                            21, 22, 23, -1, 22, 3, 5, -1,
+                            22, 5, 23, -1, 3, 24, 4, -1,
+                            25, 25, 26, -1, 27, 28, 25, -1,
+                            8, 29, 30, -1, 31, 32, 33, -1,
+                            34, 10, 33, -1, 35, 36, 37, -1,
+                            38, 39, 18, -1, 40, 41, 42, -1,
+                            3, 43, 44, -1, 45, 46, 47, -1,
+                            48, 48, 49, -1, 50, 50, 51, -1,
+                            52, 53, 54, -1, 55, 56, 52, -1,
+                            13, 57, 58, -1, 59, 60, 61, -1,
+                            62, 63, 64, -1, 61, 65, 66, -1,
+                            67, 68, 69, -1, 70, 71, 67, -1,
+                            17, 72, 54, -1, 73, 74, 75, -1,
+                            76, 77, 78, -1, 71, 79, 80, -1,
+                            81, 82, 81, -1, 83, 84, 84, -1,
+                            85, 86, 87, -1, 87, 88, 89, -1,
+                            47, 46, 90, -1, 91, 50, 50, -1,
+                            86, 92, 93, -1, 86, 93, 4, -1,
+                            94, 4, 95, -1, 96, 97, 98, -1,
+                            99, 45, 100, -1, 70, 101, 71, -1,
+                            102, 103, 104, -1, 105, 106, 107, -1,
+                            108, 66, 65, -1, 87, 48, 109, -1,
+                            110, 111, 107, -1, 102, 104, 112, -1,
+                            102, 112, 113, -1, 81, 81, 114, -1,
+                            115, 116, 117, -1, 118, 77, 6, -1,
+                            3, 22, 119, -1, 119, 120, 3, -1 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0.5
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head_base.obj b/data/RobotAPI/robots/Armar3/convexModel/head_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87afb6b4aa3cf18c92867194676b97eec4561ac1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head_base.obj
@@ -0,0 +1,68 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object head_base.obj
+#
+# Vertices: 14
+# Faces: 24
+#
+####
+vn 1.127475 1.992992 2.354397
+v 0.011104 0.042496 0.012615 0.898039 0.898039 0.898039
+vn 0.950080 -2.091288 2.263098
+v 0.006034 -0.043826 0.012779 0.898039 0.898039 0.898039
+vn 1.794850 -0.852799 -0.910044
+v 0.064796 -0.018119 -0.064970 0.898039 0.898039 0.898039
+vn 1.600251 -5.847946 0.037628
+v 0.011932 -0.042575 -0.009000 0.898039 0.898039 0.898039
+vn 0.414668 -3.081266 -2.942686
+v -0.005860 -0.042521 -0.065000 0.898039 0.898039 0.898039
+vn 2.019886 5.502537 0.320855
+v 0.021824 0.042410 -0.024402 0.898039 0.898039 0.898039
+vn 1.966849 0.827788 -1.023686
+v 0.064317 0.017318 -0.064963 0.898039 0.898039 0.898039
+vn 0.578735 3.025926 -2.849175
+v 0.011517 0.042386 -0.065000 0.898039 0.898039 0.898039
+vn -1.714696 2.104740 2.030235
+v -0.034932 0.042500 0.006000 0.898039 0.898039 0.898039
+vn -1.757694 -2.108777 2.026962
+v -0.035068 -0.042500 0.006000 0.898039 0.898039 0.898039
+vn -2.514644 -0.834392 -1.562100
+v -0.064151 -0.017252 -0.064634 0.898039 0.898039 0.898039
+vn -2.448945 0.817220 -1.571846
+v -0.064119 0.017324 -0.064994 0.898039 0.898039 0.898039
+vn -1.034017 -2.754139 -2.428495
+v -0.035063 -0.042495 -0.064999 0.898039 0.898039 0.898039
+vn -1.023184 2.760775 -2.428722
+v -0.034931 0.042492 -0.064995 0.898039 0.898039 0.898039
+# 14 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 3//3
+f 6//6 7//7 8//8
+f 1//1 7//7 6//6
+f 1//1 9//9 2//2
+f 2//2 9//9 10//10
+f 10//10 9//9 11//11
+f 11//11 9//9 12//12
+f 13//13 10//10 11//11
+f 1//1 3//3 7//7
+f 4//4 2//2 10//10
+f 4//4 10//10 13//13
+f 5//5 4//4 13//13
+f 3//3 2//2 4//4
+f 3//3 5//5 12//12
+f 12//12 5//5 13//13
+f 12//12 13//13 11//11
+f 12//12 14//14 8//8
+f 8//8 7//7 12//12
+f 12//12 7//7 3//3
+f 12//12 9//9 14//14
+f 8//8 14//14 6//6
+f 6//6 14//14 9//9
+f 6//6 9//9 1//1
+# 24 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/head_base.wrl b/data/RobotAPI/robots/Armar3/convexModel/head_base.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0c9b22fc0c572945b9b897dba18c38f4457ac1c1
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/head_base.wrl
@@ -0,0 +1,142 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation -35 0 -605
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  rotation 0 0 1  3.1400001
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -46.036301 -42.569302 617.61499,
+                                  -41.103901 43.760201 617.77899,
+                                  -99.824898 17.959801 540.03003,
+                                  -47 42.5 596,
+                                  -29.2075 42.474701 540,
+                                  -56.756802 -42.5 580.59802,
+                                  -99.288803 -17.4764 540.03699,
+                                  -46.449501 -42.4599 540,
+                                  7.8159701e-014 -42.5 611,
+                                  4.2632601e-014 42.5 611,
+                                  29.1231 17.298 540.36603,
+                                  29.146799 -17.277399 540.00598,
+                                  -0.00505374 42.4953 540.00098,
+                                  -0.0012736199 -42.491901 540.005 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.81573486 0.016227804 0.57819819,
+                                  -0.80427474 0.044826195 0.59256458,
+                                  -0.1636627 0.98636061 -0.017532708,
+                                  -0.16597268 0.98469543 -0.053178228,
+                                  -0.41183239 0.91119528 -0.010825604,
+                                  -0.21844599 -0.97575212 0.013751814,
+                                  -0.53151554 -0.84631604 0.035219792,
+                                  -0.2184142 -0.97422403 -0.056414738,
+                                  -0.61954647 -0.76451272 0.17799586,
+                                  0.14223757 -0.010006987 0.98978204,
+                                  0.15249145 -0.0050038248 0.98829216,
+                                  0.16272514 6.8013556e-017 0.98667145,
+                                  0.92450047 3.8640965e-016 0.38118088,
+                                  0.9249922 -0.001655039 0.3799825,
+                                  0.92547989 -0.0033100711 0.37878245,
+                                  0.65423262 0.75629342 -9.6630611e-005,
+                                  -0.82625246 -0.012389337 0.56316382,
+                                  -0.077596113 0.99607855 -0.042502768,
+                                  0.020168899 0.99779743 -0.063195884,
+                                  0.010100564 0.99944806 -0.031648435,
+                                  -0.00034212475 0.99999988 -0.00037103938,
+                                  -0.49052346 0.86750448 0.082600042,
+                                  -0.00026636096 -0.0002924515 -1,
+                                  0.0034856107 0.0017757065 -0.99999231,
+                                  -0.00012906568 -0.00022615076 -1,
+                                  0.010791156 0.0051792488 -0.99992847,
+                                  0.021547277 0.010425154 -0.99971354,
+                                  0.00010769277 -8.5763124e-005 -1,
+                                  -6.7608373e-005 0.00044047998 -1,
+                                  0.65423149 -0.75629437 -9.8009303e-005,
+                                  -0.00031387073 -0.99999976 -0.00063834869,
+                                  -0.10817851 -0.99371952 -0.028617743,
+                                  0.00062403176 -0.99999911 -0.0011649915,
+                                  0.0011869586 -0.9999969 -0.0022159077 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 4, 2, -1,
+                                5, 6, 7, -1, 0, 6, 5, -1,
+                                0, 8, 1, -1, 1, 8, 9, -1,
+                                9, 8, 10, -1, 10, 8, 11, -1,
+                                12, 9, 10, -1, 0, 2, 6, -1,
+                                3, 1, 9, -1, 3, 9, 12, -1,
+                                4, 3, 12, -1, 2, 1, 3, -1,
+                                2, 4, 11, -1, 11, 4, 12, -1,
+                                11, 12, 10, -1, 11, 13, 7, -1,
+                                7, 6, 11, -1, 11, 6, 2, -1,
+                                11, 8, 13, -1, 7, 13, 5, -1,
+                                5, 13, 8, -1, 5, 8, 0, -1 ]
+                            normalIndex [ 0, 1, 0, -1, 2, 3, 4, -1,
+                                5, 6, 7, -1, 8, 6, 6, -1,
+                                9, 10, 10, -1, 10, 10, 11, -1,
+                                12, 13, 13, -1, 13, 13, 14, -1,
+                                15, 15, 15, -1, 0, 0, 16, -1,
+                                17, 18, 19, -1, 17, 19, 20, -1,
+                                3, 17, 20, -1, 4, 21, 4, -1,
+                                22, 22, 23, -1, 23, 24, 25, -1,
+                                23, 25, 26, -1, 23, 27, 28, -1,
+                                28, 28, 23, -1, 23, 28, 22, -1,
+                                29, 29, 29, -1, 7, 30, 31, -1,
+                                31, 30, 32, -1, 31, 32, 33, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l1.obj b/data/RobotAPI/robots/Armar3/convexModel/index_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..214e85cd1d3ee9b29c6576ebe9b4afff9e2925e6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_l1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l1.wrl b/data/RobotAPI/robots/Armar3/convexModel/index_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l2.obj b/data/RobotAPI/robots/Armar3/convexModel/index_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d253e0efff5a5f5387c7514730fa87ca67e24432
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_l2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn 4.983596 -2.082867 -0.621663
+v 0.012729 -0.002979 0.025763 0.898039 0.898039 0.898039
+vn 2.233722 -5.093729 -0.356419
+v 0.005622 -0.009979 0.025762 0.898039 0.898039 0.898039
+vn 1.057032 -1.568929 -2.326945
+v 0.002198 -0.004994 -0.002549 0.898039 0.898039 0.898039
+vn 5.258726 -1.927608 0.832751
+v 0.012722 -0.001235 0.035761 0.898039 0.898039 0.898039
+vn 2.632015 -1.305853 3.004829
+v 0.005703 -0.004116 0.058758 0.898039 0.898039 0.898039
+vn -0.299241 -1.705944 2.008624
+v 0.002661 -0.007132 0.058698 0.898039 0.898039 0.898039
+vn 1.103603 1.594254 -2.347977
+v 0.002215 0.004993 -0.002511 0.898039 0.898039 0.898039
+vn 2.233487 5.093243 -0.364550
+v 0.005622 0.010021 0.025747 0.898039 0.898039 0.898039
+vn 4.983704 2.081806 -0.624850
+v 0.012729 0.003021 0.025758 0.898039 0.898039 0.898039
+vn 1.961176 5.324572 0.712322
+v 0.001902 0.010037 0.046744 0.898039 0.898039 0.898039
+vn 5.258732 1.928928 0.829669
+v 0.012722 0.001292 0.035759 0.898039 0.898039 0.898039
+vn -0.297364 1.706846 2.006924
+v 0.002671 0.007215 0.058697 0.898039 0.898039 0.898039
+vn -2.832783 3.054544 1.789137
+v -0.002136 0.009194 0.050433 0.898039 0.898039 0.898039
+vn 1.961385 -5.323473 0.720333
+v 0.001902 -0.009963 0.046759 0.898039 0.898039 0.898039
+vn -5.065664 -1.733138 1.023359
+v -0.004287 -0.006963 0.046752 0.898039 0.898039 0.898039
+vn -2.834672 -3.053080 1.792973
+v -0.002136 -0.009114 0.050448 0.898039 0.898039 0.898039
+vn -2.000146 -5.315627 0.402609
+v -0.001287 -0.009963 0.046757 0.898039 0.898039 0.898039
+vn 2.639991 1.310659 3.003111
+v 0.005703 0.004210 0.058751 0.898039 0.898039 0.898039
+vn -5.062719 1.737455 1.014154
+v -0.004287 0.007037 0.046741 0.898039 0.898039 0.898039
+vn -2.351081 -2.099160 -2.145130
+v -0.002027 -0.005045 -0.001037 0.898039 0.898039 0.898039
+vn -5.766850 -1.257477 -0.689983
+v -0.003756 -0.003901 0.007094 0.898039 0.898039 0.898039
+vn -2.305349 2.031790 -2.078215
+v -0.002009 0.005045 -0.001138 0.898039 0.898039 0.898039
+vn -2.002912 5.313471 0.388640
+v -0.001287 0.010037 0.046741 0.898039 0.898039 0.898039
+vn -2.117217 -5.255665 -0.432893
+v -0.001271 -0.009979 0.025757 0.898039 0.898039 0.898039
+vn -5.277688 -2.267378 -0.220694
+v -0.004270 -0.006979 0.025752 0.898039 0.898039 0.898039
+vn -5.245137 2.278943 -0.312094
+v -0.004254 0.006906 0.023829 0.898039 0.898039 0.898039
+vn -2.126865 5.247381 -0.400139
+v -0.001271 0.010020 0.025741 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_l2.wrl b/data/RobotAPI/robots/Armar3/convexModel/index_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9175b8687fdeaf86ec345eef68c70a4a8672d8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_l2.wrl
@@ -0,0 +1,222 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -25.75 12.75 3,
+                                      -25.75 5.6420102 10,
+                                      2.55459 2.1963699 4.99159,
+                                      -35.75 12.75 1.26352,
+                                      -58.75 5.75 4.16326,
+                                      -58.689701 2.70784 7.1785102,
+                                      2.50914 2.2127299 -4.9946899,
+                                      -25.75 5.6420102 -10,
+                                      -25.75 12.75 -3,
+                                      -46.75 1.93915 -10,
+                                      -35.75 12.75 -1.26352,
+                                      -58.700901 2.7174101 -7.1679702,
+                                      -50.442299 -2.0961499 -9.1538496,
+                                      -46.75 1.93915 10,
+                                      -46.75 -4.25 7,
+                                      -50.442299 -2.0961499 9.1538496,
+                                      -46.75 -1.25 10,
+                                      -58.75 5.75 -4.16326,
+                                      -46.75 -4.25 -7,
+                                      1.03971 -2.0276 5.0445499,
+                                      -7.0934701 -3.7504201 3.90676,
+                                      1.1324199 -2.0095201 -5.0462599,
+                                      -46.75 -1.25 -10,
+                                      -25.75 -1.25 10,
+                                      -25.75 -4.25 7,
+                                      -23.8381 -4.23454 -6.8866701,
+                                      -25.75 -1.25 -10 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.013045483 0.70161396 0.71243781,
+                                      0.042648412 0.7010352 0.71185017,
+                                      0.20691527 0.68648869 0.69707924,
+                                      -0.12278644 0.6966247 0.70685035,
+                                      -0.12322462 0.69736046 0.70604831,
+                                      -0.12278584 0.69675499 0.70672214,
+                                      0.2067802 0.68650872 -0.69709957,
+                                      0.042579446 0.70103735 -0.71185231,
+                                      -0.013090931 0.70161361 -0.71243739,
+                                      -0.12262718 0.69628572 -0.70721197,
+                                      -0.12278722 0.6966508 -0.7068246,
+                                      -0.2301767 0.0065595019 -0.97312677,
+                                      -0.1520685 0.0021992903 -0.9883675,
+                                      -0.22677886 0.0032797889 -0.97394085,
+                                      -0.12264073 0.6962924 0.70720309,
+                                      -0.50348985 -0.8640011 0.00035491833,
+                                      -0.50348371 -0.86400437 0.00089312682,
+                                      -4.5659192e-008 -0.70710683 0.70710683,
+                                      -0.11240018 0 0.99366307,
+                                      -0.11398935 0.0015121583 0.99348086,
+                                      -0.22649354 0.003004615 0.97400808,
+                                      -0.12326758 0.69745827 -0.70594406,
+                                      -0.122787 0.69679403 -0.7066834,
+                                      -0.50365537 -0.86390471 -0.00025260754,
+                                      -0.22960693 0.0060091726 0.97326499,
+                                      0.20720774 -0.97829705 0.00015087554,
+                                      0.11055028 -0.9932887 -0.034001127,
+                                      0.15199956 -0.98699778 -0.052265346,
+                                      -0.074880235 0 -0.99719256,
+                                      0.0013249314 -0.71206594 -0.7021113,
+                                      0.0019872992 -0.7071054 -0.7071054,
+                                      -9.1318398e-008 -0.70710683 -0.70710683,
+                                      0.18017322 -0.052301813 0.98224348,
+                                      0.17726825 -0.026159987 0.98381495,
+                                      0.08897949 -0.01313096 0.99594682,
+                                      0.0092954328 -0.99995667 0.00053766283,
+                                      0.041345697 -0.99855518 -0.034324259,
+                                      0.11400016 -0.68127304 -0.72309828,
+                                      0.039388683 -0.70455813 -0.70855236,
+                                      0.05711164 -0.7029497 -0.70894295,
+                                      0.11849935 -0.01559512 -0.99283165,
+                                      0.17712863 -0.023311032 -0.98391163,
+                                      0.17975241 -0.046609212 -0.98260713,
+                                      0.054812029 -0.74702501 0.66253239,
+                                      0.10812902 -0.85045588 0.51481348,
+                                      0.10965501 -0.78225917 0.61322612,
+                                      0.054887105 -0.70604086 0.70604086,
+                                      -0.29116166 0.95667398 0,
+                                      -0.19600406 0.9806031 0,
+                                      -0.29116163 0.95667392 0,
+                                      -0.098002031 0.99518621 0,
+                                      0.17750435 0.98412007 -1.3994988e-005,
+                                      0.34937114 0.93698442 -2.7545493e-005,
+                                      0.17750074 0.98412067 0,
+                                      0.087455191 0 0.99616849,
+                                      -0.99984467 -0.017622406 0.00038391139,
+                                      -0.99986905 -0.016188322 -0,
+                                      -0.99981809 -0.019056451 0.00076782185,
+                                      -0.50360221 -0.86393565 -0.00022950175,
+                                      -0.50354588 -0.86396837 0.00023661219,
+                                      0.058334745 0 -0.9982971,
+                                      -3.0439459e-008 -0.70710677 0.70710677,
+                                      0.00033990131 -0.99999988 -0.00050985196,
+                                      -0 -1 0,
+                                      0.94613957 -0.32375497 0.0016045594,
+                                      0.9507429 -0.30994314 -0.0048348252,
+                                      0.94129664 -0.33748478 0.0080435369 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 9, 12, -1,
+                                    13, 1, 0, -1, 13, 0, 3, -1,
+                                    13, 3, 5, -1, 5, 14, 15, -1,
+                                    14, 16, 15, -1, 16, 13, 15, -1,
+                                    17, 10, 11, -1, 11, 10, 9, -1,
+                                    18, 11, 12, -1, 5, 15, 13, -1,
+                                    19, 20, 21, -1, 22, 12, 9, -1,
+                                    22, 18, 12, -1, 19, 2, 23, -1,
+                                    24, 25, 20, -1, 21, 25, 26, -1,
+                                    25, 21, 20, -1, 26, 6, 21, -1,
+                                    24, 20, 19, -1, 19, 23, 24, -1,
+                                    4, 10, 17, -1, 10, 4, 3, -1,
+                                    8, 0, 2, -1, 8, 2, 6, -1,
+                                    8, 10, 3, -1, 0, 8, 3, -1,
+                                    23, 13, 16, -1, 13, 23, 1, -1,
+                                    11, 4, 17, -1, 11, 5, 4, -1,
+                                    11, 14, 5, -1, 11, 18, 14, -1,
+                                    22, 7, 26, -1, 22, 9, 7, -1,
+                                    25, 22, 26, -1, 22, 25, 18, -1,
+                                    23, 2, 1, -1, 24, 23, 16, -1,
+                                    24, 16, 14, -1, 18, 24, 14, -1,
+                                    25, 24, 18, -1, 6, 26, 7, -1,
+                                    21, 6, 2, -1, 2, 19, 21, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 12, 13, -1,
+                                    14, 1, 0, -1, 14, 0, 3, -1,
+                                    14, 3, 5, -1, 15, 15, 16, -1,
+                                    17, 17, 17, -1, 18, 19, 20, -1,
+                                    21, 10, 22, -1, 22, 10, 9, -1,
+                                    23, 23, 23, -1, 24, 20, 19, -1,
+                                    25, 26, 27, -1, 28, 13, 12, -1,
+                                    29, 30, 31, -1, 32, 33, 34, -1,
+                                    35, 36, 26, -1, 37, 38, 39, -1,
+                                    36, 27, 26, -1, 40, 41, 42, -1,
+                                    43, 44, 45, -1, 45, 46, 43, -1,
+                                    47, 48, 49, -1, 48, 47, 50, -1,
+                                    51, 51, 52, -1, 51, 52, 52, -1,
+                                    51, 48, 50, -1, 53, 51, 50, -1,
+                                    34, 19, 18, -1, 19, 34, 54, -1,
+                                    55, 55, 56, -1, 55, 57, 55, -1,
+                                    58, 59, 15, -1, 58, 23, 59, -1,
+                                    28, 60, 40, -1, 28, 12, 60, -1,
+                                    38, 29, 39, -1, 29, 38, 30, -1,
+                                    34, 33, 54, -1, 43, 46, 61, -1,
+                                    43, 61, 17, -1, 62, 35, 63, -1,
+                                    36, 35, 62, -1, 41, 40, 60, -1,
+                                    64, 65, 64, -1, 64, 66, 64, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r1.obj b/data/RobotAPI/robots/Armar3/convexModel/index_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77ec1d5d47e7a11d0ccb0b396a44e7889d95379e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_r1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r1.wrl b/data/RobotAPI/robots/Armar3/convexModel/index_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r2.obj b/data/RobotAPI/robots/Armar3/convexModel/index_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402cd31bb0eefd9028fd93fa3561f33773cada15
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object index_r2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn 4.983596 -2.082867 -0.621663
+v 0.012729 -0.002979 0.025763 0.898039 0.898039 0.898039
+vn 2.233722 -5.093729 -0.356419
+v 0.005622 -0.009979 0.025762 0.898039 0.898039 0.898039
+vn 1.057032 -1.568929 -2.326945
+v 0.002198 -0.004994 -0.002549 0.898039 0.898039 0.898039
+vn 5.258726 -1.927608 0.832751
+v 0.012722 -0.001235 0.035761 0.898039 0.898039 0.898039
+vn 2.632015 -1.305853 3.004829
+v 0.005703 -0.004116 0.058758 0.898039 0.898039 0.898039
+vn -0.299241 -1.705944 2.008624
+v 0.002661 -0.007132 0.058698 0.898039 0.898039 0.898039
+vn 1.103603 1.594254 -2.347977
+v 0.002215 0.004993 -0.002511 0.898039 0.898039 0.898039
+vn 2.233487 5.093243 -0.364550
+v 0.005622 0.010021 0.025747 0.898039 0.898039 0.898039
+vn 4.983704 2.081806 -0.624850
+v 0.012729 0.003021 0.025758 0.898039 0.898039 0.898039
+vn 1.961176 5.324572 0.712322
+v 0.001902 0.010037 0.046744 0.898039 0.898039 0.898039
+vn 5.258732 1.928928 0.829669
+v 0.012722 0.001292 0.035759 0.898039 0.898039 0.898039
+vn -0.297364 1.706846 2.006924
+v 0.002671 0.007215 0.058697 0.898039 0.898039 0.898039
+vn -2.832783 3.054544 1.789137
+v -0.002136 0.009194 0.050433 0.898039 0.898039 0.898039
+vn 1.961385 -5.323473 0.720333
+v 0.001902 -0.009963 0.046759 0.898039 0.898039 0.898039
+vn -5.065664 -1.733138 1.023359
+v -0.004287 -0.006963 0.046752 0.898039 0.898039 0.898039
+vn -2.834672 -3.053080 1.792973
+v -0.002136 -0.009114 0.050448 0.898039 0.898039 0.898039
+vn -2.000146 -5.315627 0.402609
+v -0.001287 -0.009963 0.046757 0.898039 0.898039 0.898039
+vn 2.639991 1.310659 3.003111
+v 0.005703 0.004210 0.058751 0.898039 0.898039 0.898039
+vn -5.062719 1.737455 1.014154
+v -0.004287 0.007037 0.046741 0.898039 0.898039 0.898039
+vn -2.351081 -2.099160 -2.145130
+v -0.002027 -0.005045 -0.001037 0.898039 0.898039 0.898039
+vn -5.766850 -1.257477 -0.689983
+v -0.003756 -0.003901 0.007094 0.898039 0.898039 0.898039
+vn -2.305349 2.031790 -2.078215
+v -0.002009 0.005045 -0.001138 0.898039 0.898039 0.898039
+vn -2.002912 5.313471 0.388640
+v -0.001287 0.010037 0.046741 0.898039 0.898039 0.898039
+vn -2.117217 -5.255665 -0.432893
+v -0.001271 -0.009979 0.025757 0.898039 0.898039 0.898039
+vn -5.277688 -2.267378 -0.220694
+v -0.004270 -0.006979 0.025752 0.898039 0.898039 0.898039
+vn -5.245137 2.278943 -0.312094
+v -0.004254 0.006906 0.023829 0.898039 0.898039 0.898039
+vn -2.126865 5.247381 -0.400139
+v -0.001271 0.010020 0.025741 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/index_r2.wrl b/data/RobotAPI/robots/Armar3/convexModel/index_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9175b8687fdeaf86ec345eef68c70a4a8672d8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/index_r2.wrl
@@ -0,0 +1,222 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -25.75 12.75 3,
+                                      -25.75 5.6420102 10,
+                                      2.55459 2.1963699 4.99159,
+                                      -35.75 12.75 1.26352,
+                                      -58.75 5.75 4.16326,
+                                      -58.689701 2.70784 7.1785102,
+                                      2.50914 2.2127299 -4.9946899,
+                                      -25.75 5.6420102 -10,
+                                      -25.75 12.75 -3,
+                                      -46.75 1.93915 -10,
+                                      -35.75 12.75 -1.26352,
+                                      -58.700901 2.7174101 -7.1679702,
+                                      -50.442299 -2.0961499 -9.1538496,
+                                      -46.75 1.93915 10,
+                                      -46.75 -4.25 7,
+                                      -50.442299 -2.0961499 9.1538496,
+                                      -46.75 -1.25 10,
+                                      -58.75 5.75 -4.16326,
+                                      -46.75 -4.25 -7,
+                                      1.03971 -2.0276 5.0445499,
+                                      -7.0934701 -3.7504201 3.90676,
+                                      1.1324199 -2.0095201 -5.0462599,
+                                      -46.75 -1.25 -10,
+                                      -25.75 -1.25 10,
+                                      -25.75 -4.25 7,
+                                      -23.8381 -4.23454 -6.8866701,
+                                      -25.75 -1.25 -10 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.013045483 0.70161396 0.71243781,
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+                                      0.20691527 0.68648869 0.69707924,
+                                      -0.12278644 0.6966247 0.70685035,
+                                      -0.12322462 0.69736046 0.70604831,
+                                      -0.12278584 0.69675499 0.70672214,
+                                      0.2067802 0.68650872 -0.69709957,
+                                      0.042579446 0.70103735 -0.71185231,
+                                      -0.013090931 0.70161361 -0.71243739,
+                                      -0.12262718 0.69628572 -0.70721197,
+                                      -0.12278722 0.6966508 -0.7068246,
+                                      -0.2301767 0.0065595019 -0.97312677,
+                                      -0.1520685 0.0021992903 -0.9883675,
+                                      -0.22677886 0.0032797889 -0.97394085,
+                                      -0.12264073 0.6962924 0.70720309,
+                                      -0.50348985 -0.8640011 0.00035491833,
+                                      -0.50348371 -0.86400437 0.00089312682,
+                                      -4.5659192e-008 -0.70710683 0.70710683,
+                                      -0.11240018 0 0.99366307,
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+                                      -0.22960693 0.0060091726 0.97326499,
+                                      0.20720774 -0.97829705 0.00015087554,
+                                      0.11055028 -0.9932887 -0.034001127,
+                                      0.15199956 -0.98699778 -0.052265346,
+                                      -0.074880235 0 -0.99719256,
+                                      0.0013249314 -0.71206594 -0.7021113,
+                                      0.0019872992 -0.7071054 -0.7071054,
+                                      -9.1318398e-008 -0.70710683 -0.70710683,
+                                      0.18017322 -0.052301813 0.98224348,
+                                      0.17726825 -0.026159987 0.98381495,
+                                      0.08897949 -0.01313096 0.99594682,
+                                      0.0092954328 -0.99995667 0.00053766283,
+                                      0.041345697 -0.99855518 -0.034324259,
+                                      0.11400016 -0.68127304 -0.72309828,
+                                      0.039388683 -0.70455813 -0.70855236,
+                                      0.05711164 -0.7029497 -0.70894295,
+                                      0.11849935 -0.01559512 -0.99283165,
+                                      0.17712863 -0.023311032 -0.98391163,
+                                      0.17975241 -0.046609212 -0.98260713,
+                                      0.054812029 -0.74702501 0.66253239,
+                                      0.10812902 -0.85045588 0.51481348,
+                                      0.10965501 -0.78225917 0.61322612,
+                                      0.054887105 -0.70604086 0.70604086,
+                                      -0.29116166 0.95667398 0,
+                                      -0.19600406 0.9806031 0,
+                                      -0.29116163 0.95667392 0,
+                                      -0.098002031 0.99518621 0,
+                                      0.17750435 0.98412007 -1.3994988e-005,
+                                      0.34937114 0.93698442 -2.7545493e-005,
+                                      0.17750074 0.98412067 0,
+                                      0.087455191 0 0.99616849,
+                                      -0.99984467 -0.017622406 0.00038391139,
+                                      -0.99986905 -0.016188322 -0,
+                                      -0.99981809 -0.019056451 0.00076782185,
+                                      -0.50360221 -0.86393565 -0.00022950175,
+                                      -0.50354588 -0.86396837 0.00023661219,
+                                      0.058334745 0 -0.9982971,
+                                      -3.0439459e-008 -0.70710677 0.70710677,
+                                      0.00033990131 -0.99999988 -0.00050985196,
+                                      -0 -1 0,
+                                      0.94613957 -0.32375497 0.0016045594,
+                                      0.9507429 -0.30994314 -0.0048348252,
+                                      0.94129664 -0.33748478 0.0080435369 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 9, 12, -1,
+                                    13, 1, 0, -1, 13, 0, 3, -1,
+                                    13, 3, 5, -1, 5, 14, 15, -1,
+                                    14, 16, 15, -1, 16, 13, 15, -1,
+                                    17, 10, 11, -1, 11, 10, 9, -1,
+                                    18, 11, 12, -1, 5, 15, 13, -1,
+                                    19, 20, 21, -1, 22, 12, 9, -1,
+                                    22, 18, 12, -1, 19, 2, 23, -1,
+                                    24, 25, 20, -1, 21, 25, 26, -1,
+                                    25, 21, 20, -1, 26, 6, 21, -1,
+                                    24, 20, 19, -1, 19, 23, 24, -1,
+                                    4, 10, 17, -1, 10, 4, 3, -1,
+                                    8, 0, 2, -1, 8, 2, 6, -1,
+                                    8, 10, 3, -1, 0, 8, 3, -1,
+                                    23, 13, 16, -1, 13, 23, 1, -1,
+                                    11, 4, 17, -1, 11, 5, 4, -1,
+                                    11, 14, 5, -1, 11, 18, 14, -1,
+                                    22, 7, 26, -1, 22, 9, 7, -1,
+                                    25, 22, 26, -1, 22, 25, 18, -1,
+                                    23, 2, 1, -1, 24, 23, 16, -1,
+                                    24, 16, 14, -1, 18, 24, 14, -1,
+                                    25, 24, 18, -1, 6, 26, 7, -1,
+                                    21, 6, 2, -1, 2, 19, 21, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 12, 13, -1,
+                                    14, 1, 0, -1, 14, 0, 3, -1,
+                                    14, 3, 5, -1, 15, 15, 16, -1,
+                                    17, 17, 17, -1, 18, 19, 20, -1,
+                                    21, 10, 22, -1, 22, 10, 9, -1,
+                                    23, 23, 23, -1, 24, 20, 19, -1,
+                                    25, 26, 27, -1, 28, 13, 12, -1,
+                                    29, 30, 31, -1, 32, 33, 34, -1,
+                                    35, 36, 26, -1, 37, 38, 39, -1,
+                                    36, 27, 26, -1, 40, 41, 42, -1,
+                                    43, 44, 45, -1, 45, 46, 43, -1,
+                                    47, 48, 49, -1, 48, 47, 50, -1,
+                                    51, 51, 52, -1, 51, 52, 52, -1,
+                                    51, 48, 50, -1, 53, 51, 50, -1,
+                                    34, 19, 18, -1, 19, 34, 54, -1,
+                                    55, 55, 56, -1, 55, 57, 55, -1,
+                                    58, 59, 15, -1, 58, 23, 59, -1,
+                                    28, 60, 40, -1, 28, 12, 60, -1,
+                                    38, 29, 39, -1, 29, 38, 30, -1,
+                                    34, 33, 54, -1, 43, 46, 61, -1,
+                                    43, 61, 17, -1, 62, 35, 63, -1,
+                                    36, 35, 62, -1, 41, 40, 60, -1,
+                                    64, 65, 64, -1, 64, 66, 64, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/jaw.wrl b/data/RobotAPI/robots/Armar3/convexModel/jaw.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2addb6bb66a88797e80757914be294d6974d4f62
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/jaw.wrl
@@ -0,0 +1,33 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 10 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.wrl b/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f01cbea34c329d27bc6c674041f1fbbaf63b293a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_l_bottom.wrl
@@ -0,0 +1,19 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation -0 -1.0000001 -0  0.86999989
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.wrl b/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a1330520d12ca6c69ef41ccd159d829e4eae6780
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_l_top.wrl
@@ -0,0 +1,19 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation -0 -1 -0  2.4400001
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.wrl b/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f01cbea34c329d27bc6c674041f1fbbaf63b293a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_r_bottom.wrl
@@ -0,0 +1,19 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation -0 -1.0000001 -0  0.86999989
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.wrl b/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a1330520d12ca6c69ef41ccd159d829e4eae6780
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/lid_r_top.wrl
@@ -0,0 +1,19 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation -0 -1 -0  2.4400001
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l1.obj b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90b45aba99f80320f037fc5736394a50d6442809
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_l1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l1.wrl b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
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+                                      -1 0 0,
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+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
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+                                    2, 6, 10, -1, 5, 6, 9, -1,
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+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
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+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l2.obj b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8012c28870322411c585384a961ae075a7791993
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_l2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
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+vn -2.351081 -2.099160 -2.145130
+v -0.002027 -0.005045 -0.001037 0.898039 0.898039 0.898039
+vn -5.766850 -1.257477 -0.689983
+v -0.003756 -0.003901 0.007094 0.898039 0.898039 0.898039
+vn -2.305349 2.031790 -2.078215
+v -0.002009 0.005045 -0.001138 0.898039 0.898039 0.898039
+vn -2.002912 5.313471 0.388640
+v -0.001287 0.010037 0.046741 0.898039 0.898039 0.898039
+vn -2.117217 -5.255665 -0.432893
+v -0.001271 -0.009979 0.025757 0.898039 0.898039 0.898039
+vn -5.277688 -2.267378 -0.220694
+v -0.004270 -0.006979 0.025752 0.898039 0.898039 0.898039
+vn -5.245137 2.278943 -0.312094
+v -0.004254 0.006906 0.023829 0.898039 0.898039 0.898039
+vn -2.126865 5.247381 -0.400139
+v -0.001271 0.010020 0.025741 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_l2.wrl b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9175b8687fdeaf86ec345eef68c70a4a8672d8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_l2.wrl
@@ -0,0 +1,222 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -25.75 12.75 3,
+                                      -25.75 5.6420102 10,
+                                      2.55459 2.1963699 4.99159,
+                                      -35.75 12.75 1.26352,
+                                      -58.75 5.75 4.16326,
+                                      -58.689701 2.70784 7.1785102,
+                                      2.50914 2.2127299 -4.9946899,
+                                      -25.75 5.6420102 -10,
+                                      -25.75 12.75 -3,
+                                      -46.75 1.93915 -10,
+                                      -35.75 12.75 -1.26352,
+                                      -58.700901 2.7174101 -7.1679702,
+                                      -50.442299 -2.0961499 -9.1538496,
+                                      -46.75 1.93915 10,
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+                                      -50.442299 -2.0961499 9.1538496,
+                                      -46.75 -1.25 10,
+                                      -58.75 5.75 -4.16326,
+                                      -46.75 -4.25 -7,
+                                      1.03971 -2.0276 5.0445499,
+                                      -7.0934701 -3.7504201 3.90676,
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+                                      -46.75 -1.25 -10,
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+                                      -25.75 -4.25 7,
+                                      -23.8381 -4.23454 -6.8866701,
+                                      -25.75 -1.25 -10 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.013045483 0.70161396 0.71243781,
+                                      0.042648412 0.7010352 0.71185017,
+                                      0.20691527 0.68648869 0.69707924,
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+                                      -0.12322462 0.69736046 0.70604831,
+                                      -0.12278584 0.69675499 0.70672214,
+                                      0.2067802 0.68650872 -0.69709957,
+                                      0.042579446 0.70103735 -0.71185231,
+                                      -0.013090931 0.70161361 -0.71243739,
+                                      -0.12262718 0.69628572 -0.70721197,
+                                      -0.12278722 0.6966508 -0.7068246,
+                                      -0.2301767 0.0065595019 -0.97312677,
+                                      -0.1520685 0.0021992903 -0.9883675,
+                                      -0.22677886 0.0032797889 -0.97394085,
+                                      -0.12264073 0.6962924 0.70720309,
+                                      -0.50348985 -0.8640011 0.00035491833,
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+                                      -4.5659192e-008 -0.70710683 0.70710683,
+                                      -0.11240018 0 0.99366307,
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+                                      -9.1318398e-008 -0.70710683 -0.70710683,
+                                      0.18017322 -0.052301813 0.98224348,
+                                      0.17726825 -0.026159987 0.98381495,
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+                                      0.0092954328 -0.99995667 0.00053766283,
+                                      0.041345697 -0.99855518 -0.034324259,
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+                                      0.039388683 -0.70455813 -0.70855236,
+                                      0.05711164 -0.7029497 -0.70894295,
+                                      0.11849935 -0.01559512 -0.99283165,
+                                      0.17712863 -0.023311032 -0.98391163,
+                                      0.17975241 -0.046609212 -0.98260713,
+                                      0.054812029 -0.74702501 0.66253239,
+                                      0.10812902 -0.85045588 0.51481348,
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+                                      -0.29116166 0.95667398 0,
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+                                      0.087455191 0 0.99616849,
+                                      -0.99984467 -0.017622406 0.00038391139,
+                                      -0.99986905 -0.016188322 -0,
+                                      -0.99981809 -0.019056451 0.00076782185,
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+                                      -3.0439459e-008 -0.70710677 0.70710677,
+                                      0.00033990131 -0.99999988 -0.00050985196,
+                                      -0 -1 0,
+                                      0.94613957 -0.32375497 0.0016045594,
+                                      0.9507429 -0.30994314 -0.0048348252,
+                                      0.94129664 -0.33748478 0.0080435369 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 9, 12, -1,
+                                    13, 1, 0, -1, 13, 0, 3, -1,
+                                    13, 3, 5, -1, 5, 14, 15, -1,
+                                    14, 16, 15, -1, 16, 13, 15, -1,
+                                    17, 10, 11, -1, 11, 10, 9, -1,
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+                                    19, 20, 21, -1, 22, 12, 9, -1,
+                                    22, 18, 12, -1, 19, 2, 23, -1,
+                                    24, 25, 20, -1, 21, 25, 26, -1,
+                                    25, 21, 20, -1, 26, 6, 21, -1,
+                                    24, 20, 19, -1, 19, 23, 24, -1,
+                                    4, 10, 17, -1, 10, 4, 3, -1,
+                                    8, 0, 2, -1, 8, 2, 6, -1,
+                                    8, 10, 3, -1, 0, 8, 3, -1,
+                                    23, 13, 16, -1, 13, 23, 1, -1,
+                                    11, 4, 17, -1, 11, 5, 4, -1,
+                                    11, 14, 5, -1, 11, 18, 14, -1,
+                                    22, 7, 26, -1, 22, 9, 7, -1,
+                                    25, 22, 26, -1, 22, 25, 18, -1,
+                                    23, 2, 1, -1, 24, 23, 16, -1,
+                                    24, 16, 14, -1, 18, 24, 14, -1,
+                                    25, 24, 18, -1, 6, 26, 7, -1,
+                                    21, 6, 2, -1, 2, 19, 21, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 12, 13, -1,
+                                    14, 1, 0, -1, 14, 0, 3, -1,
+                                    14, 3, 5, -1, 15, 15, 16, -1,
+                                    17, 17, 17, -1, 18, 19, 20, -1,
+                                    21, 10, 22, -1, 22, 10, 9, -1,
+                                    23, 23, 23, -1, 24, 20, 19, -1,
+                                    25, 26, 27, -1, 28, 13, 12, -1,
+                                    29, 30, 31, -1, 32, 33, 34, -1,
+                                    35, 36, 26, -1, 37, 38, 39, -1,
+                                    36, 27, 26, -1, 40, 41, 42, -1,
+                                    43, 44, 45, -1, 45, 46, 43, -1,
+                                    47, 48, 49, -1, 48, 47, 50, -1,
+                                    51, 51, 52, -1, 51, 52, 52, -1,
+                                    51, 48, 50, -1, 53, 51, 50, -1,
+                                    34, 19, 18, -1, 19, 34, 54, -1,
+                                    55, 55, 56, -1, 55, 57, 55, -1,
+                                    58, 59, 15, -1, 58, 23, 59, -1,
+                                    28, 60, 40, -1, 28, 12, 60, -1,
+                                    38, 29, 39, -1, 29, 38, 30, -1,
+                                    34, 33, 54, -1, 43, 46, 61, -1,
+                                    43, 61, 17, -1, 62, 35, 63, -1,
+                                    36, 35, 62, -1, 41, 40, 60, -1,
+                                    64, 65, 64, -1, 64, 66, 64, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r1.obj b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e963b04bdacd5174644aeea0744d7ace92d4d7d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_r1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r1.wrl b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r2.obj b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c513f51766d77e34e9b31f5bfae36f1ab1e9e091
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object middle_r2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn 4.983596 -2.082867 -0.621663
+v 0.012729 -0.002979 0.025763 0.898039 0.898039 0.898039
+vn 2.233722 -5.093729 -0.356419
+v 0.005622 -0.009979 0.025762 0.898039 0.898039 0.898039
+vn 1.057032 -1.568929 -2.326945
+v 0.002198 -0.004994 -0.002549 0.898039 0.898039 0.898039
+vn 5.258726 -1.927608 0.832751
+v 0.012722 -0.001235 0.035761 0.898039 0.898039 0.898039
+vn 2.632015 -1.305853 3.004829
+v 0.005703 -0.004116 0.058758 0.898039 0.898039 0.898039
+vn -0.299241 -1.705944 2.008624
+v 0.002661 -0.007132 0.058698 0.898039 0.898039 0.898039
+vn 1.103603 1.594254 -2.347977
+v 0.002215 0.004993 -0.002511 0.898039 0.898039 0.898039
+vn 2.233487 5.093243 -0.364550
+v 0.005622 0.010021 0.025747 0.898039 0.898039 0.898039
+vn 4.983704 2.081806 -0.624850
+v 0.012729 0.003021 0.025758 0.898039 0.898039 0.898039
+vn 1.961176 5.324572 0.712322
+v 0.001902 0.010037 0.046744 0.898039 0.898039 0.898039
+vn 5.258732 1.928928 0.829669
+v 0.012722 0.001292 0.035759 0.898039 0.898039 0.898039
+vn -0.297364 1.706846 2.006924
+v 0.002671 0.007215 0.058697 0.898039 0.898039 0.898039
+vn -2.832783 3.054544 1.789137
+v -0.002136 0.009194 0.050433 0.898039 0.898039 0.898039
+vn 1.961385 -5.323473 0.720333
+v 0.001902 -0.009963 0.046759 0.898039 0.898039 0.898039
+vn -5.065664 -1.733138 1.023359
+v -0.004287 -0.006963 0.046752 0.898039 0.898039 0.898039
+vn -2.834672 -3.053080 1.792973
+v -0.002136 -0.009114 0.050448 0.898039 0.898039 0.898039
+vn -2.000146 -5.315627 0.402609
+v -0.001287 -0.009963 0.046757 0.898039 0.898039 0.898039
+vn 2.639991 1.310659 3.003111
+v 0.005703 0.004210 0.058751 0.898039 0.898039 0.898039
+vn -5.062719 1.737455 1.014154
+v -0.004287 0.007037 0.046741 0.898039 0.898039 0.898039
+vn -2.351081 -2.099160 -2.145130
+v -0.002027 -0.005045 -0.001037 0.898039 0.898039 0.898039
+vn -5.766850 -1.257477 -0.689983
+v -0.003756 -0.003901 0.007094 0.898039 0.898039 0.898039
+vn -2.305349 2.031790 -2.078215
+v -0.002009 0.005045 -0.001138 0.898039 0.898039 0.898039
+vn -2.002912 5.313471 0.388640
+v -0.001287 0.010037 0.046741 0.898039 0.898039 0.898039
+vn -2.117217 -5.255665 -0.432893
+v -0.001271 -0.009979 0.025757 0.898039 0.898039 0.898039
+vn -5.277688 -2.267378 -0.220694
+v -0.004270 -0.006979 0.025752 0.898039 0.898039 0.898039
+vn -5.245137 2.278943 -0.312094
+v -0.004254 0.006906 0.023829 0.898039 0.898039 0.898039
+vn -2.126865 5.247381 -0.400139
+v -0.001271 0.010020 0.025741 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/middle_r2.wrl b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7a9175b8687fdeaf86ec345eef68c70a4a8672d8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/middle_r2.wrl
@@ -0,0 +1,222 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -25.75 12.75 3,
+                                      -25.75 5.6420102 10,
+                                      2.55459 2.1963699 4.99159,
+                                      -35.75 12.75 1.26352,
+                                      -58.75 5.75 4.16326,
+                                      -58.689701 2.70784 7.1785102,
+                                      2.50914 2.2127299 -4.9946899,
+                                      -25.75 5.6420102 -10,
+                                      -25.75 12.75 -3,
+                                      -46.75 1.93915 -10,
+                                      -35.75 12.75 -1.26352,
+                                      -58.700901 2.7174101 -7.1679702,
+                                      -50.442299 -2.0961499 -9.1538496,
+                                      -46.75 1.93915 10,
+                                      -46.75 -4.25 7,
+                                      -50.442299 -2.0961499 9.1538496,
+                                      -46.75 -1.25 10,
+                                      -58.75 5.75 -4.16326,
+                                      -46.75 -4.25 -7,
+                                      1.03971 -2.0276 5.0445499,
+                                      -7.0934701 -3.7504201 3.90676,
+                                      1.1324199 -2.0095201 -5.0462599,
+                                      -46.75 -1.25 -10,
+                                      -25.75 -1.25 10,
+                                      -25.75 -4.25 7,
+                                      -23.8381 -4.23454 -6.8866701,
+                                      -25.75 -1.25 -10 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.013045483 0.70161396 0.71243781,
+                                      0.042648412 0.7010352 0.71185017,
+                                      0.20691527 0.68648869 0.69707924,
+                                      -0.12278644 0.6966247 0.70685035,
+                                      -0.12322462 0.69736046 0.70604831,
+                                      -0.12278584 0.69675499 0.70672214,
+                                      0.2067802 0.68650872 -0.69709957,
+                                      0.042579446 0.70103735 -0.71185231,
+                                      -0.013090931 0.70161361 -0.71243739,
+                                      -0.12262718 0.69628572 -0.70721197,
+                                      -0.12278722 0.6966508 -0.7068246,
+                                      -0.2301767 0.0065595019 -0.97312677,
+                                      -0.1520685 0.0021992903 -0.9883675,
+                                      -0.22677886 0.0032797889 -0.97394085,
+                                      -0.12264073 0.6962924 0.70720309,
+                                      -0.50348985 -0.8640011 0.00035491833,
+                                      -0.50348371 -0.86400437 0.00089312682,
+                                      -4.5659192e-008 -0.70710683 0.70710683,
+                                      -0.11240018 0 0.99366307,
+                                      -0.11398935 0.0015121583 0.99348086,
+                                      -0.22649354 0.003004615 0.97400808,
+                                      -0.12326758 0.69745827 -0.70594406,
+                                      -0.122787 0.69679403 -0.7066834,
+                                      -0.50365537 -0.86390471 -0.00025260754,
+                                      -0.22960693 0.0060091726 0.97326499,
+                                      0.20720774 -0.97829705 0.00015087554,
+                                      0.11055028 -0.9932887 -0.034001127,
+                                      0.15199956 -0.98699778 -0.052265346,
+                                      -0.074880235 0 -0.99719256,
+                                      0.0013249314 -0.71206594 -0.7021113,
+                                      0.0019872992 -0.7071054 -0.7071054,
+                                      -9.1318398e-008 -0.70710683 -0.70710683,
+                                      0.18017322 -0.052301813 0.98224348,
+                                      0.17726825 -0.026159987 0.98381495,
+                                      0.08897949 -0.01313096 0.99594682,
+                                      0.0092954328 -0.99995667 0.00053766283,
+                                      0.041345697 -0.99855518 -0.034324259,
+                                      0.11400016 -0.68127304 -0.72309828,
+                                      0.039388683 -0.70455813 -0.70855236,
+                                      0.05711164 -0.7029497 -0.70894295,
+                                      0.11849935 -0.01559512 -0.99283165,
+                                      0.17712863 -0.023311032 -0.98391163,
+                                      0.17975241 -0.046609212 -0.98260713,
+                                      0.054812029 -0.74702501 0.66253239,
+                                      0.10812902 -0.85045588 0.51481348,
+                                      0.10965501 -0.78225917 0.61322612,
+                                      0.054887105 -0.70604086 0.70604086,
+                                      -0.29116166 0.95667398 0,
+                                      -0.19600406 0.9806031 0,
+                                      -0.29116163 0.95667392 0,
+                                      -0.098002031 0.99518621 0,
+                                      0.17750435 0.98412007 -1.3994988e-005,
+                                      0.34937114 0.93698442 -2.7545493e-005,
+                                      0.17750074 0.98412067 0,
+                                      0.087455191 0 0.99616849,
+                                      -0.99984467 -0.017622406 0.00038391139,
+                                      -0.99986905 -0.016188322 -0,
+                                      -0.99981809 -0.019056451 0.00076782185,
+                                      -0.50360221 -0.86393565 -0.00022950175,
+                                      -0.50354588 -0.86396837 0.00023661219,
+                                      0.058334745 0 -0.9982971,
+                                      -3.0439459e-008 -0.70710677 0.70710677,
+                                      0.00033990131 -0.99999988 -0.00050985196,
+                                      -0 -1 0,
+                                      0.94613957 -0.32375497 0.0016045594,
+                                      0.9507429 -0.30994314 -0.0048348252,
+                                      0.94129664 -0.33748478 0.0080435369 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 9, 12, -1,
+                                    13, 1, 0, -1, 13, 0, 3, -1,
+                                    13, 3, 5, -1, 5, 14, 15, -1,
+                                    14, 16, 15, -1, 16, 13, 15, -1,
+                                    17, 10, 11, -1, 11, 10, 9, -1,
+                                    18, 11, 12, -1, 5, 15, 13, -1,
+                                    19, 20, 21, -1, 22, 12, 9, -1,
+                                    22, 18, 12, -1, 19, 2, 23, -1,
+                                    24, 25, 20, -1, 21, 25, 26, -1,
+                                    25, 21, 20, -1, 26, 6, 21, -1,
+                                    24, 20, 19, -1, 19, 23, 24, -1,
+                                    4, 10, 17, -1, 10, 4, 3, -1,
+                                    8, 0, 2, -1, 8, 2, 6, -1,
+                                    8, 10, 3, -1, 0, 8, 3, -1,
+                                    23, 13, 16, -1, 13, 23, 1, -1,
+                                    11, 4, 17, -1, 11, 5, 4, -1,
+                                    11, 14, 5, -1, 11, 18, 14, -1,
+                                    22, 7, 26, -1, 22, 9, 7, -1,
+                                    25, 22, 26, -1, 22, 25, 18, -1,
+                                    23, 2, 1, -1, 24, 23, 16, -1,
+                                    24, 16, 14, -1, 18, 24, 14, -1,
+                                    25, 24, 18, -1, 6, 26, 7, -1,
+                                    21, 6, 2, -1, 2, 19, 21, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 8, 7, 9, -1,
+                                    9, 10, 8, -1, 11, 12, 13, -1,
+                                    14, 1, 0, -1, 14, 0, 3, -1,
+                                    14, 3, 5, -1, 15, 15, 16, -1,
+                                    17, 17, 17, -1, 18, 19, 20, -1,
+                                    21, 10, 22, -1, 22, 10, 9, -1,
+                                    23, 23, 23, -1, 24, 20, 19, -1,
+                                    25, 26, 27, -1, 28, 13, 12, -1,
+                                    29, 30, 31, -1, 32, 33, 34, -1,
+                                    35, 36, 26, -1, 37, 38, 39, -1,
+                                    36, 27, 26, -1, 40, 41, 42, -1,
+                                    43, 44, 45, -1, 45, 46, 43, -1,
+                                    47, 48, 49, -1, 48, 47, 50, -1,
+                                    51, 51, 52, -1, 51, 52, 52, -1,
+                                    51, 48, 50, -1, 53, 51, 50, -1,
+                                    34, 19, 18, -1, 19, 34, 54, -1,
+                                    55, 55, 56, -1, 55, 57, 55, -1,
+                                    58, 59, 15, -1, 58, 23, 59, -1,
+                                    28, 60, 40, -1, 28, 12, 60, -1,
+                                    38, 29, 39, -1, 29, 38, 30, -1,
+                                    34, 33, 54, -1, 43, 46, 61, -1,
+                                    43, 61, 17, -1, 62, 35, 63, -1,
+                                    36, 35, 62, -1, 41, 40, 60, -1,
+                                    64, 65, 64, -1, 64, 66, 64, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.obj b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449b472b6f64a480e7265ed83c2b0890ddb72c85
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_pitch_link.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
+vn 2.430385 -4.080217 1.193506
+v 0.004991 -0.024496 0.036004 0.898039 0.898039 0.898039
+vn 0.782473 -0.423264 1.927778
+v 0.002096 -0.001290 0.083292 0.898039 0.898039 0.898039
+vn -2.434054 -4.038734 1.218991
+v -0.005009 -0.024504 0.035996 0.898039 0.898039 0.898039
+vn -3.166977 -3.127261 0.103164
+v -0.011700 -0.024275 0.007261 0.898039 0.898039 0.898039
+vn -1.196550 0.261009 1.937322
+v -0.003353 0.000829 0.082723 0.898039 0.898039 0.898039
+vn -0.063004 -0.109610 -0.901059
+v -0.001112 -0.003786 -0.079538 0.898039 0.898039 0.898039
+vn 1.106272 5.154034 -2.042777
+v 0.010009 0.025008 -0.035992 0.898039 0.898039 0.898039
+vn 2.884889 1.797617 -0.727769
+v 0.026828 0.024040 -0.023225 0.898039 0.898039 0.898039
+vn 5.855911 -0.959569 1.050723
+v 0.024967 0.018520 0.023020 0.898039 0.898039 0.898039
+vn 2.966781 -3.934063 -0.004015
+v 0.011410 -0.024626 0.000009 0.898039 0.898039 0.898039
+vn -2.723691 2.832405 0.967582
+v -0.010173 0.024991 0.039943 0.898039 0.898039 0.898039
+vn -3.103194 2.728335 -0.017867
+v -0.014942 0.024990 -0.000140 0.898039 0.898039 0.898039
+vn 1.843057 -3.863638 -1.202230
+v 0.005048 -0.024496 -0.035996 0.898039 0.898039 0.898039
+vn 1.542467 4.695656 1.994702
+v 0.009945 0.025008 0.043508 0.898039 0.898039 0.898039
+vn -2.534852 2.812398 -1.168646
+v -0.009991 0.024992 -0.036008 0.898039 0.898039 0.898039
+vn -3.516734 -2.995515 -1.262900
+v -0.008194 -0.020040 -0.040085 0.898039 0.898039 0.898039
+vn 2.989452 2.807596 0.708931
+v 0.024962 0.025020 0.023020 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 5//5
+f 5//5 3//3 2//2
+f 6//6 7//7 8//8
+f 9//9 1//1 10//10
+f 4//4 11//11 12//12
+f 11//11 4//4 5//5
+f 13//13 8//8 10//10
+f 5//5 14//14 11//11
+f 8//8 13//13 6//6
+f 6//6 15//15 7//7
+f 6//6 13//13 16//16
+f 6//6 16//16 15//15
+f 4//4 12//12 16//16
+f 2//2 17//17 14//14
+f 5//5 2//2 14//14
+f 9//9 17//17 2//2
+f 2//2 1//1 9//9
+f 10//10 8//8 9//9
+f 4//4 16//16 13//13
+f 4//4 1//1 3//3
+f 4//4 10//10 1//1
+f 4//4 13//13 10//10
+f 15//15 16//16 12//12
+f 8//8 7//7 17//17
+f 17//17 15//15 12//12
+f 11//11 14//14 17//17
+f 17//17 7//7 15//15
+f 17//17 12//12 11//11
+f 17//17 9//9 8//8
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.wrl b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2e9582d48b76eece7bf304d0e4ef329837b3d68d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_pitch_link.wrl
@@ -0,0 +1,157 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0.99999994 -0 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 24.5 -36 5,
+                                  1.29119 -83.290497 2.1612899,
+                                  24.5 -36 -5,
+                                  24.2652 -7.27071 -11.7137,
+                                  -0.83148199 -82.725601 -3.2861099,
+                                  3.7852399 79.536797 -1.1784,
+                                  -25 36 10,
+                                  -24.0182 23.2465 26.828199,
+                                  -18.5 -23 25,
+                                  24.6353 -0 11.3899,
+                                  -24.9995 -39.950699 -10.1209,
+                                  -25.0021 0.12845799 -14.9224,
+                                  24.5 36 5,
+                                  -25 -43.5 10,
+                                  -25 36 -10,
+                                  20.0336 40.078602 -8.2414598,
+                                  -25 -23 25 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.98898542 -0.14791636 -0.005362845,
+                                  0.87079394 -0.45541304 -0.18524781,
+                                  0.94281292 -0.30835104 -0.12658376,
+                                  0.12816831 -0.096184969 -0.98707724,
+                                  0.3293668 -0.21230692 -0.92002356,
+                                  0.19336182 -0.17219478 -0.96589863,
+                                  0.81316578 -0.45419404 -0.36396348,
+                                  -0.67616832 0.56764871 0.46965042,
+                                  0.21092877 -0.16109817 0.96413511,
+                                  0.36431432 -0.19570091 0.91048133,
+                                  0.3518635 -0.00042496817 0.93605125,
+                                  0.04990733 -0.12353946 -0.99108392,
+                                  0.050251767 0.032475006 -0.99820846,
+                                  0.35004908 0.22473915 0.90937233,
+                                  0.25523767 0.10393642 0.96127564,
+                                  -0.83616436 -0.54251552 0.080659181,
+                                  -0.86112744 -0.50065583 -0.088336438,
+                                  0.33005103 0.28475723 0.89998871,
+                                  -0.83416033 0.55152208 0,
+                                  0.89801317 0.40185356 -0.17912568,
+                                  0.97096062 0.17340824 -0.16481832,
+                                  0.93687314 0.25732997 -0.23674911,
+                                  0.021632252 0.18478379 -0.98254108,
+                                  0.041618884 0.13363992 -0.99015564,
+                                  0.02400621 0.16039161 -0.98676151,
+                                  -0.54680789 -0.49440926 0.67569268,
+                                  -0.78533477 -0.56759274 0.24715963,
+                                  0 -0.1994625 0.97990543,
+                                  0.17979729 -0.29630983 0.93801576,
+                                  0.99631721 0.028809816 -0.080758825,
+                                  0.97500956 -0.22216296 0,
+                                  0.99987209 -5.1266426e-005 -0.016000966,
+                                  -0.9972316 0.01832203 0.072066657,
+                                  -0.99930763 0.0091673611 0.036058292,
+                                  -0.99988902 0.0036661704 0.014434581,
+                                  -1 2.3772061e-005 4.0072904e-005 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 4, -1,
+                                4, 2, 1, -1, 5, 6, 7, -1,
+                                8, 0, 9, -1, 3, 10, 11, -1,
+                                10, 3, 4, -1, 12, 7, 9, -1,
+                                4, 13, 10, -1, 7, 12, 5, -1,
+                                5, 14, 6, -1, 5, 12, 15, -1,
+                                5, 15, 14, -1, 3, 11, 15, -1,
+                                1, 16, 13, -1, 4, 1, 13, -1,
+                                8, 16, 1, -1, 1, 0, 8, -1,
+                                9, 7, 8, -1, 3, 15, 12, -1,
+                                3, 0, 2, -1, 3, 9, 0, -1,
+                                3, 12, 9, -1, 14, 15, 11, -1,
+                                7, 6, 16, -1, 16, 14, 11, -1,
+                                10, 13, 16, -1, 16, 6, 14, -1,
+                                16, 11, 10, -1, 16, 8, 7, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 1, 1, -1, 7, 7, 7, -1,
+                                8, 9, 10, -1, 3, 11, 12, -1,
+                                11, 3, 5, -1, 13, 14, 10, -1,
+                                15, 15, 16, -1, 14, 13, 17, -1,
+                                18, 18, 18, -1, 19, 20, 21, -1,
+                                22, 23, 24, -1, 3, 12, 23, -1,
+                                25, 25, 25, -1, 15, 26, 15, -1,
+                                8, 27, 28, -1, 28, 9, 8, -1,
+                                10, 14, 8, -1, 29, 21, 20, -1,
+                                29, 0, 30, -1, 29, 31, 0, -1,
+                                29, 20, 31, -1, 24, 23, 12, -1,
+                                32, 33, 34, -1, 34, 35, 35, -1,
+                                35, 35, 34, -1, 34, 33, 35, -1,
+                                34, 35, 35, -1, 27, 8, 14, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.obj b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f327749561900b40bb1a2158323191e00eb4f94d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_roll_link.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
+vn -2.104655 1.470199 -3.410909
+v -0.003149 0.002001 -0.047737 0.898039 0.898039 0.898039
+vn -2.738240 -2.004421 -0.541919
+v -0.034900 -0.077867 -0.006370 0.898039 0.898039 0.898039
+vn -5.495496 1.957764 -1.787467
+v -0.016506 0.006997 -0.012494 0.898039 0.898039 0.898039
+vn -1.496613 2.070717 0.960402
+v -0.015770 0.028116 0.014676 0.898039 0.898039 0.898039
+vn -2.609400 -2.179149 1.296093
+v -0.031142 -0.077803 0.014903 0.898039 0.898039 0.898039
+vn 1.111311 1.624113 -2.867339
+v 0.002580 0.003477 -0.048323 0.898039 0.898039 0.898039
+vn 5.530459 1.921623 -1.765432
+v 0.016494 0.007023 -0.012494 0.898039 0.898039 0.898039
+vn 2.627229 -1.970992 -0.390421
+v 0.035167 -0.078169 -0.006101 0.898039 0.898039 0.898039
+vn 2.078438 -2.811510 -2.269366
+v 0.020681 -0.077763 -0.025841 0.898039 0.898039 0.898039
+vn -2.076959 -2.820953 -2.264476
+v -0.020557 -0.077796 -0.025841 0.898039 0.898039 0.898039
+vn -0.732330 -3.242702 -3.006486
+v -0.007281 -0.077780 -0.032235 0.898039 0.898039 0.898039
+vn 0.721992 -3.237842 -3.009354
+v 0.007229 -0.077766 -0.032293 0.898039 0.898039 0.898039
+vn 1.500612 2.092606 0.959472
+v 0.015725 0.028141 0.014676 0.898039 0.898039 0.898039
+vn -1.203288 -1.986836 2.815513
+v -0.015804 -0.076825 0.031109 0.898039 0.898039 0.898039
+vn 1.220923 -1.978975 2.425099
+v 0.016485 -0.077787 0.030895 0.898039 0.898039 0.898039
+vn 5.245114 -0.160336 2.550512
+v 0.029784 -0.065788 0.014266 0.898039 0.898039 0.898039
+vn 0.197113 1.088079 5.873913
+v 0.001830 0.002978 0.023503 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 1//1 3//3
+f 2//2 5//5 4//4
+f 2//2 4//4 3//3
+f 6//6 7//7 8//8
+f 9//9 6//6 8//8
+f 2//2 1//1 10//10
+f 1//1 11//11 10//10
+f 12//12 11//11 1//1
+f 6//6 9//9 12//12
+f 13//13 8//8 7//7
+f 6//6 13//13 7//7
+f 5//5 14//14 4//4
+f 13//13 6//6 4//4
+f 4//4 6//6 1//1
+f 15//15 16//16 13//13
+f 13//13 16//16 8//8
+f 15//15 13//13 17//17
+f 14//14 15//15 17//17
+f 17//17 13//13 4//4
+f 4//4 14//14 17//17
+f 12//12 1//1 6//6
+f 10//10 11//11 15//15
+f 11//11 12//12 15//15
+f 15//15 14//14 5//5
+f 15//15 2//2 10//10
+f 15//15 12//12 9//9
+f 8//8 15//15 9//9
+f 15//15 5//5 2//2
+f 16//16 15//15 8//8
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.wrl b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a99d5674380e109414cf0cc011254750b5005ad2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_roll_link.wrl
@@ -0,0 +1,174 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -47.7383 -3.1471901 1.9655401,
+                                  -6.3081899 -34.9618 -77.843903,
+                                  -12.5 -16.5 7,
+                                  14.6535 -15.7477 28.1406,
+                                  14.9649 -31.203899 -77.766403,
+                                  -48.325298 2.5824101 3.43642,
+                                  -12.5 16.5 7,
+                                  -6.0391598 35.104801 -78.202103,
+                                  -25.7791 20.6194 -77.800003,
+                                  -25.7791 -20.6194 -77.800003,
+                                  -32.1726 -7.34303 -77.800003,
+                                  -32.230999 7.16717 -77.797897,
+                                  14.6535 15.7477 28.140499,
+                                  31.1705 -15.8656 -76.787697,
+                                  30.9571 16.422899 -77.775101,
+                                  14.3185 29.7318 -65.800003,
+                                  23.5005 1.83202 2.9950299 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.45681027 -0.85790956 0.23519263,
+                                  -0.37346983 -0.91820717 0.13196968,
+                                  -0.29576761 -0.90772092 0.29759738,
+                                  -0.25510606 -0.89755535 0.35960445,
+                                  -0.37530997 -0.86162353 0.3416833,
+                                  0.021002062 -0.98446476 0.17432137,
+                                  0.17167085 -0.97475547 0.14276177,
+                                  -0.11252391 -0.97783768 0.17655535,
+                                  -0.11366985 -0.94900799 0.29404581,
+                                  -0.45237395 0.86143625 0.23083609,
+                                  -0.29217201 0.91049969 0.29261884,
+                                  -0.37326652 0.91821581 0.13248393,
+                                  -0.59135163 0.8062762 0.014895607,
+                                  -0.4865728 0.86856997 0.093983702,
+                                  -0.48699903 -0.86839795 0.093363874,
+                                  -0.59300607 -0.80509156 0.013098259,
+                                  -0.96926147 -0.1640552 -0.18335229,
+                                  -0.95917791 -0.22175007 -0.17551249,
+                                  -0.89060736 -0.42888963 -0.15123543,
+                                  -0.97446388 0.12767911 -0.18471144,
+                                  -0.96420592 0.19465657 -0.18004416,
+                                  -0.89113086 0.42737633 -0.15243199,
+                                  -0.11062194 0.95079368 0.28940305,
+                                  -0.11379179 0.97759825 0.17706791,
+                                  -0.36999255 0.86679673 0.33431852,
+                                  -0.24928832 0.90207756 0.35229456,
+                                  0.67995244 -0.72528177 0.10784779,
+                                  -0.36517149 3.0364508e-006 0.93094033,
+                                  -0.39547911 -0.13421603 0.90861565,
+                                  -0.41810191 -0.26582706 0.868635,
+                                  0.82481307 0.5501461 0.13047068,
+                                  0.66700846 0.73727262 0.10737271,
+                                  0.019650415 0.98431069 0.1753463,
+                                  0.1692646 0.97491664 0.14452368,
+                                  0.91674447 0.38024274 0.1224535,
+                                  0.90205228 0.37848634 0.20748436,
+                                  0.97426999 0.11508347 0.19378819,
+                                  0.98398888 -0.12881924 0.12317187,
+                                  0.97760397 0.1719673 0.12131658,
+                                  0.98248619 0.019195516 0.1853438,
+                                  0.95533335 0.1679218 0.24318846,
+                                  0.96041548 -0.13398071 0.24423598,
+                                  0.97709703 -0.08618512 0.19455969,
+                                  -0.00024639061 0.001049654 -0.99999946,
+                                  0.00033662107 0.00015364669 -1,
+                                  0.013020784 -0.0078927092 -0.99988401,
+                                  0.0003760067 -0.0001039915 -1,
+                                  0.088394478 -0.029863058 -0.99563789,
+                                  0.046196759 -0.015694421 -0.99880904,
+                                  0.0015401784 0.00022198448 -0.99999881,
+                                  -0.00052668416 -0.013054276 -0.99991477,
+                                  -0.001465979 -0.025751963 -0.99966735,
+                                  0.42731011 0.83848435 -0.33815706 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 0, 2, -1,
+                                1, 4, 3, -1, 1, 3, 2, -1,
+                                5, 6, 7, -1, 8, 5, 7, -1,
+                                1, 0, 9, -1, 0, 10, 9, -1,
+                                11, 10, 0, -1, 5, 8, 11, -1,
+                                12, 7, 6, -1, 5, 12, 6, -1,
+                                4, 13, 3, -1, 12, 5, 3, -1,
+                                3, 5, 0, -1, 14, 15, 12, -1,
+                                12, 15, 7, -1, 14, 12, 16, -1,
+                                13, 14, 16, -1, 16, 12, 3, -1,
+                                3, 13, 16, -1, 11, 0, 5, -1,
+                                9, 10, 14, -1, 10, 11, 14, -1,
+                                14, 13, 4, -1, 14, 1, 9, -1,
+                                14, 11, 8, -1, 7, 14, 8, -1,
+                                14, 4, 1, -1, 15, 14, 7, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 2, -1,
+                                5, 6, 5, -1, 7, 8, 2, -1,
+                                9, 10, 11, -1, 12, 13, 13, -1,
+                                14, 14, 15, -1, 16, 17, 18, -1,
+                                19, 17, 16, -1, 20, 21, 19, -1,
+                                22, 23, 10, -1, 24, 25, 10, -1,
+                                26, 26, 26, -1, 27, 28, 28, -1,
+                                28, 28, 29, -1, 30, 31, 30, -1,
+                                32, 33, 32, -1, 34, 35, 36, -1,
+                                37, 38, 39, -1, 39, 40, 41, -1,
+                                41, 37, 42, -1, 19, 16, 20, -1,
+                                43, 44, 45, -1, 44, 46, 45, -1,
+                                45, 47, 48, -1, 45, 49, 43, -1,
+                                45, 46, 50, -1, 51, 45, 50, -1,
+                                45, 48, 49, -1, 52, 52, 52, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.obj b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91d512f1981d36475ad5e4bc8e685b9e35b2984
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.obj
@@ -0,0 +1,64 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object neck_yaw_link.obj
+#
+# Vertices: 13
+# Faces: 22
+#
+####
+vn 2.670549 -2.431620 -1.076878
+v 0.057353 -0.015954 0.100091 0.898039 0.898039 0.898039
+vn 0.004348 0.000000 -2.730410
+v -0.000051 0.000000 0.031988 0.898039 0.898039 0.898039
+vn 2.666674 2.435866 -1.076884
+v 0.057328 0.016046 0.100091 0.898039 0.898039 0.898039
+vn 0.001823 3.633236 -2.960975
+v -0.000061 0.004622 0.035760 0.898039 0.898039 0.898039
+vn 0.007609 -3.633235 -2.960966
+v -0.000053 -0.004622 0.035760 0.898039 0.898039 0.898039
+vn -2.663232 -2.435289 -1.084707
+v -0.057646 -0.016046 0.099908 0.898039 0.898039 0.898039
+vn -2.667107 2.430923 -1.083956
+v -0.057672 0.015954 0.099908 0.898039 0.898039 0.898039
+vn -2.617076 -2.951026 0.743481
+v -0.057664 -0.016046 0.111290 0.898039 0.898039 0.898039
+vn 1.907259 -1.794122 1.536480
+v 0.057347 -0.015954 0.104091 0.898039 0.898039 0.898039
+vn -1.665097 -1.257133 2.277379
+v -0.057513 -0.006424 0.129963 0.898039 0.898039 0.898039
+vn -1.628653 1.147477 2.215388
+v -0.057693 0.006178 0.130253 0.898039 0.898039 0.898039
+vn 1.904593 1.797185 1.536431
+v 0.057322 0.016046 0.104091 0.898039 0.898039 0.898039
+vn -2.621284 2.963233 0.746506
+v -0.057668 0.015954 0.111288 0.898039 0.898039 0.898039
+# 13 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 2//2 1//1
+f 6//6 7//7 2//2
+f 6//6 2//2 5//5
+f 4//4 2//2 7//7
+f 8//8 9//9 10//10
+f 11//11 12//12 13//13
+f 6//6 5//5 1//1
+f 4//4 7//7 3//3
+f 12//12 9//9 3//3
+f 3//3 9//9 1//1
+f 12//12 11//11 9//9
+f 10//10 9//9 11//11
+f 1//1 8//8 6//6
+f 9//9 8//8 1//1
+f 7//7 13//13 3//3
+f 3//3 13//13 12//12
+f 8//8 11//11 6//6
+f 6//6 11//11 7//7
+f 11//11 8//8 10//10
+f 11//11 13//13 7//7
+# 22 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.wrl b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..679d8e08b46e2f1e1e0aba6e2545d4a9907256de
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/neck_yaw_link.wrl
@@ -0,0 +1,137 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 1 0  3.1400001
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -16 57.5 -100,
+                                  1.2983299e-006 3.73829e-008 -31.9881,
+                                  16 57.5 -100,
+                                  4.6220598 0 -35.759701,
+                                  -4.6220598 1.6154301e-006 -35.759701,
+                                  -16 -57.5 -100,
+                                  16 -57.5 -100,
+                                  -16 -57.4991 -111.382,
+                                  -16 57.5 -104,
+                                  -6.37885 -57.3111 -130.054,
+                                  6.2234001 -57.480099 -130.345,
+                                  16 57.5 -104,
+                                  16 -57.478199 -111.38 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0 0.76365495 0.64562464,
+                                  0.50808692 0.59510452 0.62265426,
+                                  -0.50808573 0.59510517 0.62265456,
+                                  0 -0.76365495 0.64562464,
+                                  -0.50808609 -0.59510499 0.6226545,
+                                  0.5080862 -0.59510493 0.6226545,
+                                  -0.98763376 0.010043227 -0.15645644,
+                                  -0.9717685 0.015114096 -0.23545198,
+                                  -0.88866788 0.029374802 -0.45760959,
+                                  0.88846046 0.029397916 -0.45801088,
+                                  0.97171509 0.015126818 -0.23567137,
+                                  0.98761082 0.010051616 -0.15660122,
+                                  -0.9961614 0 0.087536514,
+                                  -0.98467481 0 0.17440099,
+                                  -0.99829721 0 0.058332656,
+                                  0.98467481 -0 0.17440099,
+                                  0.9961614 0 0.087536514,
+                                  0.99829721 0 0.058332656,
+                                  0 1 0,
+                                  0 0.22333905 -0.9747408,
+                                  -0.0097885458 0.22153042 -0.97510439,
+                                  -0.019576121 0.21969981 -0.97537112,
+                                  -0.0065084677 -0.99994159 -0.0086294468,
+                                  -0.0022765191 -0.99998522 -0.0049575767,
+                                  0.00039375413 -0.99999988 -0.00036746473,
+                                  0.0019552426 -0.99999726 -0.0012857751,
+                                  -0.013803621 -0.99975717 -0.017178709,
+                                  0.0039104773 -0.99999052 -0.0019157112 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 1, 0, -1, 5, 6, 1, -1,
+                                5, 1, 4, -1, 3, 1, 6, -1,
+                                7, 8, 9, -1, 10, 11, 12, -1,
+                                5, 4, 0, -1, 3, 6, 2, -1,
+                                11, 8, 2, -1, 2, 8, 0, -1,
+                                11, 10, 8, -1, 9, 8, 10, -1,
+                                0, 7, 5, -1, 8, 7, 0, -1,
+                                6, 12, 2, -1, 2, 12, 11, -1,
+                                7, 10, 5, -1, 5, 10, 6, -1,
+                                10, 7, 9, -1, 10, 12, 6, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
+                                2, 2, 2, -1, 3, 3, 3, -1,
+                                4, 4, 4, -1, 5, 5, 5, -1,
+                                6, 7, 8, -1, 9, 10, 11, -1,
+                                12, 13, 14, -1, 15, 16, 17, -1,
+                                18, 18, 18, -1, 18, 18, 18, -1,
+                                19, 20, 20, -1, 21, 20, 20, -1,
+                                14, 6, 12, -1, 7, 6, 14, -1,
+                                16, 11, 17, -1, 17, 11, 10, -1,
+                                22, 23, 24, -1, 24, 23, 25, -1,
+                                23, 22, 26, -1, 23, 27, 25, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_l.obj b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e10f6b1d6685d8238b39b54b74d79d85b331e32c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_l.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn -0.403172 -1.218498 0.372457
+v -0.023547 -0.068507 0.033465 0.898039 0.898039 0.898039
+vn -2.706502 0.056992 1.541542
+v -0.053312 0.000559 0.032734 0.898039 0.898039 0.898039
+vn -2.958711 -1.607234 -3.384766
+v -0.038485 -0.018531 -0.000000 0.898039 0.898039 0.898039
+vn 2.155305 -0.918047 -1.500366
+v 0.010852 -0.013322 -0.009088 0.898039 0.898039 0.898039
+vn 1.058399 -1.583767 0.782945
+v -0.017340 -0.066584 0.033510 0.898039 0.898039 0.898039
+vn 0.490351 0.277402 -5.339035
+v 0.001486 -0.000019 -0.012514 0.898039 0.898039 0.898039
+vn -2.020075 2.246416 -2.329307
+v -0.038515 0.018469 -0.000000 0.898039 0.898039 0.898039
+vn -1.323828 2.130983 1.633716
+v -0.041396 0.023479 0.033492 0.898039 0.898039 0.898039
+vn 1.826700 1.859695 -1.175910
+v 0.006528 0.017565 -0.005896 0.898039 0.898039 0.898039
+vn 2.837782 1.691793 3.081932
+v -0.006352 0.015908 0.031413 0.898039 0.898039 0.898039
+vn 0.589726 2.849713 2.449384
+v -0.019894 0.023798 0.033503 0.898039 0.898039 0.898039
+vn 3.444052 -0.308487 4.140425
+v -0.006484 -0.016196 0.031504 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 1//1 3//3
+f 5//5 1//1 4//4
+f 3//3 6//6 4//4
+f 7//7 2//2 8//8
+f 4//4 9//9 10//10
+f 7//7 6//6 3//3
+f 4//4 6//6 9//9
+f 9//9 6//6 7//7
+f 9//9 11//11 10//10
+f 11//11 12//12 10//10
+f 8//8 11//11 7//7
+f 7//7 11//11 9//9
+f 7//7 3//3 2//2
+f 4//4 10//10 12//12
+f 4//4 12//12 5//5
+f 2//2 1//1 5//5
+f 11//11 8//8 5//5
+f 8//8 2//2 5//5
+f 12//12 11//11 5//5
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..89383499d7c7702ae4f651b2ad4430d2dc8d81dc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_l.wrl
@@ -0,0 +1,131 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 68.488297 -23.601299 33.4646,
+                                  -0.60131001 -53.311699 32.7342,
+                                  18.5 -38.5 -6.6613397e-016,
+                                  13.3308 10.8411 -9.0880404,
+                                  66.570099 -17.393299 33.509602,
+                                  0.0205968 1.4863501 -12.5142,
+                                  -18.5 -38.5 -2.6645399e-015,
+                                  -23.5124 -41.376801 33.492199,
+                                  -17.5597 6.5418401 -5.8956099,
+                                  -15.9133 -6.3395801 31.4128,
+                                  -23.8137 -19.875099 33.503201,
+                                  16.190399 -6.49717 31.5042 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.39014763 -0.90281707 -0.18084827,
+                                  0.20029519 -0.93122029 -0.3044844,
+                                  0.5430761 -0.0042222813 -0.8396728,
+                                  0.63397652 0.062996052 -0.77078235,
+                                  0.45826754 -0.11433851 -0.8814292,
+                                  0.6770016 0.21428938 -0.70409441,
+                                  0.31342018 -0.18126447 -0.93215394,
+                                  0.17091949 -0.22147609 -0.96007025,
+                                  -0.46091664 -0.8756507 -0.14419389,
+                                  0.029622495 0.92928761 0.36816716,
+                                  -0.096790209 0.93948096 0.32864451,
+                                  -0.046781633 0.93128431 0.36127672,
+                                  -0.19350274 -0.21028569 -0.95829886,
+                                  -0.014841497 -0.19154784 -0.9813711,
+                                  -0.15998407 0.53213185 -0.83140892,
+                                  -0.37824529 -0.1123749 -0.91885936,
+                                  -0.82862639 0.51685965 0.21502222,
+                                  -0.0022071053 0.10502239 0.99446744,
+                                  -0.0032730501 0.15735047 0.98753744,
+                                  -0.00205817 0.15380161 0.98809969,
+                                  -0.98871809 -0.01377844 -0.14915378,
+                                  -0.988213 -0.0068358826 -0.15293314,
+                                  -0.9876458 0.00010710285 -0.15670288,
+                                  2.2265796e-017 -0.91107279 -0.41224578,
+                                  0.092887774 0.91799456 0.38556176,
+                                  0.18162987 0.90888453 0.37541896,
+                                  0.0022363395 -0.025762867 0.99966568,
+                                  -0.0065797456 -0.009281625 0.99993533,
+                                  -1.824117e-005 0.027302777 0.99962723,
+                                  0.0054987282 -0.021378763 0.99975622 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 0, 2, -1,
+                                4, 0, 3, -1, 2, 5, 3, -1,
+                                6, 1, 7, -1, 3, 8, 9, -1,
+                                6, 5, 2, -1, 3, 5, 8, -1,
+                                8, 5, 6, -1, 8, 10, 9, -1,
+                                10, 11, 9, -1, 7, 10, 6, -1,
+                                6, 10, 8, -1, 6, 2, 1, -1,
+                                3, 9, 11, -1, 3, 11, 4, -1,
+                                1, 0, 4, -1, 10, 7, 4, -1,
+                                7, 1, 4, -1, 11, 10, 4, -1 ]
+                            normalIndex [ 0, 1, 1, -1, 2, 3, 4, -1,
+                                5, 3, 3, -1, 6, 7, 4, -1,
+                                8, 8, 8, -1, 9, 10, 11, -1,
+                                12, 13, 7, -1, 14, 14, 14, -1,
+                                15, 12, 12, -1, 16, 16, 16, -1,
+                                17, 18, 19, -1, 20, 21, 21, -1,
+                                21, 21, 22, -1, 23, 1, 1, -1,
+                                9, 11, 24, -1, 9, 24, 25, -1,
+                                26, 27, 28, -1, 17, 29, 28, -1,
+                                29, 26, 28, -1, 18, 17, 28, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_r.obj b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2efce19963cf71ab10b66bed20305aa08b7d16f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm1_r.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 3.149980 0.305801 4.902626
+v -0.006463 0.015798 0.031499 0.898039 0.898039 0.898039
+vn 2.661350 -1.904481 3.669099
+v -0.006437 -0.015802 0.031501 0.898039 0.898039 0.898039
+vn 4.203631 -0.524990 0.075109
+v 0.020632 0.000518 -0.000530 0.898039 0.898039 0.898039
+vn 3.878625 -2.987196 0.418914
+v 0.014118 -0.012549 0.003255 0.898039 0.898039 0.898039
+vn -2.958523 1.604357 -3.390800
+v -0.038515 0.018469 -0.000002 0.898039 0.898039 0.898039
+vn 0.441390 -0.047443 -5.330988
+v 0.001413 0.000035 -0.012493 0.898039 0.898039 0.898039
+vn -2.017149 -2.255605 -2.322459
+v -0.038485 -0.018531 0.000002 0.898039 0.898039 0.898039
+vn -2.568513 -1.541543 2.377939
+v -0.046416 -0.015096 0.033499 0.898039 0.898039 0.898039
+vn -3.439689 0.049005 1.440467
+v -0.052765 -0.000153 0.031014 0.898039 0.898039 0.898039
+vn 2.818122 1.304071 3.544704
+v -0.016519 0.062004 0.033494 0.898039 0.898039 0.898039
+vn 0.592731 3.101699 -5.082274
+v 0.001882 0.016758 -0.005830 0.898039 0.898039 0.898039
+vn 0.565409 1.529004 0.532622
+v -0.019809 0.068337 0.033500 0.898039 0.898039 0.898039
+vn 3.596764 0.582876 -2.376350
+v 0.019423 0.003381 -0.004515 0.898039 0.898039 0.898039
+vn 1.356231 -3.299314 -2.472343
+v 0.004959 -0.017570 -0.005789 0.898039 0.898039 0.898039
+vn -0.556265 1.297272 0.406076
+v -0.023646 0.068506 0.033480 0.898039 0.898039 0.898039
+vn -1.434922 0.489470 5.889678
+v -0.040916 0.019792 0.033498 0.898039 0.898039 0.898039
+vn 2.989153 2.857083 -3.538191
+v 0.011895 0.013097 -0.005043 0.898039 0.898039 0.898039
+vn 0.588551 -2.863526 2.473047
+v -0.019820 -0.023808 0.033509 0.898039 0.898039 0.898039
+vn -1.066320 -2.574363 1.923830
+v -0.038259 -0.023833 0.033438 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 2//2 4//4 3//3
+f 5//5 6//6 7//7
+f 7//7 8//8 9//9
+f 1//1 3//3 10//10
+f 11//11 6//6 5//5
+f 3//3 12//12 10//10
+f 13//13 12//12 3//3
+f 6//6 14//14 7//7
+f 9//9 15//15 5//5
+f 16//16 15//15 9//9
+f 12//12 17//17 11//11
+f 11//11 15//15 12//12
+f 15//15 11//11 5//5
+f 2//2 10//10 18//18
+f 17//17 12//12 13//13
+f 17//17 6//6 11//11
+f 7//7 19//19 8//8
+f 13//13 14//14 6//6
+f 4//4 14//14 13//13
+f 18//18 4//4 2//2
+f 13//13 6//6 17//17
+f 18//18 14//14 4//4
+f 4//4 13//13 3//3
+f 7//7 9//9 5//5
+f 7//7 14//14 19//19
+f 19//19 14//14 18//18
+f 1//1 10//10 2//2
+f 12//12 8//8 10//10
+f 10//10 8//8 18//18
+f 16//16 9//9 8//8
+f 16//16 8//8 15//15
+f 12//12 15//15 8//8
+f 19//19 18//18 8//8
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm1_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2e8695d7c6a27c6faaf57f4d3dcf1b60357e093c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm1_r.wrl
@@ -0,0 +1,189 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1415
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 15.8 -6.4499998 -31.5,
+                                      -15.8 -6.4499998 -31.5,
+                                      0.50157899 20.632299 0.52951699,
+                                      -12.5606 14.108 -3.2542,
+                                      18.5 -38.5 -4.44089e-016,
+                                      0.0346062 1.413 12.4932,
+                                      -18.5 -38.5 -4.44089e-016,
+                                      -15.0617 -46.427601 -33.4981,
+                                      -0.113528 -52.765301 -31.0137,
+                                      62.014099 -16.469601 -33.499401,
+                                      16.756701 1.89485 5.8285298,
+                                      68.349503 -19.754999 -33.505901,
+                                      3.3662701 19.4258 4.5142398,
+                                      -17.573799 4.9446802 5.7902498,
+                                      68.521599 -23.591101 -33.486801,
+                                      19.821501 -40.900002 -33.5,
+                                      13.0882 11.9058 5.0417399,
+                                      -23.7957 -19.8388 -33.507099,
+                                      -23.806101 -38.278099 -33.436001 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.072784223 0.77846187 -0.62345779,
+                                      -0.12013691 0.78739405 -0.60463035,
+                                      -0.031467725 0.79406244 -0.60702115,
+                                      -0.23826964 0.79803568 -0.55350399,
+                                      0.18940327 -0.21243976 0.9586426,
+                                      -0.00099452818 -0.18635777 0.98248148,
+                                      -0.1909242 -0.21138367 0.95857441,
+                                      -0.38227484 -0.89148813 0.24313523,
+                                      -0.55045235 -0.82332385 0.13834701,
+                                      -0.21033999 -0.92953497 0.30285603,
+                                      0.14513092 0.78862745 -0.59749794,
+                                      0.48688453 0.0062034559 0.87344438,
+                                      0.25204483 -0.073738776 0.9649021,
+                                      0.32580224 -0.17558722 0.92898977,
+                                      0.46811682 0.87708998 -0.10760941,
+                                      0.51640385 0.85634166 -0.0024524494,
+                                      0.45605087 0.87969303 -0.13475136,
+                                      0.54271281 0.83743042 0.064598545,
+                                      -0.37342915 -0.1147268 0.92053711,
+                                      0.20041321 -0.93018001 0.30757058,
+                                      0.39024386 -0.90274143 0.18101878,
+                                      0.1035831 -0.36768392 -0.924164,
+                                      0.16234669 -0.45610926 -0.87499022,
+                                      0.64078659 0.16466504 0.749852,
+                                      0.42328057 0.29209036 0.85762274,
+                                      0.56157202 0.11131566 0.81990582,
+                                      0.52696389 0.065408431 0.84736699,
+                                      0.59490895 -0.030718882 0.80320591,
+                                      0.47487605 -0.10557093 0.87369758,
+                                      -0.0029340677 0.1737272 -0.98478949,
+                                      -0.0015596529 0.087385789 -0.99617326,
+                                      -0.0054991916 0.049304534 -0.99876875,
+                                      0.59138864 0.77913386 0.2078703,
+                                      0.32595965 0.15145051 0.93317366,
+                                      -0.67778671 -0.72804672 0.1027291,
+                                      -0.18268475 0.52068692 0.83397329,
+                                      -0.24452505 0.43016213 0.86900407,
+                                      -0.0083359201 0.40627968 0.91371077,
+                                      -0.48757824 0.70201689 0.51907575,
+                                      -0.47926307 0.73525792 0.4792732,
+                                      -0.86415195 0.46258157 -0.19814065,
+                                      -0.80248594 0.52244502 -0.28821453,
+                                      0.11838214 0.34389058 0.93151754,
+                                      -0.94348794 0.32086492 -0.082923025,
+                                      -0.98819047 0.1358041 0.070971809,
+                                      -0.41854382 0.62944913 0.65468687,
+                                      -0.49454853 0.6668396 0.5574466,
+                                      -0.0064842156 -0.96192646 0.27323163,
+                                      -0.98764086 0.0001662966 0.15673403,
+                                      -0.98772502 0.00066185143 0.15620136,
+                                      -0.97856224 0.2042914 0.026095046,
+                                      0 0.19569084 -0.98066568,
+                                      0.00051411294 -0.0019002203 -0.99999815,
+                                      0.0056183245 -0.047010794 -0.99887866,
+                                      0.069993779 -0.24827307 -0.96615809,
+                                      0.021760056 -0.13766222 -0.99024016,
+                                      0.00058055593 -0.0016300948 -0.99999851,
+                                      -0.010688802 -0.0038495264 -0.99993551 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 1, 3, 2, -1,
+                                    4, 5, 6, -1, 6, 7, 8, -1,
+                                    0, 2, 9, -1, 10, 5, 4, -1,
+                                    2, 11, 9, -1, 12, 11, 2, -1,
+                                    5, 13, 6, -1, 8, 14, 4, -1,
+                                    15, 14, 8, -1, 11, 16, 10, -1,
+                                    10, 14, 11, -1, 14, 10, 4, -1,
+                                    1, 9, 17, -1, 16, 11, 12, -1,
+                                    16, 5, 10, -1, 6, 18, 7, -1,
+                                    12, 13, 5, -1, 3, 13, 12, -1,
+                                    17, 3, 1, -1, 12, 5, 16, -1,
+                                    17, 13, 3, -1, 3, 12, 2, -1,
+                                    6, 8, 4, -1, 6, 13, 18, -1,
+                                    18, 13, 17, -1, 0, 9, 1, -1,
+                                    11, 7, 9, -1, 9, 7, 17, -1,
+                                    15, 8, 7, -1, 15, 7, 14, -1,
+                                    11, 14, 7, -1, 18, 17, 7, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 1, 3, 2, -1,
+                                    4, 5, 6, -1, 7, 8, 9, -1,
+                                    0, 2, 10, -1, 11, 12, 13, -1,
+                                    14, 15, 16, -1, 17, 15, 14, -1,
+                                    6, 18, 6, -1, 19, 20, 19, -1,
+                                    21, 22, 21, -1, 23, 24, 25, -1,
+                                    26, 27, 23, -1, 27, 26, 28, -1,
+                                    29, 30, 31, -1, 32, 15, 17, -1,
+                                    24, 33, 26, -1, 8, 34, 8, -1,
+                                    35, 36, 37, -1, 38, 39, 38, -1,
+                                    40, 40, 41, -1, 37, 42, 24, -1,
+                                    43, 44, 40, -1, 38, 45, 46, -1,
+                                    9, 47, 19, -1, 48, 44, 49, -1,
+                                    49, 44, 50, -1, 51, 30, 29, -1,
+                                    52, 53, 30, -1, 30, 53, 31, -1,
+                                    54, 21, 53, -1, 55, 53, 56, -1,
+                                    52, 56, 53, -1, 57, 31, 53, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_l.obj b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dda7a00598cef0f21d3ca1986681c67dc8771a6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_l.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn -1.798079 -2.358429 -0.921088
+v -0.004187 -0.079998 0.007902 0.898039 0.898039 0.898039
+vn 0.917446 -0.200257 -2.420537
+v 0.002066 -0.029991 -0.002768 0.898039 0.898039 0.898039
+vn -2.697377 -0.972438 -4.205174
+v -0.002190 -0.074999 0.003860 0.898039 0.898039 0.898039
+vn 1.055890 1.456104 1.432512
+v 0.002246 0.005008 0.042168 0.898039 0.898039 0.898039
+vn -2.262725 -1.485957 2.774880
+v -0.002180 -0.076422 0.042584 0.898039 0.898039 0.898039
+vn 1.438326 -1.541538 1.647381
+v 0.002312 -0.077788 0.042553 0.898039 0.898039 0.898039
+vn -2.547940 1.360978 2.520714
+v -0.002350 0.002639 0.042066 0.898039 0.898039 0.898039
+vn -0.983929 2.026500 -0.310007
+v -0.004258 0.010781 0.007838 0.898039 0.898039 0.898039
+vn 1.882293 1.391409 -2.079328
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.776471 -1.730583 -1.792826
+v 0.002312 -0.077923 0.004316 0.898039 0.898039 0.898039
+vn -2.294263 -2.829263 0.409562
+v -0.004187 -0.079638 0.032247 0.898039 0.898039 0.898039
+vn -2.219625 1.614022 -3.006391
+v -0.001738 0.005062 -0.002058 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 5//5 4//4
+f 8//8 4//4 9//9
+f 10//10 2//2 9//9
+f 6//6 10//10 4//4
+f 4//4 10//10 9//9
+f 11//11 6//6 5//5
+f 12//12 1//1 8//8
+f 6//6 1//1 10//10
+f 11//11 1//1 6//6
+f 12//12 2//2 1//1
+f 10//10 1//1 3//3
+f 4//4 8//8 7//7
+f 8//8 9//9 12//12
+f 12//12 9//9 2//2
+f 3//3 2//2 10//10
+f 7//7 11//11 5//5
+f 1//1 11//11 8//8
+f 7//7 8//8 11//11
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..56c330f5f16027433956f4f41468b7387b44ff8f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_l.wrl
@@ -0,0 +1,138 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -7.8385601 -4.2508101 80.001099,
+                                      2.7915001 2.0423701 29.990499,
+                                      -3.8 -2.25 75,
+                                      -42.172298 2.2501199 -4.9721999,
+                                      -42.522701 -2.24049 76.454597,
+                                      -42.491001 2.2502401 77.823303,
+                                      -42.0681 -2.34763 -2.60728,
+                                      -7.8460898 -4.2497602 -10.7783,
+                                      2.4000001 2.25 -5,
+                                      -4.2542701 2.25003 77.928596,
+                                      -32.183998 -4.2501602 79.660301,
+                                      2.0536499 -1.73434 -5.06457 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.35723892 -0.93396628 0.0093443505,
+                                      0.5715223 -0.82038367 0.018246017,
+                                      0.41846091 -0.90788239 -0.025298698,
+                                      -0.99995089 -0.0086822286 -0.0047818916,
+                                      -0.99995875 0.0082318792 -0.0038491287,
+                                      -0.99965614 -0.025593849 -0.0057132826,
+                                      -0.00046412327 0.6648196 -0.74700379,
+                                      0.021602197 0.99976516 0.0017325156,
+                                      0.064767957 0.99788678 0.0051966817,
+                                      0.032402445 0.99947149 0.0025996414,
+                                      5.4972625e-006 1 -1.430162e-006,
+                                      -0.33290353 -0.27276364 0.90264904,
+                                      0.24628143 -0.96919841 -3.1638105e-005,
+                                      0.2251001 -0.97429788 -0.0085818106,
+                                      0.06288331 -0.99800634 -0.0053821849,
+                                      -0.008082916 0.27862954 0.96036458,
+                                      -0.002620782 0.30505332 0.95233166,
+                                      -0.013538647 0.25198504 0.96763653,
+                                      0.70573497 -0.70582873 0.061188977,
+                                      0.79908234 -0.26919425 0.53758895,
+                                      -0.23103435 -0.44916418 -0.86306131,
+                                      0.50535005 -0.029953094 -0.86239439,
+                                      0.99619162 -0.086407878 -0.011658874,
+                                      0.99691087 -0.040745381 0.067144006,
+                                      0.98936057 0.0052551124 0.14538993,
+                                      -0.12536454 -0.99207944 -0.0078809308,
+                                      -0.083670348 -0.99647963 -0.0052631716,
+                                      -0.19088125 -0.98161316 0.00023266792 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 4, 3, -1, 7, 3, 8, -1,
+                                    9, 1, 8, -1, 5, 9, 3, -1,
+                                    3, 9, 8, -1, 10, 5, 4, -1,
+                                    11, 0, 7, -1, 5, 0, 9, -1,
+                                    10, 0, 5, -1, 11, 1, 0, -1,
+                                    9, 0, 2, -1, 3, 7, 6, -1,
+                                    7, 8, 11, -1, 11, 8, 1, -1,
+                                    2, 1, 9, -1, 6, 10, 4, -1,
+                                    0, 10, 7, -1, 6, 7, 10, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 3, 4, -1,
+                                    5, 3, 3, -1, 6, 6, 6, -1,
+                                    7, 8, 9, -1, 10, 7, 10, -1,
+                                    10, 7, 9, -1, 11, 11, 11, -1,
+                                    12, 13, 14, -1, 15, 15, 16, -1,
+                                    17, 15, 15, -1, 18, 1, 1, -1,
+                                    19, 19, 19, -1, 20, 20, 20, -1,
+                                    21, 21, 21, -1, 22, 22, 23, -1,
+                                    24, 23, 24, -1, 25, 26, 27, -1,
+                                    13, 26, 14, -1, 25, 14, 26, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_r.obj b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b80c1076a0989ffba0a9661fc658ec7855c7d227
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.obj
@@ -0,0 +1,60 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object palm2_r.obj
+#
+# Vertices: 12
+# Faces: 20
+#
+####
+vn -2.383066 1.440273 2.237331
+v -0.002310 0.075264 0.042510 0.898039 0.898039 0.898039
+vn -3.982577 2.499610 -0.797036
+v -0.004310 0.075490 0.007860 0.898039 0.898039 0.898039
+vn -1.137762 -2.209239 0.528386
+v -0.004244 -0.010486 0.032114 0.898039 0.898039 0.898039
+vn 0.829384 1.377003 1.113388
+v 0.002188 0.077753 0.042570 0.898039 0.898039 0.898039
+vn -2.635833 -1.012247 3.351828
+v -0.002248 -0.002536 0.042248 0.898039 0.898039 0.898039
+vn 1.026287 1.643681 -1.163639
+v 0.002188 0.078017 0.004344 0.898039 0.898039 0.898039
+vn -2.505512 1.791276 -3.554499
+v -0.002310 0.074995 0.003860 0.898039 0.898039 0.898039
+vn 1.504247 0.215496 -2.672339
+v 0.002225 0.032004 -0.002375 0.898039 0.898039 0.898039
+vn -2.153189 -1.100533 -3.326261
+v -0.001580 -0.003673 -0.002914 0.898039 0.898039 0.898039
+vn -0.779519 -1.862981 -0.392436
+v -0.004239 -0.011881 0.007856 0.898039 0.898039 0.898039
+vn 1.609750 -1.478369 1.953013
+v 0.002256 -0.004814 0.042150 0.898039 0.898039 0.898039
+vn 2.026869 -1.562389 -2.091603
+v 0.002254 -0.004996 -0.002404 0.898039 0.898039 0.898039
+# 12 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4
+f 5//5 1//1 3//3
+f 2//2 6//6 7//7
+f 8//8 9//9 7//7
+f 9//9 2//2 7//7
+f 10//10 11//11 3//3
+f 11//11 10//10 12//12
+f 4//4 6//6 2//2
+f 4//4 12//12 8//8
+f 8//8 6//6 4//4
+f 4//4 11//11 12//12
+f 4//4 5//5 11//11
+f 4//4 1//1 5//5
+f 9//9 12//12 10//10
+f 3//3 11//11 5//5
+f 9//9 8//8 12//12
+f 8//8 7//7 6//6
+f 3//3 2//2 10//10
+f 9//9 10//10 2//2
+# 20 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/palm2_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..74dcd221753a17c77f246d235a6286d31379ab9f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/palm2_r.wrl
@@ -0,0 +1,137 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0.99999994 -0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 42.450001 -2.25 75.300003,
+                                      7.8000002 -4.25 75.5,
+                                      32.122398 -4.2523098 -10.4567,
+                                      42.507801 2.2501099 77.785301,
+                                      42.25 -2.2500999 -2.50102,
+                                      4.2817101 2.2499199 78.018204,
+                                      3.8 -2.25 75,
+                                      -2.4000001 2.25 32,
+                                      -2.91081 -1.58332 -3.6739399,
+                                      7.8656902 -4.24863 -11.8715,
+                                      42.153801 2.2518799 -4.78192,
+                                      -2.4000001 2.25 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.12632012 -0.99195766 0.0079483343,
+                                      -0.061411332 -0.99809784 0.0054276786,
+                                      0.084246539 -0.99643087 0.0052988646,
+                                      -0.10495305 -0.45465598 0.88446182,
+                                      0.032956954 -0.48350871 0.8747189,
+                                      0.019371137 -0.42208657 0.90634859,
+                                      0.19432123 -0.9809379 -0.0004982762,
+                                      -0.17454991 -0.4364346 0.88264215,
+                                      -0.34760922 -0.49634519 0.79549319,
+                                      -0.85085583 -0.52095884 0.068162583,
+                                      -0.34738383 -0.93759632 0.015415338,
+                                      -0.23442063 -0.97207963 0.010394903,
+                                      -0.45008129 -0.8924554 0.03082886,
+                                      0.024729155 0.67439306 -0.73795831,
+                                      0.045982841 0.61552596 -0.78677404,
+                                      0.0033196718 0.72901148 -0.68449348,
+                                      -1.6567954e-005 1 8.0263553e-006,
+                                      0.99998665 0.0038848387 -0.0034287306,
+                                      0.99980664 0.019192467 -0.0042861761,
+                                      0.99993151 -0.011423704 -0.0025704792,
+                                      -0.62336218 -0.180151 -0.7608977,
+                                      0.62120014 -0.34356731 -0.70432371,
+                                      -0.99123812 0.13208766 0,
+                                      -0.9948523 0.071142033 0.072164305,
+                                      -0.98957747 0.009560748 0.14368381,
+                                      -0.16169922 -0.98676699 0.012004101,
+                                      -0.12108012 -0.99264276 -0.00010659805 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                    4, 0, 2, -1, 1, 5, 6, -1,
+                                    7, 8, 6, -1, 8, 1, 6, -1,
+                                    9, 10, 2, -1, 10, 9, 11, -1,
+                                    3, 5, 1, -1, 3, 11, 7, -1,
+                                    7, 5, 3, -1, 3, 10, 11, -1,
+                                    3, 4, 10, -1, 3, 0, 4, -1,
+                                    8, 11, 9, -1, 2, 10, 4, -1,
+                                    8, 7, 11, -1, 7, 6, 5, -1,
+                                    2, 1, 9, -1, 8, 9, 1, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 0, 2, -1, 3, 7, 8, -1,
+                                    9, 9, 9, -1, 10, 11, 12, -1,
+                                    13, 13, 14, -1, 13, 13, 15, -1,
+                                    5, 7, 3, -1, 16, 16, 16, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 17, 19, 17, -1,
+                                    20, 20, 20, -1, 21, 21, 21, -1,
+                                    22, 23, 22, -1, 23, 24, 24, -1,
+                                    2, 25, 26, -1, 10, 26, 25, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.obj b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..085ec80f9b60419ba4fc7f56ab7300743a54d8ba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_l1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.wrl b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.obj b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70355c925fa5af07ffd02c89c2926e83f902ec51
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_l2.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 1.799699 -1.246980 2.858097
+v 0.005715 -0.004128 0.043758 0.898039 0.898039 0.898039
+vn -0.487196 -1.958324 1.731802
+v 0.001722 -0.008370 0.042119 0.898039 0.898039 0.898039
+vn 4.519145 -1.515512 -1.026434
+v 0.013538 -0.002134 0.011611 0.898039 0.898039 0.898039
+vn 1.758128 2.469712 -3.314610
+v 0.002252 0.004998 -0.002402 0.898039 0.898039 0.898039
+vn 2.134962 4.810099 -0.892352
+v 0.005633 0.010009 0.010747 0.898039 0.898039 0.898039
+vn 4.549397 2.087418 -1.364936
+v 0.012741 0.003009 0.010758 0.898039 0.898039 0.898039
+vn -0.637937 3.537823 0.741332
+v 0.001914 0.010025 0.031744 0.898039 0.898039 0.898039
+vn 5.084900 1.180384 0.965274
+v 0.012733 0.001280 0.020759 0.898039 0.898039 0.898039
+vn -5.096236 -2.183773 -0.707848
+v -0.004259 -0.006991 0.010752 0.898039 0.898039 0.898039
+vn -0.331936 -0.834090 -1.789777
+v -0.000321 -0.004661 -0.005491 0.898039 0.898039 0.898039
+vn -1.999531 -5.078554 -0.719379
+v -0.001243 -0.010013 0.010917 0.898039 0.898039 0.898039
+vn 2.164997 -4.737093 -0.859895
+v 0.005633 -0.009991 0.010762 0.898039 0.898039 0.898039
+vn -4.047420 -2.396477 1.045463
+v -0.004275 -0.006975 0.031752 0.898039 0.898039 0.898039
+vn -0.374228 1.747462 1.842523
+v 0.002487 0.007448 0.043417 0.898039 0.898039 0.898039
+vn 2.397260 1.267128 2.989362
+v 0.005715 0.004198 0.043751 0.898039 0.898039 0.898039
+vn -1.987820 5.079113 -0.820348
+v -0.001232 0.010041 0.010927 0.898039 0.898039 0.898039
+vn -3.690953 2.509470 1.057246
+v -0.004275 0.007025 0.031741 0.898039 0.898039 0.898039
+vn -2.305051 2.058359 -2.417953
+v -0.001800 0.005028 -0.002197 0.898039 0.898039 0.898039
+vn -5.130165 2.180131 -0.642385
+v -0.004259 0.007009 0.010741 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 6//6 5//5 7//7
+f 8//8 6//6 7//7
+f 9//9 10//10 11//11
+f 3//3 12//12 10//10
+f 3//3 2//2 12//12
+f 11//11 2//2 13//13
+f 14//14 15//15 8//8
+f 14//14 8//8 7//7
+f 16//16 14//14 7//7
+f 14//14 16//16 17//17
+f 16//16 18//18 19//19
+f 1//1 8//8 15//15
+f 8//8 1//1 3//3
+f 3//3 10//10 4//4
+f 4//4 6//6 3//3
+f 6//6 8//8 3//3
+f 11//11 12//12 2//2
+f 13//13 9//9 11//11
+f 14//14 1//1 15//15
+f 1//1 14//14 2//2
+f 17//17 9//9 13//13
+f 17//17 19//19 9//9
+f 17//17 2//2 14//14
+f 17//17 13//13 2//2
+f 10//10 12//12 11//11
+f 7//7 5//5 16//16
+f 17//17 16//16 19//19
+f 18//18 4//4 10//10
+f 18//18 16//16 5//5
+f 18//18 5//5 4//4
+f 9//9 19//19 18//18
+f 18//18 10//10 9//9
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.wrl b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..487ab4c8791e47d230e6f1066970c983a0d7ee93
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_l2.wrl
@@ -0,0 +1,184 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -43.75 5.75 4.16326,
+                                      -42.111401 1.75582 8.4034796,
+                                      -11.5985 13.5476 2.14361,
+                                      2.4000001 2.25 -5,
+                                      -10.75 5.6420102 -10,
+                                      -10.75 12.75 -3,
+                                      -31.75 1.93915 -10,
+                                      -20.75 12.75 -1.26352,
+                                      -10.75 -4.25 7,
+                                      5.4940701 -0.325212 4.6571002,
+                                      -10.9098 -1.23412 10.0214,
+                                      -10.75 5.6420102 10,
+                                      -31.75 -4.25 7,
+                                      -43.420898 2.52175 -7.4134102,
+                                      -43.75 5.75 -4.16326,
+                                      -10.9358 -1.22367 -10.0327,
+                                      -31.75 -4.25 -7,
+                                      2.1919301 -1.80223 -5.0292602,
+                                      -10.75 -4.25 -7 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.16814089 0.8307355 0.53066671,
+                                      -0.12346847 0.69534254 0.70799327,
+                                      -0.15343623 0.78878266 0.59521353,
+                                      0.41180933 0.63941425 -0.64927852,
+                                      -0.12278763 0.69636416 -0.70710695,
+                                      -0.12275856 0.69672465 -0.70675677,
+                                      -0.12254953 0.69624782 -0.70726269,
+                                      0.13248375 -0.6980021 0.70373374,
+                                      0.26262859 -0.67592829 0.68858349,
+                                      0.44216567 0.65567631 0.61202794,
+                                      -0.12204565 0.69300568 0.71052665,
+                                      -0.047129523 -0.37384281 0.92629379,
+                                      -0.068211026 -0.18090624 0.98113215,
+                                      -0.042283971 -0.54603642 0.8366937,
+                                      -0.12274399 0.69690484 -0.70658171,
+                                      -0.12341433 0.69779295 -0.70558763,
+                                      -0.069828816 -0.81759 -0.57155102,
+                                      -0.13720712 -0.89863843 -0.41668138,
+                                      -0.10555999 -0.24083021 -0.96480983,
+                                      -0.053690895 -0.11910711 -0.99142861,
+                                      0.11804542 -0.69927526 -0.70503867,
+                                      0.23443702 -0.68090391 -0.69383657,
+                                      -0.25077012 0.95351338 0.16711213,
+                                      -0.17871021 0.98214078 0.058839891,
+                                      -0.29116163 0.95667392 0,
+                                      -0.21760425 0.90572602 0.36374283,
+                                      0.62596011 0.77982652 -0.0066722794,
+                                      0.62969673 0.77682245 0.0054008616,
+                                      0.62211806 0.78269917 -0.018744295,
+                                      -0.027364135 0.98712641 -0.15758394,
+                                      -0.16119571 0.98369527 -0.079748198,
+                                      0.060899284 -0.12379361 0.99043739,
+                                      0.13205414 1.6120093e-005 0.99124253,
+                                      0.061816595 -0.59889239 0.7984401,
+                                      -0.97660136 -0.21272941 0.031558532,
+                                      -0.9948439 -0.10141861 -0,
+                                      -0.94496113 -0.32112181 0.062684119,
+                                      0 -1 0,
+                                      0.10794961 -0.99402314 0.016275262,
+                                      0.093327403 -0.99563545 0,
+                                      -0.5016681 -0.86506021 -0.00016799851,
+                                      0.31102812 -0.0042703329 0.95039117,
+                                      -0.00084381818 0.0047855387 -0.9999882,
+                                      0.23947279 -0.0039769756 -0.97089493,
+                                      0.085457921 -0.082611986 -0.99291092,
+                                      0 -0.70784974 -0.70636308,
+                                      0.03326619 -0.78260702 -0.62162668,
+                                      0.94763124 -0.046376437 -0.31598163,
+                                      0.35438216 -0.0082710758 -0.93506414,
+                                      0.18054496 -0.00020143081 -0.98356676,
+                                      0.35281959 -0.011360336 -0.93562239,
+                                      0.21471083 -0.9761411 0.032371357,
+                                      0.24316862 -0.96782511 0.064680465 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    5, 4, 6, -1, 7, 5, 6, -1,
+                                    8, 9, 10, -1, 2, 11, 9, -1,
+                                    2, 1, 11, -1, 10, 1, 12, -1,
+                                    13, 14, 7, -1, 13, 7, 6, -1,
+                                    15, 13, 6, -1, 13, 15, 16, -1,
+                                    15, 17, 18, -1, 0, 7, 14, -1,
+                                    7, 0, 2, -1, 2, 9, 3, -1,
+                                    3, 5, 2, -1, 5, 7, 2, -1,
+                                    10, 11, 1, -1, 12, 8, 10, -1,
+                                    13, 0, 14, -1, 0, 13, 1, -1,
+                                    16, 8, 12, -1, 16, 18, 8, -1,
+                                    16, 1, 13, -1, 16, 12, 1, -1,
+                                    9, 11, 10, -1, 6, 4, 15, -1,
+                                    16, 15, 18, -1, 17, 3, 9, -1,
+                                    17, 15, 4, -1, 17, 4, 3, -1,
+                                    8, 18, 17, -1, 17, 9, 8, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 3, 3, -1,
+                                    4, 4, 4, -1, 5, 4, 6, -1,
+                                    7, 8, 7, -1, 9, 9, 9, -1,
+                                    2, 1, 10, -1, 11, 12, 13, -1,
+                                    14, 15, 5, -1, 14, 5, 6, -1,
+                                    16, 17, 17, -1, 18, 19, 18, -1,
+                                    20, 21, 20, -1, 22, 23, 24, -1,
+                                    22, 25, 2, -1, 26, 27, 26, -1,
+                                    26, 28, 26, -1, 29, 30, 29, -1,
+                                    31, 32, 12, -1, 13, 7, 33, -1,
+                                    34, 34, 35, -1, 34, 34, 36, -1,
+                                    37, 38, 37, -1, 37, 39, 38, -1,
+                                    40, 40, 40, -1, 40, 40, 40, -1,
+                                    41, 32, 32, -1, 42, 43, 44, -1,
+                                    45, 46, 20, -1, 47, 47, 47, -1,
+                                    48, 49, 43, -1, 48, 43, 50, -1,
+                                    38, 39, 51, -1, 51, 52, 38, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.obj b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6277de188357395f4780ba6b4b0d097af795d142
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_r1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.wrl b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.obj b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5188e9ac4c26cfd0edd099feb6210ecb08a9a4c9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object pinky_r2.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 1.799699 -1.246980 2.858097
+v 0.005715 -0.004128 0.043758 0.898039 0.898039 0.898039
+vn -0.487196 -1.958324 1.731802
+v 0.001722 -0.008370 0.042119 0.898039 0.898039 0.898039
+vn 4.519145 -1.515512 -1.026434
+v 0.013538 -0.002134 0.011611 0.898039 0.898039 0.898039
+vn 1.758128 2.469712 -3.314610
+v 0.002252 0.004998 -0.002402 0.898039 0.898039 0.898039
+vn 2.134962 4.810099 -0.892352
+v 0.005633 0.010009 0.010747 0.898039 0.898039 0.898039
+vn 4.549397 2.087418 -1.364936
+v 0.012741 0.003009 0.010758 0.898039 0.898039 0.898039
+vn -0.637937 3.537823 0.741332
+v 0.001914 0.010025 0.031744 0.898039 0.898039 0.898039
+vn 5.084900 1.180384 0.965274
+v 0.012733 0.001280 0.020759 0.898039 0.898039 0.898039
+vn -5.096236 -2.183773 -0.707848
+v -0.004259 -0.006991 0.010752 0.898039 0.898039 0.898039
+vn -0.331936 -0.834090 -1.789777
+v -0.000321 -0.004661 -0.005491 0.898039 0.898039 0.898039
+vn -1.999531 -5.078554 -0.719379
+v -0.001243 -0.010013 0.010917 0.898039 0.898039 0.898039
+vn 2.164997 -4.737093 -0.859895
+v 0.005633 -0.009991 0.010762 0.898039 0.898039 0.898039
+vn -4.047420 -2.396477 1.045463
+v -0.004275 -0.006975 0.031752 0.898039 0.898039 0.898039
+vn -0.374228 1.747462 1.842523
+v 0.002487 0.007448 0.043417 0.898039 0.898039 0.898039
+vn 2.397260 1.267128 2.989362
+v 0.005715 0.004198 0.043751 0.898039 0.898039 0.898039
+vn -1.987820 5.079113 -0.820348
+v -0.001232 0.010041 0.010927 0.898039 0.898039 0.898039
+vn -3.690953 2.509470 1.057246
+v -0.004275 0.007025 0.031741 0.898039 0.898039 0.898039
+vn -2.305051 2.058359 -2.417953
+v -0.001800 0.005028 -0.002197 0.898039 0.898039 0.898039
+vn -5.130165 2.180131 -0.642385
+v -0.004259 0.007009 0.010741 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 6//6 5//5 7//7
+f 8//8 6//6 7//7
+f 9//9 10//10 11//11
+f 3//3 12//12 10//10
+f 3//3 2//2 12//12
+f 11//11 2//2 13//13
+f 14//14 15//15 8//8
+f 14//14 8//8 7//7
+f 16//16 14//14 7//7
+f 14//14 16//16 17//17
+f 16//16 18//18 19//19
+f 1//1 8//8 15//15
+f 8//8 1//1 3//3
+f 3//3 10//10 4//4
+f 4//4 6//6 3//3
+f 6//6 8//8 3//3
+f 11//11 12//12 2//2
+f 13//13 9//9 11//11
+f 14//14 1//1 15//15
+f 1//1 14//14 2//2
+f 17//17 9//9 13//13
+f 17//17 19//19 9//9
+f 17//17 2//2 14//14
+f 17//17 13//13 2//2
+f 10//10 12//12 11//11
+f 7//7 5//5 16//16
+f 17//17 16//16 19//19
+f 18//18 4//4 10//10
+f 18//18 16//16 5//5
+f 18//18 5//5 4//4
+f 9//9 19//19 18//18
+f 18//18 10//10 9//9
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.wrl b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..487ab4c8791e47d230e6f1066970c983a0d7ee93
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/pinky_r2.wrl
@@ -0,0 +1,184 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -43.75 5.75 4.16326,
+                                      -42.111401 1.75582 8.4034796,
+                                      -11.5985 13.5476 2.14361,
+                                      2.4000001 2.25 -5,
+                                      -10.75 5.6420102 -10,
+                                      -10.75 12.75 -3,
+                                      -31.75 1.93915 -10,
+                                      -20.75 12.75 -1.26352,
+                                      -10.75 -4.25 7,
+                                      5.4940701 -0.325212 4.6571002,
+                                      -10.9098 -1.23412 10.0214,
+                                      -10.75 5.6420102 10,
+                                      -31.75 -4.25 7,
+                                      -43.420898 2.52175 -7.4134102,
+                                      -43.75 5.75 -4.16326,
+                                      -10.9358 -1.22367 -10.0327,
+                                      -31.75 -4.25 -7,
+                                      2.1919301 -1.80223 -5.0292602,
+                                      -10.75 -4.25 -7 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.16814089 0.8307355 0.53066671,
+                                      -0.12346847 0.69534254 0.70799327,
+                                      -0.15343623 0.78878266 0.59521353,
+                                      0.41180933 0.63941425 -0.64927852,
+                                      -0.12278763 0.69636416 -0.70710695,
+                                      -0.12275856 0.69672465 -0.70675677,
+                                      -0.12254953 0.69624782 -0.70726269,
+                                      0.13248375 -0.6980021 0.70373374,
+                                      0.26262859 -0.67592829 0.68858349,
+                                      0.44216567 0.65567631 0.61202794,
+                                      -0.12204565 0.69300568 0.71052665,
+                                      -0.047129523 -0.37384281 0.92629379,
+                                      -0.068211026 -0.18090624 0.98113215,
+                                      -0.042283971 -0.54603642 0.8366937,
+                                      -0.12274399 0.69690484 -0.70658171,
+                                      -0.12341433 0.69779295 -0.70558763,
+                                      -0.069828816 -0.81759 -0.57155102,
+                                      -0.13720712 -0.89863843 -0.41668138,
+                                      -0.10555999 -0.24083021 -0.96480983,
+                                      -0.053690895 -0.11910711 -0.99142861,
+                                      0.11804542 -0.69927526 -0.70503867,
+                                      0.23443702 -0.68090391 -0.69383657,
+                                      -0.25077012 0.95351338 0.16711213,
+                                      -0.17871021 0.98214078 0.058839891,
+                                      -0.29116163 0.95667392 0,
+                                      -0.21760425 0.90572602 0.36374283,
+                                      0.62596011 0.77982652 -0.0066722794,
+                                      0.62969673 0.77682245 0.0054008616,
+                                      0.62211806 0.78269917 -0.018744295,
+                                      -0.027364135 0.98712641 -0.15758394,
+                                      -0.16119571 0.98369527 -0.079748198,
+                                      0.060899284 -0.12379361 0.99043739,
+                                      0.13205414 1.6120093e-005 0.99124253,
+                                      0.061816595 -0.59889239 0.7984401,
+                                      -0.97660136 -0.21272941 0.031558532,
+                                      -0.9948439 -0.10141861 -0,
+                                      -0.94496113 -0.32112181 0.062684119,
+                                      0 -1 0,
+                                      0.10794961 -0.99402314 0.016275262,
+                                      0.093327403 -0.99563545 0,
+                                      -0.5016681 -0.86506021 -0.00016799851,
+                                      0.31102812 -0.0042703329 0.95039117,
+                                      -0.00084381818 0.0047855387 -0.9999882,
+                                      0.23947279 -0.0039769756 -0.97089493,
+                                      0.085457921 -0.082611986 -0.99291092,
+                                      0 -0.70784974 -0.70636308,
+                                      0.03326619 -0.78260702 -0.62162668,
+                                      0.94763124 -0.046376437 -0.31598163,
+                                      0.35438216 -0.0082710758 -0.93506414,
+                                      0.18054496 -0.00020143081 -0.98356676,
+                                      0.35281959 -0.011360336 -0.93562239,
+                                      0.21471083 -0.9761411 0.032371357,
+                                      0.24316862 -0.96782511 0.064680465 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    5, 4, 6, -1, 7, 5, 6, -1,
+                                    8, 9, 10, -1, 2, 11, 9, -1,
+                                    2, 1, 11, -1, 10, 1, 12, -1,
+                                    13, 14, 7, -1, 13, 7, 6, -1,
+                                    15, 13, 6, -1, 13, 15, 16, -1,
+                                    15, 17, 18, -1, 0, 7, 14, -1,
+                                    7, 0, 2, -1, 2, 9, 3, -1,
+                                    3, 5, 2, -1, 5, 7, 2, -1,
+                                    10, 11, 1, -1, 12, 8, 10, -1,
+                                    13, 0, 14, -1, 0, 13, 1, -1,
+                                    16, 8, 12, -1, 16, 18, 8, -1,
+                                    16, 1, 13, -1, 16, 12, 1, -1,
+                                    9, 11, 10, -1, 6, 4, 15, -1,
+                                    16, 15, 18, -1, 17, 3, 9, -1,
+                                    17, 15, 4, -1, 17, 4, 3, -1,
+                                    8, 18, 17, -1, 17, 9, 8, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 3, 3, -1,
+                                    4, 4, 4, -1, 5, 4, 6, -1,
+                                    7, 8, 7, -1, 9, 9, 9, -1,
+                                    2, 1, 10, -1, 11, 12, 13, -1,
+                                    14, 15, 5, -1, 14, 5, 6, -1,
+                                    16, 17, 17, -1, 18, 19, 18, -1,
+                                    20, 21, 20, -1, 22, 23, 24, -1,
+                                    22, 25, 2, -1, 26, 27, 26, -1,
+                                    26, 28, 26, -1, 29, 30, 29, -1,
+                                    31, 32, 12, -1, 13, 7, 33, -1,
+                                    34, 34, 35, -1, 34, 34, 36, -1,
+                                    37, 38, 37, -1, 37, 39, 38, -1,
+                                    40, 40, 40, -1, 40, 40, 40, -1,
+                                    41, 32, 32, -1, 42, 43, 44, -1,
+                                    45, 46, 20, -1, 47, 47, 47, -1,
+                                    48, 49, 43, -1, 48, 43, 50, -1,
+                                    38, 39, 51, -1, 51, 52, 38, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform.obj b/data/RobotAPI/robots/Armar3/convexModel/platform.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baecb4d313f35f4ed053ca3e1b7f69e10d509a87
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object platform.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn -2.945770 2.852537 1.185302
+v -0.240619 0.230618 0.776625 0.898039 0.898039 0.898039
+vn -2.997149 0.656307 -2.666143
+v -0.328559 0.074455 -0.000308 0.898039 0.898039 0.898039
+vn -5.884693 -0.472625 -0.539174
+v -0.336490 -0.013493 0.039383 0.898039 0.898039 0.898039
+vn 2.857411 2.812939 1.301060
+v 0.239381 0.230619 0.777008 0.898039 0.898039 0.898039
+vn -1.097497 0.890726 2.439480
+v -0.172132 0.181629 0.953611 0.898039 0.898039 0.898039
+vn 1.488465 0.638601 2.978501
+v 0.178525 0.151422 0.935470 0.898039 0.898039 0.898039
+vn 3.009575 -0.265223 -2.390368
+v 0.340564 -0.014035 0.001141 0.898039 0.898039 0.898039
+vn 2.455249 -2.371445 2.056163
+v 0.239381 -0.089381 0.777262 0.898039 0.898039 0.898039
+vn 2.916830 -5.208201 0.642392
+v 0.164875 -0.270048 0.140840 0.898039 0.898039 0.898039
+vn -0.767398 -5.296087 -0.207295
+v -0.000051 -0.333307 0.064610 0.898039 0.898039 0.898039
+vn 0.406645 -2.867385 -2.393375
+v 0.043608 -0.328366 0.000296 0.898039 0.898039 0.898039
+vn 2.402815 -1.699155 -2.286684
+v 0.288020 -0.174363 0.000856 0.898039 0.898039 0.898039
+vn 1.257651 2.744787 -2.565734
+v 0.124401 0.320080 -0.000142 0.898039 0.898039 0.898039
+vn 0.010152 5.500768 -1.092111
+v -0.000031 0.349029 0.038741 0.898039 0.898039 0.898039
+vn -2.468554 1.789651 -2.643300
+v -0.279605 0.189275 -0.000317 0.898039 0.898039 0.898039
+vn 3.049818 0.824177 -2.692908
+v 0.326951 0.079568 0.001717 0.898039 0.898039 0.898039
+vn 2.796026 2.042968 -2.619329
+v 0.279342 0.189555 0.005591 0.898039 0.898039 0.898039
+vn -2.670999 -5.356762 0.534607
+v -0.165099 -0.270048 0.140577 0.898039 0.898039 0.898039
+vn -2.009938 -2.179888 -2.371481
+v -0.252945 -0.217779 0.000013 0.898039 0.898039 0.898039
+vn -2.456776 -2.368902 2.058107
+v -0.240619 -0.089382 0.776880 0.898039 0.898039 0.898039
+vn -2.811316 -1.191514 -2.538195
+v -0.307973 -0.130228 -0.000076 0.898039 0.898039 0.898039
+vn -1.243472 2.764963 -2.564562
+v -0.122693 0.320957 -0.000016 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 4//4 8//8
+f 9//9 10//10 11//11
+f 10//10 9//9 8//8
+f 9//9 12//12 8//8
+f 4//4 13//13 14//14
+f 1//1 15//15 2//2
+f 16//16 17//17 4//4
+f 8//8 12//12 7//7
+f 4//4 7//7 16//16
+f 11//11 18//18 19//19
+f 11//11 10//10 18//18
+f 18//18 10//10 20//20
+f 3//3 21//21 20//20
+f 20//20 21//21 19//19
+f 3//3 2//2 21//21
+f 20//20 1//1 3//3
+f 19//19 18//18 20//20
+f 9//9 11//11 12//12
+f 14//14 22//22 1//1
+f 15//15 1//1 22//22
+f 4//4 17//17 13//13
+f 20//20 6//6 5//5
+f 8//8 6//6 20//20
+f 4//4 6//6 8//8
+f 4//4 14//14 1//1
+f 13//13 22//22 14//14
+f 20//20 5//5 1//1
+f 4//4 1//1 5//5
+f 20//20 10//10 8//8
+f 11//11 19//19 13//13
+f 21//21 2//2 13//13
+f 12//12 13//13 7//7
+f 16//16 13//13 17//17
+f 22//22 13//13 15//15
+f 2//2 15//15 13//13
+f 7//7 13//13 16//16
+f 19//19 21//21 13//13
+f 11//11 13//13 12//12
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform.wrl b/data/RobotAPI/robots/Armar3/convexModel/platform.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..97782188934fcec058d0c30179445ddafedb3ca8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform.wrl
@@ -0,0 +1,195 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation 0.99999994 0 0  1.5700002
+              children 
+                DEF _+3 Transform {
+                  rotation -0 -0 -0.99999994  1.5700002
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -777 -240 -230,
+                                  -0.0126703 -328.55899 -74.4552,
+                                  -39.640099 -336.45901 13.5245,
+                                  -777 240 -230,
+                                  -953.89203 -171.373 -180.87,
+                                  -935.448 179.27 -150.677,
+                                  -0.85899103 340.565 14.0357,
+                                  -777 240 90,
+                                  -140.494 164.987 270.16,
+                                  -64.344803 3.3136199e-005 333.358,
+                                  0.00043473 43.608101 328.366,
+                                  -0.487683 288.01999 174.364,
+                                  -0.0140236 124.401 -320.07999,
+                                  -39.019299 -0.00013206901 -348.99799,
+                                  -0.056633901 -279.60501 -189.27499,
+                                  -1.52054 326.952 -79.566399,
+                                  -5.5190301 279.34601 -189.55,
+                                  -140.493 -164.987 270.16,
+                                  -0.041209701 -252.94501 217.77901,
+                                  -777 -240 90,
+                                  -0.065148197 -307.97299 130.228,
+                                  -0.33734801 -122.693 -320.957 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.15452437 -0.97901487 -0.13286078,
+                                  -0.057224907 -0.96321929 -0.26255262,
+                                  -0.10628522 -0.9932211 0.047067955,
+                                  -0.24879299 0.088633351 -0.96449268,
+                                  -0.3746295 0.050524864 -0.92579693,
+                                  -0.47586852 0.10027016 -0.8737821,
+                                  -0.1031018 0.99304396 0.056865983,
+                                  -0.15213929 0.97870684 -0.1377914,
+                                  -0.19642417 0.97484416 0.10533909,
+                                  -0.097217649 0.45640659 0.8844443,
+                                  -0.23285985 0.18618576 0.95452148,
+                                  -0.010861488 0.42211881 0.90647548,
+                                  -0.087542042 0.36771166 0.92581016,
+                                  -0.28217342 0.12641875 0.95099759,
+                                  -0.048330195 0.51994604 0.85283071,
+                                  -0.035945788 0.75779665 0.65149993,
+                                  -0.10934225 0.84309596 0.52652967,
+                                  -0.20380774 0.20847458 -0.95655668,
+                                  -0.034822699 0.45808795 -0.88822454,
+                                  -0.10574008 0.0010656555 -0.99439329,
+                                  -0.062417321 -0.93813276 -0.3406038,
+                                  -0.0097395293 -0.80334115 -0.59543937,
+                                  -0.054949325 0.96071565 -0.27204075,
+                                  -0.0096595017 0.80258924 -0.59645396,
+                                  -0.060898613 0.93664175 -0.34495446,
+                                  -0.1852417 0.94455427 0.2711139,
+                                  0.26138368 -0.41872272 0.8696838,
+                                  0.038386259 -0.45379761 0.89027756,
+                                  -0.0018838482 -0.5138824 0.85785854,
+                                  0.38642231 -0.48002404 0.78756255,
+                                  -0.082540549 -0.43098643 0.89857537,
+                                  -0.28217316 -0.12641957 0.95099759,
+                                  -0.24169758 -0.31619811 0.91738826,
+                                  -0.10044524 -0.90991372 0.40245232,
+                                  -0.17830007 -0.96221918 0.20577507,
+                                  -0.11376875 -0.84175807 0.527731,
+                                  -0.1183615 -0.75662786 0.64304346,
+                                  0.38783142 -0.91709369 0.092336066,
+                                  -0.19941321 -0.97573435 0.090426028,
+                                  -0.036455572 -0.64165211 0.76612896,
+                                  -0.1646072 -0.61167198 0.77379709,
+                                  -0.0053625489 0.61813796 0.78605133,
+                                  -0.03532853 -0.45573008 -0.88941669,
+                                  -0.12970759 -0.23232734 -0.96395016,
+                                  -0.034090176 -0.64756441 -0.76124775,
+                                  -0.03359187 0.64779359 -0.76107484,
+                                  -0.83643341 -0.0014886513 0.54806668,
+                                  -0.83761573 -0.0029772923 0.54625177,
+                                  -0.83524513 0 0.5498777,
+                                  -0.191652 0.9802838 -0.048093405,
+                                  -0.35789281 0.93376267 0,
+                                  -0.16933402 -0.082452722 -0.98210371,
+                                  0.59125388 0.0020888005 -0.80648279,
+                                  -0.36169374 -0.93229699 0,
+                                  -0.19465411 -0.979927 -0.043042738,
+                                  -0.23802973 0.077417679 0.96816754,
+                                  0.99999952 0.0010128783 0.00010390233,
+                                  1 -0.00018490781 -7.9180834e-005,
+                                  0.99984324 0.014198563 -0.010575338,
+                                  1 -5.4447781e-005 6.1253173e-005,
+                                  0.99999362 0.0035612793 -0.00022052345,
+                                  0.99991351 0.012050685 -0.0052677253,
+                                  0.99709016 0.061270881 -0.045354385,
+                                  0.99137712 0.10322534 -0.080722541,
+                                  0.99999243 -0.0012954527 -0.0036754003,
+                                  0.99999756 -0.00078081869 -0.0020858932,
+                                  1 -6.5755121e-005 -0.00012676949 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 3, 7, -1, 8, 9, 10, -1,
+                                9, 8, 7, -1, 8, 11, 7, -1,
+                                3, 12, 13, -1, 0, 14, 1, -1,
+                                15, 16, 3, -1, 7, 11, 6, -1,
+                                3, 6, 15, -1, 10, 17, 18, -1,
+                                10, 9, 17, -1, 17, 9, 19, -1,
+                                2, 20, 19, -1, 19, 20, 18, -1,
+                                2, 1, 20, -1, 19, 0, 2, -1,
+                                18, 17, 19, -1, 8, 10, 11, -1,
+                                13, 21, 0, -1, 14, 0, 21, -1,
+                                3, 16, 12, -1, 19, 5, 4, -1,
+                                7, 5, 19, -1, 3, 5, 7, -1,
+                                3, 13, 0, -1, 12, 21, 13, -1,
+                                19, 4, 0, -1, 3, 0, 4, -1,
+                                19, 9, 7, -1, 10, 18, 12, -1,
+                                20, 1, 12, -1, 11, 12, 6, -1,
+                                15, 12, 16, -1, 21, 12, 14, -1,
+                                1, 14, 12, -1, 6, 12, 15, -1,
+                                18, 20, 12, -1, 10, 12, 11, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 9, 10, 11, -1,
+                                10, 12, 13, -1, 14, 15, 16, -1,
+                                17, 18, 19, -1, 20, 21, 1, -1,
+                                22, 23, 24, -1, 25, 16, 6, -1,
+                                7, 6, 22, -1, 26, 27, 28, -1,
+                                26, 29, 26, -1, 30, 31, 32, -1,
+                                2, 33, 34, -1, 35, 33, 36, -1,
+                                37, 37, 37, -1, 38, 0, 2, -1,
+                                39, 30, 40, -1, 9, 11, 41, -1,
+                                19, 42, 43, -1, 21, 44, 42, -1,
+                                45, 23, 18, -1, 46, 46, 47, -1,
+                                48, 46, 46, -1, 49, 50, 8, -1,
+                                3, 19, 51, -1, 52, 52, 52, -1,
+                                38, 53, 54, -1, 3, 51, 4, -1,
+                                31, 55, 13, -1, 56, 57, 58, -1,
+                                59, 59, 58, -1, 60, 58, 61, -1,
+                                62, 58, 63, -1, 64, 58, 65, -1,
+                                66, 65, 58, -1, 61, 58, 62, -1,
+                                57, 59, 58, -1, 56, 58, 60, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.obj b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b9ca15be625bc71c3f277c8cbe4d6393a6130b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object platform_pitch_link.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn 0.729697 2.886628 -3.508027
+v 0.137734 0.041097 -0.044765 0.898039 0.898039 0.898039
+vn -1.761680 -0.010882 -5.455975
+v -0.188000 0.000150 -0.043000 0.898039 0.898039 0.898039
+vn -0.884904 3.121533 -3.022086
+v -0.156964 0.045625 -0.040500 0.898039 0.898039 0.898039
+vn 3.889146 0.329662 2.716890
+v 0.187008 0.009420 0.041922 0.898039 0.898039 0.898039
+vn 0.396199 0.259389 4.173015
+v 0.099506 0.006921 0.086000 0.898039 0.898039 0.898039
+vn 1.902684 -3.440947 2.619828
+v 0.161964 -0.045629 0.040500 0.898039 0.898039 0.898039
+vn -1.083417 3.461352 3.006524
+v -0.156964 0.045625 0.040500 0.898039 0.898039 0.898039
+vn 1.789129 3.877105 2.487192
+v 0.162036 0.045371 0.040500 0.898039 0.898039 0.898039
+vn 0.027129 5.738382 -0.129141
+v -0.000976 0.062751 -0.001073 0.898039 0.898039 0.898039
+vn 0.000613 -2.706458 -4.687699
+v 0.095967 -0.041576 -0.044500 0.898039 0.898039 0.898039
+vn 2.833861 0.354772 -2.806384
+v 0.187004 0.004635 -0.042461 0.898039 0.898039 0.898039
+vn 1.370846 -2.781492 -2.833904
+v 0.161964 -0.045629 -0.040500 0.898039 0.898039 0.898039
+vn 3.344376 -2.826370 0.027992
+v 0.186966 -0.043149 0.000000 0.898039 0.898039 0.898039
+vn 0.021928 -5.003936 0.802233
+v 0.000510 -0.070698 0.011652 0.898039 0.898039 0.898039
+vn -3.125142 0.142551 -1.641518
+v -0.228029 0.000603 -0.023207 0.898039 0.898039 0.898039
+vn -2.329622 -0.014154 5.232281
+v -0.187998 0.002542 0.042191 0.898039 0.898039 0.898039
+vn -1.103884 -3.387550 3.111156
+v -0.157036 -0.045375 0.040500 0.898039 0.898039 0.898039
+vn -2.735224 -2.681350 0.912003
+v -0.213828 -0.037319 0.011924 0.898039 0.898039 0.898039
+vn -2.462831 5.105638 -0.312853
+v -0.187966 0.043150 0.000000 0.898039 0.898039 0.898039
+vn 3.090436 2.871814 -0.331030
+v 0.187034 0.042851 0.000000 0.898039 0.898039 0.898039
+vn -0.911297 -3.127499 -3.067780
+v -0.157036 -0.045375 -0.040500 0.898039 0.898039 0.898039
+vn -3.476075 1.724047 1.778042
+v -0.219785 0.019299 0.019124 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 1//1 10//10 2//2
+f 1//1 11//11 12//12
+f 13//13 6//6 14//14
+f 13//13 14//14 12//12
+f 5//5 4//4 8//8
+f 2//2 15//15 3//3
+f 7//7 16//16 5//5
+f 5//5 17//17 14//14
+f 5//5 16//16 17//17
+f 6//6 5//5 14//14
+f 18//18 14//14 17//17
+f 3//3 19//19 9//9
+f 19//19 7//7 9//9
+f 20//20 11//11 1//1
+f 1//1 9//9 20//20
+f 20//20 9//9 8//8
+f 21//21 2//2 10//10
+f 21//21 18//18 15//15
+f 14//14 18//18 21//21
+f 13//13 4//4 6//6
+f 4//4 20//20 8//8
+f 19//19 3//3 15//15
+f 22//22 16//16 7//7
+f 12//12 11//11 13//13
+f 21//21 15//15 2//2
+f 22//22 18//18 16//16
+f 18//18 17//17 16//16
+f 19//19 15//15 22//22
+f 19//19 22//22 7//7
+f 9//9 1//1 3//3
+f 12//12 10//10 1//1
+f 14//14 10//10 12//12
+f 5//5 8//8 7//7
+f 4//4 13//13 11//11
+f 4//4 11//11 20//20
+f 18//18 22//22 15//15
+f 14//14 21//21 10//10
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.wrl b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..b3517416926ff1197d3122850fe55ec8098162a3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_pitch_link.wrl
@@ -0,0 +1,181 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation 0 0 0.99999994  1.5700002
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.89999998 0.89999998 0.89999998
+                          ambientIntensity 0.17999999
+                          specularColor 0.1 0.1 0.1
+                          shininess 0.5
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ 41.2071 -137.701 -44.764599,
+                              7.4399003e-015 188 -42.999901,
+                              45.5 157 -40.5,
+                              9.5684004 -187 41.921902,
+                              7 -99.5 86,
+                              -45.5 -162 40.5,
+                              45.5 157 40.5,
+                              45.5 -162 40.5,
+                              62.75 1.0263 -1.07294,
+                              -41.5 -96 -44.5,
+                              4.7842002 -187 -42.460899,
+                              -45.5 -162 -40.5,
+                              -43 -187 0,
+                              -70.697998 -0.56636399 11.6518,
+                              0.42148 228.02901 -23.2069,
+                              2.3921001 188 42.191399,
+                              -45.5 157 40.5,
+                              -37.488998 213.798 11.9237,
+                              43 188 0,
+                              43 -187 0,
+                              -45.5 157 -40.5,
+                              19.124399 219.8 19.124399 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ -0.00365828 -0.013196185 -0.99990624,
+                              -0.00044786811 0.011219573 -0.99993694,
+                              0.064027846 0.013507229 -0.99785674,
+                              -0.22384104 -0.44370756 0.8677665,
+                              0.92424566 0.14657778 0.35254073,
+                              0.9326238 -0.036325447 0.3590171,
+                              0.99479038 0.026891369 0.098331161,
+                              -0.032712609 -0.012806073 -0.99938273,
+                              -0.045460586 -0.013089799 -0.99888039,
+                              -0.039082322 -0.035799425 -0.99859452,
+                              -0.98913229 -0.14702404 0.0011366447,
+                              -0.98839158 -0.14876921 0.030821029,
+                              -0.9999885 0.0030803641 0.0036859743,
+                              -0.99594915 0.0010732581 -0.089912072,
+                              -0.98899794 -0.14514878 -0.028548749,
+                              0.32437783 -0.41795242 0.848584,
+                              0.32976505 0.41565508 -0.84763545,
+                              0.24807686 0.29461804 0.92285335,
+                              0.122952 0.24969284 0.96048743,
+                              0.0086681191 0.15076905 0.98853099,
+                              -0.68825024 0.0046583526 0.7254585,
+                              -0.7029624 -0.017757453 0.71100533,
+                              -0.10700102 0.26187462 0.95915198,
+                              -0.23356467 0.31056225 0.92141122,
+                              -0.67289943 0.027069839 0.73923856,
+                              -0.98819429 0.15308174 0.006151258,
+                              -0.98785222 0.15300208 0.027173832,
+                              0.97262275 0.050211817 -0.22690049,
+                              0.96858865 0.22721161 0.1010496,
+                              0.99945158 -0.00095433166 -0.033102568,
+                              0.95133489 0.19262284 0.24053763,
+                              0.64285022 -0.50198478 -0.57858014,
+                              0.95467615 -0.056194406 -0.29229367,
+                              0.99310035 -0.001128069 -0.11726204,
+                              0.99163109 -0.10459132 -0.075686075,
+                              0.97892082 -0.053303022 0.19716161,
+                              -0.064870358 0.014749635 -0.99778479,
+                              -0.66840655 0.55318898 -0.4972069,
+                              -0.96777421 0.075223967 -0.24032165,
+                              -0.37488827 -0.79904282 0.47009507,
+                              0.5290066 -0.73632795 0.42186868,
+                              0.73463118 0.61368281 -0.28932747,
+                              0.73490369 0.55965716 -0.38301516,
+                              0.34063303 0.42800185 0.8371281,
+                              -0.40945232 -0.78741717 -0.46078515,
+                              -0.33303052 0.42075443 -0.84383446,
+                              -0.16335614 0.63415778 0.75575042,
+                              -0.2473897 0.5519039 0.79636693,
+                              -0.21313259 0.42650881 0.87901354,
+                              0.7257663 0.66053087 -0.1922558,
+                              0.84080917 0.45366332 0.29534668,
+                              -0.88156164 0.0080043217 -0.47200117,
+                              -0.87048542 0.022959204 -0.49165851,
+                              0.76338637 -0 0.64594227,
+                              0.85368007 -0 0.52079767,
+                              0 -1 0,
+                              -0.13301975 0.96024281 0.24543777,
+                              -0.96686608 0.0061916914 -0.25520909 ]
+
+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                            6, 7, 8, -1, 0, 9, 1, -1,
+                            0, 10, 11, -1, 12, 5, 13, -1,
+                            12, 13, 11, -1, 4, 3, 7, -1,
+                            1, 14, 2, -1, 6, 15, 4, -1,
+                            4, 16, 13, -1, 4, 15, 16, -1,
+                            5, 4, 13, -1, 17, 13, 16, -1,
+                            2, 18, 8, -1, 18, 6, 8, -1,
+                            19, 10, 0, -1, 0, 8, 19, -1,
+                            19, 8, 7, -1, 20, 1, 9, -1,
+                            20, 17, 14, -1, 13, 17, 20, -1,
+                            12, 3, 5, -1, 3, 19, 7, -1,
+                            18, 2, 14, -1, 21, 15, 6, -1,
+                            11, 10, 12, -1, 20, 14, 1, -1,
+                            21, 17, 15, -1, 17, 16, 15, -1,
+                            18, 14, 21, -1, 18, 21, 6, -1,
+                            8, 0, 2, -1, 11, 9, 0, -1,
+                            13, 9, 11, -1, 4, 7, 6, -1,
+                            3, 12, 10, -1, 3, 10, 19, -1,
+                            17, 21, 14, -1, 13, 20, 9, -1 ]
+                        normalIndex [ 0, 1, 2, -1, 3, 3, 3, -1,
+                            4, 5, 6, -1, 0, 7, 1, -1,
+                            0, 8, 9, -1, 10, 11, 12, -1,
+                            10, 13, 14, -1, 15, 15, 15, -1,
+                            16, 16, 16, -1, 17, 18, 19, -1,
+                            20, 21, 20, -1, 19, 22, 23, -1,
+                            24, 20, 20, -1, 25, 12, 26, -1,
+                            27, 28, 29, -1, 28, 30, 29, -1,
+                            31, 31, 31, -1, 32, 33, 34, -1,
+                            34, 29, 35, -1, 36, 1, 7, -1,
+                            37, 37, 37, -1, 13, 25, 38, -1,
+                            39, 39, 39, -1, 40, 40, 40, -1,
+                            41, 42, 41, -1, 43, 17, 17, -1,
+                            44, 44, 44, -1, 45, 45, 45, -1,
+                            46, 47, 47, -1, 47, 23, 48, -1,
+                            41, 41, 49, -1, 28, 50, 30, -1,
+                            33, 32, 27, -1, 9, 7, 0, -1,
+                            51, 51, 52, -1, 53, 54, 54, -1,
+                            55, 55, 55, -1, 55, 55, 55, -1,
+                            56, 56, 56, -1, 57, 38, 51, -1 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0.5
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.obj b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2bf933f399d3ace25f38347e32133b6e6d4258c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object platform_roll_link.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 5.629921 -0.133229 1.964600
+v 0.121463 -0.023193 0.118998 0.898039 0.898039 0.898039
+vn 1.555264 1.756567 1.711584
+v 0.115788 0.069796 0.127552 0.898039 0.898039 0.898039
+vn 1.587917 -1.689994 1.746001
+v 0.114296 -0.130658 0.126987 0.898039 0.898039 0.898039
+vn -1.524081 -1.276655 0.861950
+v -0.118734 -0.130810 0.117017 0.898039 0.898039 0.898039
+vn -2.185096 -1.768659 -3.751720
+v -0.026091 -0.098971 -0.060589 0.898039 0.898039 0.898039
+vn -1.612467 -4.319141 -2.096391
+v -0.030166 -0.130938 -0.022784 0.898039 0.898039 0.898039
+vn 2.983945 -3.269525 -0.387084
+v 0.114307 -0.131181 0.116995 0.898039 0.898039 0.898039
+vn 1.979288 -4.225427 -2.058078
+v 0.034910 -0.131043 -0.010712 0.898039 0.898039 0.898039
+vn 4.979667 -0.827523 -2.131831
+v 0.125513 -0.014714 0.017665 0.898039 0.898039 0.898039
+vn -3.037228 2.626798 -1.100134
+v -0.115980 0.069146 0.091083 0.898039 0.898039 0.898039
+vn 1.139279 -1.475404 -4.313299
+v 0.006470 -0.093727 -0.066051 0.898039 0.898039 0.898039
+vn -1.308956 2.812360 -2.579264
+v -0.028454 0.070061 -0.024026 0.898039 0.898039 0.898039
+vn -2.606995 0.660116 -4.648096
+v -0.026133 -0.070731 -0.060428 0.898039 0.898039 0.898039
+vn -1.544460 1.442536 1.425250
+v -0.119092 0.070163 0.127550 0.898039 0.898039 0.898039
+vn 3.209134 0.087085 -4.714137
+v 0.082823 -0.018055 -0.025436 0.898039 0.898039 0.898039
+vn 1.009919 3.547225 -2.835049
+v 0.029929 0.069978 -0.020021 0.898039 0.898039 0.898039
+vn 4.298032 1.567922 -2.124374
+v 0.125282 0.018950 0.018509 0.898039 0.898039 0.898039
+vn 3.164682 3.600264 -0.457869
+v 0.116109 0.068820 0.091009 0.898039 0.898039 0.898039
+vn 5.727491 0.200562 1.762581
+v 0.121536 0.022807 0.119002 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 7//7 9//9 3//3
+f 1//1 3//3 9//9
+f 10//10 5//5 4//4
+f 8//8 11//11 9//9
+f 10//10 12//12 13//13
+f 14//14 12//12 10//10
+f 15//15 11//11 16//16
+f 11//11 15//15 9//9
+f 17//17 16//16 18//18
+f 19//19 17//17 2//2
+f 15//15 16//16 17//17
+f 19//19 2//2 1//1
+f 14//14 3//3 2//2
+f 8//8 7//7 6//6
+f 8//8 6//6 11//11
+f 4//4 6//6 7//7
+f 4//4 3//3 14//14
+f 7//7 3//3 4//4
+f 6//6 5//5 11//11
+f 14//14 10//10 4//4
+f 10//10 13//13 5//5
+f 12//12 11//11 13//13
+f 13//13 11//11 5//5
+f 2//2 16//16 14//14
+f 18//18 16//16 2//2
+f 16//16 12//12 14//14
+f 16//16 11//11 12//12
+f 17//17 9//9 15//15
+f 2//2 17//17 18//18
+f 1//1 17//17 19//19
+f 9//9 17//17 1//1
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.wrl b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..68ae4f1e7be7e3bf54c364fde21ed42e697ea463
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/platform_roll_link.wrl
@@ -0,0 +1,198 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation 0 0 0.99999994  1.5700002
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 127
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 1 0  3.1415
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation -0 -0 -0.99999994  1.5700002
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Transform {
+                              translation 0 0 0
+                              rotation 0 0 1  0
+                              scale 1 1 1
+                              scaleOrientation 0 0 1  0
+                              center 0 0 0
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.89999998 0.89999998 0.89999998
+                                      ambientIntensity 0.17999999
+                                      specularColor 0.1 0.1 0.1
+                                      shininess 0.5
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
+                                      point [ 121.5 23 8,
+                                          115.677 -69.980499 -0.54559702,
+                                          114.504 130.476 0.0013120699,
+                                          -118.526 131 9.9705095,
+                                          -25.9333 99.0299 187.58,
+                                          -29.9578 131 149.772,
+                                          114.516 131 9.993,
+                                          35.118999 131 137.7,
+                                          125.536 14.5245 109.334,
+                                          -116.09 -68.958 35.923,
+                                          6.6196399 93.734703 193.04201,
+                                          -28.565701 -70.001198 151.032,
+                                          -26.0201 70.789703 187.42101,
+                                          -119.204 -69.973602 -0.543015,
+                                          82.852097 17.937201 152.43401,
+                                          29.8172 -70.0121 147.02699,
+                                          125.252 -19.1394 108.493,
+                                          115.999 -69.001701 35.9977,
+                                          121.5 -23 8 ]
+
+                                    }
+                                    normal 
+                                    Normal {
+                                      vector [ 0.81008834 0.0031526482 -0.58629942,
+                                          0.79313082 0.0063027325 -0.60901892,
+                                          -0.8348518 0.26439482 0.48282281,
+                                          -0.85001969 0.17615521 0.49642321,
+                                          -0.74745619 0.46591216 0.47353464,
+                                          0.75016779 0.4687539 0.46638846,
+                                          0.72245556 0.42871597 0.54245788,
+                                          0.71055931 0.39945191 0.57926124,
+                                          0.99599451 0.089222126 -0.0058754641,
+                                          0.99847871 0.048099458 -0.026959743,
+                                          0.99691802 0.075805493 -0.020197487,
+                                          0.99913126 0.018322354 -0.037430886,
+                                          -0.90417093 -0.0234979 0.42652416,
+                                          -0.9160955 0.17965156 0.35846084,
+                                          0.68565726 0.36192501 0.63157302,
+                                          0.72362751 0.29880726 0.62215543,
+                                          -0.84804243 -0.030352589 0.52905816,
+                                          -0.78875011 -0.14041804 0.59846151,
+                                          -0.82745171 -0.070612617 0.55707949,
+                                          -0.018274732 -0.99977547 0.010723591,
+                                          -0.027398895 -0.99949324 0.016201932,
+                                          -0.054578871 -0.99798191 0.032455195,
+                                          0.39542753 -0.29198819 0.87085015,
+                                          0.11777381 -0.24678892 0.96188593,
+                                          0.28859162 -0.28544828 0.91391146,
+                                          0.70767111 0.16011105 0.68816131,
+                                          0.553307 -0.71761006 0.42295074,
+                                          0.99766481 -0.058652837 -0.034995496,
+                                          0.99672818 -0.075582415 -0.028638562,
+                                          0.98895377 -0.14709544 -0.018257158,
+                                          0.51235855 -0.20644292 0.8335886,
+                                          0.62003845 -0.19238061 0.76061952,
+                                          0.82638693 0 -0.56310284,
+                                          -0.021299643 0.027547546 -0.99939352,
+                                          -1.0912702e-005 0.0027282443 -0.99999636,
+                                          0 1 0,
+                                          1.6852817e-006 0.99984747 -0.017462602,
+                                          0.11010282 0.79724234 0.59353346,
+                                          0.063237868 0.78201854 0.62003869,
+                                          2.528019e-006 0.9996568 -0.026194902,
+                                          -0.042565599 0.052337393 -0.99772197,
+                                          5.0543035e-006 0.99862772 -0.052371837,
+                                          0.016174931 0.7643466 0.64460278,
+                                          -0.99637049 -0.0010912878 0.085115194,
+                                          -0.93182904 0.016599834 0.36251777,
+                                          -0.9588635 0.025018323 0.28276309,
+                                          0.03766951 -0.25593299 0.96596032,
+                                          0.047020007 -0.18853569 0.98094004,
+                                          -0.079399668 -0.12919642 0.98843515,
+                                          -0.030689588 -0.17432371 0.98420995,
+                                          -0.1662706 -0.0050406558 0.9860673,
+                                          0.022817591 -0.99965441 0.013061531,
+                                          0.015147327 -0.99984759 0.0086848047,
+                                          0.045648601 -0.9986102 0.026345158,
+                                          0.70579523 0.23749863 0.6674186,
+                                          0.6634267 -0.013558381 0.7481184,
+                                          0.98421681 -0.17692311 -0.0039335238 ]
+
+                                    }
+                                    coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                        6, 7, 8, -1, 6, 8, 2, -1,
+                                        0, 2, 8, -1, 9, 4, 3, -1,
+                                        7, 10, 8, -1, 9, 11, 12, -1,
+                                        13, 11, 9, -1, 14, 10, 15, -1,
+                                        10, 14, 8, -1, 16, 15, 17, -1,
+                                        18, 16, 1, -1, 14, 15, 16, -1,
+                                        18, 1, 0, -1, 13, 2, 1, -1,
+                                        7, 6, 5, -1, 7, 5, 10, -1,
+                                        3, 5, 6, -1, 3, 2, 13, -1,
+                                        6, 2, 3, -1, 5, 4, 10, -1,
+                                        13, 9, 3, -1, 9, 12, 4, -1,
+                                        11, 10, 12, -1, 12, 10, 4, -1,
+                                        1, 15, 13, -1, 17, 15, 1, -1,
+                                        15, 11, 13, -1, 15, 10, 11, -1,
+                                        16, 8, 14, -1, 1, 16, 17, -1,
+                                        0, 16, 18, -1, 8, 16, 0, -1 ]
+                                    normalIndex [ 0, 0, 1, -1, 2, 3, 4, -1,
+                                        5, 6, 7, -1, 8, 9, 10, -1,
+                                        11, 10, 9, -1, 12, 3, 13, -1,
+                                        6, 14, 15, -1, 16, 17, 18, -1,
+                                        19, 20, 21, -1, 22, 23, 24, -1,
+                                        14, 25, 15, -1, 26, 26, 26, -1,
+                                        27, 28, 29, -1, 30, 24, 31, -1,
+                                        32, 0, 0, -1, 33, 33, 34, -1,
+                                        35, 36, 35, -1, 37, 38, 38, -1,
+                                        39, 35, 36, -1, 40, 33, 33, -1,
+                                        36, 41, 39, -1, 38, 42, 38, -1,
+                                        43, 44, 45, -1, 12, 18, 3, -1,
+                                        46, 47, 48, -1, 48, 49, 50, -1,
+                                        51, 52, 19, -1, 53, 52, 51, -1,
+                                        52, 20, 19, -1, 24, 47, 46, -1,
+                                        31, 54, 55, -1, 29, 28, 56, -1,
+                                        11, 28, 27, -1, 9, 28, 11, -1 ]
+                                    ccw TRUE
+                                    solid FALSE
+                                    convex TRUE
+                                    creaseAngle 0.5
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l1.obj b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c679e3415632fb229dc00f49bbc1364c9a165be
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_l1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l1.wrl b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l2.obj b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..494adac2f76ee15cdc239a985c7d506c03297b16
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_l2.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 4.849105 -2.003662 -0.864642
+v 0.012735 -0.002985 0.018263 0.898039 0.898039 0.898039
+vn -0.474309 -1.908808 1.732753
+v 0.001705 -0.008368 0.049654 0.898039 0.898039 0.898039
+vn 2.159332 -5.006810 -0.481525
+v 0.005627 -0.009985 0.018262 0.898039 0.898039 0.898039
+vn 5.007545 -0.937930 0.862976
+v 0.012728 -0.001241 0.028261 0.898039 0.898039 0.898039
+vn 1.634716 -1.059434 2.802875
+v 0.005709 -0.004122 0.051258 0.898039 0.898039 0.898039
+vn -5.227232 2.211288 -0.413353
+v -0.004265 0.007015 0.018241 0.898039 0.898039 0.898039
+vn -2.020607 5.200972 -0.475906
+v -0.001249 0.010040 0.018446 0.898039 0.898039 0.898039
+vn -2.557909 1.949652 -2.170526
+v -0.002124 0.004914 -0.001014 0.898039 0.898039 0.898039
+vn 2.156696 5.005955 -0.486016
+v 0.005627 0.010015 0.018247 0.898039 0.898039 0.898039
+vn 4.845843 1.993558 -0.821323
+v 0.012735 0.003015 0.018258 0.898039 0.898039 0.898039
+vn 0.985150 1.654922 -2.602285
+v 0.002176 0.004985 -0.002565 0.898039 0.898039 0.898039
+vn -0.370823 1.768354 1.755815
+v 0.001799 0.008344 0.049777 0.898039 0.898039 0.898039
+vn 3.659825 1.810807 2.785059
+v 0.006365 0.003901 0.049275 0.898039 0.898039 0.898039
+vn 1.029450 -1.690775 -2.617390
+v 0.002199 -0.004995 -0.002506 0.898039 0.898039 0.898039
+vn -2.023523 -5.201940 -0.473259
+v -0.001249 -0.010011 0.018462 0.898039 0.898039 0.898039
+vn -5.227198 -2.211977 -0.409859
+v -0.004265 -0.006985 0.018252 0.898039 0.898039 0.898039
+vn -2.502022 -1.916565 -2.179581
+v -0.002117 -0.004904 -0.001090 0.898039 0.898039 0.898039
+vn -4.012360 2.412720 1.042131
+v -0.004281 0.007031 0.039241 0.898039 0.898039 0.898039
+vn -4.054131 -2.395838 1.043140
+v -0.004281 -0.006969 0.039252 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4
+f 4//4 5//5 2//2
+f 6//6 7//7 8//8
+f 9//9 10//10 11//11
+f 9//9 12//12 10//10
+f 13//13 10//10 12//12
+f 3//3 14//14 1//1
+f 15//15 16//16 17//17
+f 12//12 7//7 18//18
+f 11//11 8//8 7//7
+f 15//15 17//17 14//14
+f 15//15 2//2 19//19
+f 4//4 13//13 5//5
+f 9//9 7//7 12//12
+f 18//18 7//7 6//6
+f 4//4 10//10 13//13
+f 1//1 10//10 4//4
+f 13//13 12//12 5//5
+f 5//5 12//12 2//2
+f 14//14 10//10 1//1
+f 10//10 14//14 11//11
+f 2//2 15//15 3//3
+f 9//9 11//11 7//7
+f 8//8 17//17 6//6
+f 6//6 17//17 16//16
+f 18//18 6//6 19//19
+f 16//16 19//19 6//6
+f 16//16 15//15 19//19
+f 12//12 19//19 2//2
+f 12//12 18//18 19//19
+f 15//15 14//14 3//3
+f 11//11 17//17 8//8
+f 14//14 17//17 11//11
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_l2.wrl b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5de8479853174f528dc137c5e973d5efa46dafba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_l2.wrl
@@ -0,0 +1,186 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -18.25 12.75 3,
+                                      -49.646198 1.7442501 8.4074097,
+                                      -18.25 5.6420102 10,
+                                      -28.25 12.75 1.26352,
+                                      -51.25 5.75 4.16326,
+                                      -18.25 -4.25 -7,
+                                      -18.4554 -1.23462 -10.0253,
+                                      1.00888 -2.1252401 -4.9147601,
+                                      -18.25 5.6420102 -10,
+                                      -18.25 12.75 -3,
+                                      2.5627401 2.1741199 -4.9871602,
+                                      -49.7817 1.8390599 -8.3040705,
+                                      -49.273499 6.4043598 -3.8620701,
+                                      2.51178 2.1965699 4.9930801,
+                                      -18.4554 -1.23462 10.0253,
+                                      -18.25 -4.25 7,
+                                      1.09203 -2.1177299 4.9029899,
+                                      -39.25 -4.25 -7,
+                                      -39.25 -4.25 7 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.010858736 0.70186186 0.71223027,
+                                      -0.12282901 0.69713694 0.70633775,
+                                      0.078930996 0.69948447 0.71027553,
+                                      -0.12307981 0.69750309 0.70593262,
+                                      -0.12348578 0.69795579 0.70541412,
+                                      0.076600097 -0.70358086 -0.70647454,
+                                      0.023017133 -0.59849656 -0.80079466,
+                                      0.15274905 -0.69475085 -0.70284349,
+                                      0.079197206 0.69946963 -0.71026051,
+                                      0.010785109 0.70256555 -0.71153718,
+                                      0.27721575 0.67417347 -0.68457407,
+                                      -0.12272245 0.69774324 -0.70575744,
+                                      -0.036229707 0.76422954 -0.64392596,
+                                      -0.15044136 0.81209356 -0.56380093,
+                                      0.27699071 0.67421901 0.68462026,
+                                      0.023926407 -0.60230964 0.79790395,
+                                      0.076620221 -0.70357919 0.70647418,
+                                      0.15278892 -0.69474512 0.70284051,
+                                      -0.071043305 -0.1740531 -0.98217022,
+                                      0.088091902 -0.33033147 -0.93974513,
+                                      -0.043756798 -0.54093438 -0.83992589,
+                                      0.24113217 -0.054696493 -0.96894974,
+                                      0.24799225 -0.10584456 -0.96296257,
+                                      0.087457694 -0.11555026 -0.9894439,
+                                      0.089035131 -0.1181168 0.98900008,
+                                      0.24787121 -0.10168785 0.96344149,
+                                      0.24118687 -0.052614003 0.96905142,
+                                      0.089160658 -0.33208463 0.93902618,
+                                      -0.068207204 -0.18134524 0.98105127,
+                                      -0.042292599 -0.54709464 0.83600175,
+                                      -0.15854205 0.97789538 -0.13632719,
+                                      -0.23702018 0.94988596 -0.20380899,
+                                      -0.29040548 0.9568817 0.0064991829,
+                                      0.090591542 0.00095809839 -0.9958877,
+                                      -0.11043416 0.87034941 -0.4798919,
+                                      -0.20622709 0.89839667 -0.38775477,
+                                      0.23297617 0.9724825 -0,
+                                      0.19434953 0.97507161 -0.10706913,
+                                      -0.93087757 0.30267826 -0.20457979,
+                                      -0.93032664 -0.36669123 0.0054630125,
+                                      0.45308334 0.89146817 0.00015394339,
+                                      0.30961519 0.95086187 0.00010519745,
+                                      0.45303625 0.89149207 0.00030788677,
+                                      0.092251256 0.00090797973 0.99573535,
+                                      0.10967891 -0.99396712 -0.00016856485,
+                                      0.054896615 -0.99849212 -4.2204854e-005,
+                                      0.10962766 -0.99397278 -8.4282423e-005,
+                                      0.054870877 -0.99849349 0,
+                                      0 -1 0,
+                                      -0.50005841 -0.86599159 -0.00043188891,
+                                      -0.49958763 -0.86626291 -0.00086377759,
+                                      -0.50052893 -0.86571991 0,
+                                      0.94523549 -0.32638744 -0.0010756886,
+                                      0.94039279 -0.34000325 -0.0077044335,
+                                      0.94983935 -0.31268916 0.005553328 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                    3, 4, 1, -1, 5, 6, 7, -1,
+                                    8, 9, 10, -1, 8, 11, 9, -1,
+                                    12, 9, 11, -1, 2, 13, 0, -1,
+                                    14, 15, 16, -1, 11, 6, 17, -1,
+                                    10, 7, 6, -1, 14, 16, 13, -1,
+                                    14, 1, 18, -1, 3, 12, 4, -1,
+                                    8, 6, 11, -1, 17, 6, 5, -1,
+                                    3, 9, 12, -1, 0, 9, 3, -1,
+                                    12, 11, 4, -1, 4, 11, 1, -1,
+                                    13, 9, 0, -1, 9, 13, 10, -1,
+                                    1, 14, 2, -1, 8, 10, 6, -1,
+                                    7, 16, 5, -1, 5, 16, 15, -1,
+                                    17, 5, 18, -1, 15, 18, 5, -1,
+                                    15, 14, 18, -1, 11, 18, 1, -1,
+                                    11, 17, 18, -1, 14, 13, 2, -1,
+                                    10, 16, 7, -1, 13, 16, 10, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                    3, 4, 1, -1, 5, 6, 7, -1,
+                                    8, 9, 10, -1, 8, 11, 12, -1,
+                                    13, 12, 11, -1, 2, 14, 0, -1,
+                                    15, 16, 17, -1, 18, 19, 20, -1,
+                                    21, 22, 23, -1, 24, 25, 26, -1,
+                                    27, 28, 29, -1, 30, 31, 32, -1,
+                                    33, 23, 18, -1, 20, 6, 5, -1,
+                                    30, 34, 35, -1, 36, 37, 30, -1,
+                                    38, 38, 38, -1, 39, 39, 39, -1,
+                                    40, 41, 36, -1, 41, 40, 42, -1,
+                                    28, 24, 43, -1, 33, 21, 23, -1,
+                                    44, 44, 45, -1, 45, 46, 47, -1,
+                                    48, 45, 48, -1, 47, 48, 45, -1,
+                                    16, 15, 29, -1, 49, 49, 50, -1,
+                                    49, 51, 49, -1, 24, 26, 43, -1,
+                                    52, 52, 53, -1, 54, 52, 52, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r1.obj b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf53a8efda19f4f4ffdeb062d732cbb303a79ad5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_r1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn -2.734731 2.645884 -1.320940
+v -0.002076 0.004998 -0.000817 0.898039 0.898039 0.898039
+vn -2.445602 -2.411064 -1.588060
+v -0.001981 -0.005003 -0.001208 0.898039 0.898039 0.898039
+vn -6.096511 -0.615702 -0.699697
+v -0.003747 -0.002698 0.007041 0.898039 0.898039 0.898039
+vn -2.449196 -3.944369 1.183905
+v -0.002246 -0.004972 0.037604 0.898039 0.898039 0.898039
+vn -2.038061 -1.532097 2.648936
+v -0.002248 -0.002468 0.042252 0.898039 0.898039 0.898039
+vn -3.133525 -3.115467 0.117419
+v -0.003746 -0.004979 0.029186 0.898039 0.898039 0.898039
+vn -3.141107 3.087943 0.143957
+v -0.003754 0.005018 0.029511 0.898039 0.898039 0.898039
+vn -2.041840 1.531382 2.638226
+v -0.002252 0.002532 0.042248 0.898039 0.898039 0.898039
+vn -2.440881 3.977503 1.192653
+v -0.002254 0.005028 0.037596 0.898039 0.898039 0.898039
+vn -3.135987 -3.135126 -0.055288
+v -0.003746 -0.004993 0.012004 0.898039 0.898039 0.898039
+vn -3.214723 3.035069 -0.219361
+v -0.003751 0.004973 0.009249 0.898039 0.898039 0.898039
+vn -6.191928 -0.190287 0.616410
+v -0.003758 -0.001129 0.033102 0.898039 0.898039 0.898039
+vn 2.645941 2.957013 0.741476
+v 0.002246 0.005032 0.037596 0.898039 0.898039 0.898039
+vn 2.065195 -1.380031 2.315724
+v 0.002252 -0.002465 0.042252 0.898039 0.898039 0.898039
+vn 1.525269 1.546762 -1.571402
+v 0.002246 0.005000 -0.002404 0.898039 0.898039 0.898039
+vn 1.559131 -1.562571 -1.569517
+v 0.002254 -0.005000 -0.002396 0.898039 0.898039 0.898039
+vn 2.650646 -2.951612 0.746182
+v 0.002254 -0.004968 0.037604 0.898039 0.898039 0.898039
+vn 2.062993 1.387004 2.313521
+v 0.002248 0.002535 0.042248 0.898039 0.898039 0.898039
+vn -0.885771 -2.578051 -2.873215
+v -0.000288 -0.005002 -0.002375 0.898039 0.898039 0.898039
+vn -1.221833 2.356735 -2.626603
+v -0.000758 0.004998 -0.002308 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r1.wrl b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..800c16683f4f6b3ff4a91785484360f049db34e8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r1.wrl
@@ -0,0 +1,166 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0.99999994 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 0.813474 -2.0718999 -5.0000501,
+                                      1.21165 -1.98485 5.0000801,
+                                      -7.0384302 -3.7490599 2.7009201,
+                                      -37.599998 -2.25 5,
+                                      -42.25 -2.25 2.5,
+                                      -29.182301 -3.74998 4.9995399,
+                                      -29.515301 -3.75018 -4.9972901,
+                                      -42.25 -2.25 -2.5,
+                                      -37.599998 -2.25 -5,
+                                      -12 -3.75 5,
+                                      -9.2532501 -3.7472799 -4.9685898,
+                                      -33.101002 -3.75845 1.15241,
+                                      -37.599998 2.25 -5,
+                                      -42.25 2.25 2.5,
+                                      2.4000001 2.25 -5,
+                                      2.4000001 2.25 5,
+                                      -37.599998 2.25 5,
+                                      -42.25 2.25 -2.5,
+                                      2.37907 -0.29173699 5,
+                                      2.30391 -0.75420499 -5 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.18655361 -0.9821592 -0.023690164,
+                                      0.16996521 -0.97563404 0.13874492,
+                                      0.10117246 -0.99381363 0.045810517,
+                                      -0.16676134 -0.93593878 0.31017619,
+                                      -0.15785259 -0.975541 0.15297802,
+                                      -0.077069275 -0.9903596 0.11510069,
+                                      -0.050827965 -0.99643731 -0.067299604,
+                                      -0.15725395 -0.97836506 -0.13443595,
+                                      -0.17267376 -0.93114531 -0.32117328,
+                                      0.042933267 -0.99479669 0.092391461,
+                                      0.082292773 -0.99631929 -0.023995943,
+                                      -0.10867187 -0.99393618 0.016769379,
+                                      0 1 0,
+                                      -0.16220154 6.4795145e-006 0.98675764,
+                                      -0.47353488 0 0.88077515,
+                                      -0.24415712 -7.9041594e-005 0.96973568,
+                                      -1 0 0,
+                                      -0.47353488 0 -0.88077515,
+                                      -0.24415697 2.9865605e-006 -0.9697358,
+                                      -0.16219907 -0.00060600007 -0.98675793,
+                                      0.99996614 -0.0082342681 0,
+                                      0.99979347 -0.020102773 -0.0030170237,
+                                      0.99947071 -0.031968266 -0.0060335952,
+                                      8.127201e-006 -2.6638958e-005 1,
+                                      0.74833816 -0.66331738 0.00010716102,
+                                      0.66222727 -0.74904019 -0.019847661,
+                                      0.82310301 -0.56753761 0.020060355,
+                                      1.7285187e-005 5.2394785e-006 -1,
+                                      0.00029201756 -0.0058125257 -0.99998307,
+                                      0.0014198367 -0.027302239 -0.99962622,
+                                      0.00071342639 -0.014536898 -0.99989414,
+                                      3.4570374e-005 -1.1057406e-006 -1 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 13, 14, -1, 15, 14, 13, -1,
+                                    15, 13, 16, -1, 17, 13, 12, -1,
+                                    16, 13, 3, -1, 3, 13, 4, -1,
+                                    7, 13, 17, -1, 13, 7, 4, -1,
+                                    7, 17, 12, -1, 8, 7, 12, -1,
+                                    15, 18, 14, -1, 14, 18, 19, -1,
+                                    16, 1, 15, -1, 5, 1, 3, -1,
+                                    3, 1, 16, -1, 5, 9, 1, -1,
+                                    18, 15, 1, -1, 19, 1, 0, -1,
+                                    18, 1, 19, -1, 12, 14, 0, -1,
+                                    10, 6, 0, -1, 8, 0, 6, -1,
+                                    8, 12, 0, -1, 19, 0, 14, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 2, 1, 9, -1,
+                                    10, 0, 2, -1, 7, 11, 4, -1,
+                                    11, 5, 4, -1, 11, 7, 6, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    12, 12, 12, -1, 12, 12, 12, -1,
+                                    13, 14, 15, -1, 15, 14, 14, -1,
+                                    16, 16, 16, -1, 16, 16, 16, -1,
+                                    17, 17, 18, -1, 19, 17, 18, -1,
+                                    20, 21, 21, -1, 21, 21, 22, -1,
+                                    13, 23, 23, -1, 23, 23, 15, -1,
+                                    15, 23, 13, -1, 23, 23, 23, -1,
+                                    23, 23, 23, -1, 24, 24, 25, -1,
+                                    26, 24, 24, -1, 18, 27, 28, -1,
+                                    29, 30, 28, -1, 19, 28, 30, -1,
+                                    19, 18, 28, -1, 31, 28, 27, -1,
+                                    2, 6, 10, -1, 5, 6, 9, -1,
+                                    9, 6, 2, -1, 11, 6, 5, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r2.obj b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b1eb73e8a18d2f8d66d2d9edcda2ee80c7d75ef
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object ring_r2.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn 4.849105 -2.003662 -0.864642
+v 0.012735 -0.002985 0.018263 0.898039 0.898039 0.898039
+vn -0.474309 -1.908808 1.732753
+v 0.001705 -0.008368 0.049654 0.898039 0.898039 0.898039
+vn 2.159332 -5.006810 -0.481525
+v 0.005627 -0.009985 0.018262 0.898039 0.898039 0.898039
+vn 5.007545 -0.937930 0.862976
+v 0.012728 -0.001241 0.028261 0.898039 0.898039 0.898039
+vn 1.634716 -1.059434 2.802875
+v 0.005709 -0.004122 0.051258 0.898039 0.898039 0.898039
+vn -5.227232 2.211288 -0.413353
+v -0.004265 0.007015 0.018241 0.898039 0.898039 0.898039
+vn -2.020607 5.200972 -0.475906
+v -0.001249 0.010040 0.018446 0.898039 0.898039 0.898039
+vn -2.557909 1.949652 -2.170526
+v -0.002124 0.004914 -0.001014 0.898039 0.898039 0.898039
+vn 2.156696 5.005955 -0.486016
+v 0.005627 0.010015 0.018247 0.898039 0.898039 0.898039
+vn 4.845843 1.993558 -0.821323
+v 0.012735 0.003015 0.018258 0.898039 0.898039 0.898039
+vn 0.985150 1.654922 -2.602285
+v 0.002176 0.004985 -0.002565 0.898039 0.898039 0.898039
+vn -0.370823 1.768354 1.755815
+v 0.001799 0.008344 0.049777 0.898039 0.898039 0.898039
+vn 3.659825 1.810807 2.785059
+v 0.006365 0.003901 0.049275 0.898039 0.898039 0.898039
+vn 1.029450 -1.690775 -2.617390
+v 0.002199 -0.004995 -0.002506 0.898039 0.898039 0.898039
+vn -2.023523 -5.201940 -0.473259
+v -0.001249 -0.010011 0.018462 0.898039 0.898039 0.898039
+vn -5.227198 -2.211977 -0.409859
+v -0.004265 -0.006985 0.018252 0.898039 0.898039 0.898039
+vn -2.502022 -1.916565 -2.179581
+v -0.002117 -0.004904 -0.001090 0.898039 0.898039 0.898039
+vn -4.012360 2.412720 1.042131
+v -0.004281 0.007031 0.039241 0.898039 0.898039 0.898039
+vn -4.054131 -2.395838 1.043140
+v -0.004281 -0.006969 0.039252 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4
+f 4//4 5//5 2//2
+f 6//6 7//7 8//8
+f 9//9 10//10 11//11
+f 9//9 12//12 10//10
+f 13//13 10//10 12//12
+f 3//3 14//14 1//1
+f 15//15 16//16 17//17
+f 12//12 7//7 18//18
+f 11//11 8//8 7//7
+f 15//15 17//17 14//14
+f 15//15 2//2 19//19
+f 4//4 13//13 5//5
+f 9//9 7//7 12//12
+f 18//18 7//7 6//6
+f 4//4 10//10 13//13
+f 1//1 10//10 4//4
+f 13//13 12//12 5//5
+f 5//5 12//12 2//2
+f 14//14 10//10 1//1
+f 10//10 14//14 11//11
+f 2//2 15//15 3//3
+f 9//9 11//11 7//7
+f 8//8 17//17 6//6
+f 6//6 17//17 16//16
+f 18//18 6//6 19//19
+f 16//16 19//19 6//6
+f 16//16 15//15 19//19
+f 12//12 19//19 2//2
+f 12//12 18//18 19//19
+f 15//15 14//14 3//3
+f 11//11 17//17 8//8
+f 14//14 17//17 11//11
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/ring_r2.wrl b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5de8479853174f528dc137c5e973d5efa46dafba
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/ring_r2.wrl
@@ -0,0 +1,186 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation -0 -0 -0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -18.25 12.75 3,
+                                      -49.646198 1.7442501 8.4074097,
+                                      -18.25 5.6420102 10,
+                                      -28.25 12.75 1.26352,
+                                      -51.25 5.75 4.16326,
+                                      -18.25 -4.25 -7,
+                                      -18.4554 -1.23462 -10.0253,
+                                      1.00888 -2.1252401 -4.9147601,
+                                      -18.25 5.6420102 -10,
+                                      -18.25 12.75 -3,
+                                      2.5627401 2.1741199 -4.9871602,
+                                      -49.7817 1.8390599 -8.3040705,
+                                      -49.273499 6.4043598 -3.8620701,
+                                      2.51178 2.1965699 4.9930801,
+                                      -18.4554 -1.23462 10.0253,
+                                      -18.25 -4.25 7,
+                                      1.09203 -2.1177299 4.9029899,
+                                      -39.25 -4.25 -7,
+                                      -39.25 -4.25 7 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.010858736 0.70186186 0.71223027,
+                                      -0.12282901 0.69713694 0.70633775,
+                                      0.078930996 0.69948447 0.71027553,
+                                      -0.12307981 0.69750309 0.70593262,
+                                      -0.12348578 0.69795579 0.70541412,
+                                      0.076600097 -0.70358086 -0.70647454,
+                                      0.023017133 -0.59849656 -0.80079466,
+                                      0.15274905 -0.69475085 -0.70284349,
+                                      0.079197206 0.69946963 -0.71026051,
+                                      0.010785109 0.70256555 -0.71153718,
+                                      0.27721575 0.67417347 -0.68457407,
+                                      -0.12272245 0.69774324 -0.70575744,
+                                      -0.036229707 0.76422954 -0.64392596,
+                                      -0.15044136 0.81209356 -0.56380093,
+                                      0.27699071 0.67421901 0.68462026,
+                                      0.023926407 -0.60230964 0.79790395,
+                                      0.076620221 -0.70357919 0.70647418,
+                                      0.15278892 -0.69474512 0.70284051,
+                                      -0.071043305 -0.1740531 -0.98217022,
+                                      0.088091902 -0.33033147 -0.93974513,
+                                      -0.043756798 -0.54093438 -0.83992589,
+                                      0.24113217 -0.054696493 -0.96894974,
+                                      0.24799225 -0.10584456 -0.96296257,
+                                      0.087457694 -0.11555026 -0.9894439,
+                                      0.089035131 -0.1181168 0.98900008,
+                                      0.24787121 -0.10168785 0.96344149,
+                                      0.24118687 -0.052614003 0.96905142,
+                                      0.089160658 -0.33208463 0.93902618,
+                                      -0.068207204 -0.18134524 0.98105127,
+                                      -0.042292599 -0.54709464 0.83600175,
+                                      -0.15854205 0.97789538 -0.13632719,
+                                      -0.23702018 0.94988596 -0.20380899,
+                                      -0.29040548 0.9568817 0.0064991829,
+                                      0.090591542 0.00095809839 -0.9958877,
+                                      -0.11043416 0.87034941 -0.4798919,
+                                      -0.20622709 0.89839667 -0.38775477,
+                                      0.23297617 0.9724825 -0,
+                                      0.19434953 0.97507161 -0.10706913,
+                                      -0.93087757 0.30267826 -0.20457979,
+                                      -0.93032664 -0.36669123 0.0054630125,
+                                      0.45308334 0.89146817 0.00015394339,
+                                      0.30961519 0.95086187 0.00010519745,
+                                      0.45303625 0.89149207 0.00030788677,
+                                      0.092251256 0.00090797973 0.99573535,
+                                      0.10967891 -0.99396712 -0.00016856485,
+                                      0.054896615 -0.99849212 -4.2204854e-005,
+                                      0.10962766 -0.99397278 -8.4282423e-005,
+                                      0.054870877 -0.99849349 0,
+                                      0 -1 0,
+                                      -0.50005841 -0.86599159 -0.00043188891,
+                                      -0.49958763 -0.86626291 -0.00086377759,
+                                      -0.50052893 -0.86571991 0,
+                                      0.94523549 -0.32638744 -0.0010756886,
+                                      0.94039279 -0.34000325 -0.0077044335,
+                                      0.94983935 -0.31268916 0.005553328 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                    3, 4, 1, -1, 5, 6, 7, -1,
+                                    8, 9, 10, -1, 8, 11, 9, -1,
+                                    12, 9, 11, -1, 2, 13, 0, -1,
+                                    14, 15, 16, -1, 11, 6, 17, -1,
+                                    10, 7, 6, -1, 14, 16, 13, -1,
+                                    14, 1, 18, -1, 3, 12, 4, -1,
+                                    8, 6, 11, -1, 17, 6, 5, -1,
+                                    3, 9, 12, -1, 0, 9, 3, -1,
+                                    12, 11, 4, -1, 4, 11, 1, -1,
+                                    13, 9, 0, -1, 9, 13, 10, -1,
+                                    1, 14, 2, -1, 8, 10, 6, -1,
+                                    7, 16, 5, -1, 5, 16, 15, -1,
+                                    17, 5, 18, -1, 15, 18, 5, -1,
+                                    15, 14, 18, -1, 11, 18, 1, -1,
+                                    11, 17, 18, -1, 14, 13, 2, -1,
+                                    10, 16, 7, -1, 13, 16, 10, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                    3, 4, 1, -1, 5, 6, 7, -1,
+                                    8, 9, 10, -1, 8, 11, 12, -1,
+                                    13, 12, 11, -1, 2, 14, 0, -1,
+                                    15, 16, 17, -1, 18, 19, 20, -1,
+                                    21, 22, 23, -1, 24, 25, 26, -1,
+                                    27, 28, 29, -1, 30, 31, 32, -1,
+                                    33, 23, 18, -1, 20, 6, 5, -1,
+                                    30, 34, 35, -1, 36, 37, 30, -1,
+                                    38, 38, 38, -1, 39, 39, 39, -1,
+                                    40, 41, 36, -1, 41, 40, 42, -1,
+                                    28, 24, 43, -1, 33, 21, 23, -1,
+                                    44, 44, 45, -1, 45, 46, 47, -1,
+                                    48, 45, 48, -1, 47, 48, 45, -1,
+                                    16, 15, 29, -1, 49, 49, 50, -1,
+                                    49, 51, 49, -1, 24, 26, 43, -1,
+                                    52, 52, 53, -1, 54, 52, 52, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.obj b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cef0a8b5e037e702659ffd996a512a60026ad44
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder2_l_rot.obj
+#
+# Vertices: 15
+# Faces: 26
+#
+####
+vn -2.521589 0.893795 3.603026
+v -0.029939 0.038048 0.050000 0.898039 0.898039 0.898039
+vn -1.995612 2.979115 1.785040
+v -0.029881 0.075048 0.028000 0.898039 0.898039 0.898039
+vn -2.263264 0.599510 -1.718892
+v -0.060261 0.033950 -0.051899 0.898039 0.898039 0.898039
+vn -2.569660 -1.426648 -2.147363
+v -0.053813 0.008295 -0.050977 0.898039 0.898039 0.898039
+vn -2.053704 -1.831882 2.407194
+v -0.026438 -0.016379 0.050206 0.898039 0.898039 0.898039
+vn -0.507048 -2.735288 -2.154054
+v -0.007034 -0.030628 -0.050924 0.898039 0.898039 0.898039
+vn 0.889918 -2.376992 1.954115
+v 0.012014 -0.029165 0.050050 0.898039 0.898039 0.898039
+vn 2.108431 -1.786607 -2.263698
+v 0.023633 -0.019192 -0.051268 0.898039 0.898039 0.898039
+vn 2.910160 -1.033842 2.885147
+v 0.030000 -0.000048 0.050000 0.898039 0.898039 0.898039
+vn 2.096616 2.205939 1.410132
+v 0.040119 0.074936 0.028000 0.898039 0.898039 0.898039
+vn 2.334744 0.915736 4.177732
+v 0.030060 0.037952 0.050000 0.898039 0.898039 0.898039
+vn 2.083277 2.160236 -1.406541
+v 0.040119 0.074936 -0.028000 0.898039 0.898039 0.898039
+vn 2.462990 0.696055 -3.617309
+v 0.030060 0.037952 -0.051000 0.898039 0.898039 0.898039
+vn -1.635116 4.026299 -1.828948
+v -0.028695 0.074954 -0.026164 0.898039 0.898039 0.898039
+vn 6.065845 -0.808377 -0.114724
+v 0.041266 0.035804 0.000060 0.898039 0.898039 0.898039
+# 15 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 3//3 4//4 5//5
+f 5//5 6//6 7//7
+f 5//5 4//4 6//6
+f 8//8 9//9 7//7
+f 1//1 10//10 2//2
+f 1//1 11//11 10//10
+f 1//1 3//3 5//5
+f 12//12 13//13 3//3
+f 12//12 3//3 14//14
+f 12//12 10//10 15//15
+f 9//9 1//1 5//5
+f 11//11 1//1 9//9
+f 9//9 5//5 7//7
+f 9//9 10//10 11//11
+f 15//15 10//10 9//9
+f 13//13 12//12 8//8
+f 8//8 12//12 15//15
+f 9//9 8//8 15//15
+f 7//7 6//6 8//8
+f 8//8 6//6 4//4
+f 4//4 3//3 13//13
+f 13//13 8//8 4//4
+f 10//10 14//14 2//2
+f 14//14 10//10 12//12
+f 14//14 3//3 2//2
+# 26 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.wrl b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c9b22aaca57f3a68bb014303c67b49f8f20f1d74
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_l_rot.wrl
@@ -0,0 +1,154 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 30 -38 50,
+                                  30 -75 28,
+                                  60.315102 -33.8545 -51.898701,
+                                  53.826599 -8.20959 -50.977001,
+                                  26.4121 16.420799 50.2057,
+                                  6.9850602 30.6394 -50.923901,
+                                  -12.0605 29.1462 50.0504,
+                                  -23.6635 19.1544 -51.2677,
+                                  -30 -7.1054299e-015 50,
+                                  -40 -75 28,
+                                  -30 -38 50,
+                                  -40 -75 -28,
+                                  -30 -38 -51,
+                                  28.814699 -74.907997 -26.1639,
+                                  -41.209202 -35.869301 0.0604578 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.95779401 -0.051169962 0.28286427,
+                                  0.94736451 -0.16362442 0.27518654,
+                                  0.96512496 0.044560932 0.25796926,
+                                  0.95137322 0.23348853 0.20092872,
+                                  0.95808464 0.14839937 0.2450543,
+                                  0.4844771 0.8742944 0.029855637,
+                                  0.31292844 0.94696516 0.073027551,
+                                  0.63830656 0.76964748 -0.014408209,
+                                  -0.94541115 0.32112986 -0.055438291,
+                                  -0.94842529 0.30934569 0.069244206,
+                                  -0.85075623 0.5235616 0.045796357,
+                                  0 -0.51107544 0.85953593,
+                                  0.019527512 -0.5373351 -0.84314275,
+                                  0.015941141 -0.53097111 -0.84723997,
+                                  0.023112515 -0.54366142 -0.8389864,
+                                  -0.98613322 0.064655356 -0.15284224,
+                                  -0.9807151 0.018035239 0.19460905,
+                                  -0.99269646 0.12001584 -0.012247784,
+                                  -0.0021090705 -0.0011056321 0.99999714,
+                                  -0.0012490833 -0.0019722369 0.99999732,
+                                  -0.0031636048 -0.0016584474 0.99999368,
+                                  0 0 1,
+                                  -0.0038290317 0.00062757783 0.99999249,
+                                  -0.95612562 0.04245653 0.28986433,
+                                  -0.91036648 0 0.41380292,
+                                  -0.958565 0.23568524 0.1600177,
+                                  -0.96279252 0.10557613 -0.24876563,
+                                  -0.97215164 0.17668501 -0.15395997,
+                                  -0.95749205 0.26851365 -0.10540072,
+                                  -0.34991249 0.93532866 -0.052168198,
+                                  0.0046958858 0.0026746781 -0.99998546,
+                                  0.0073730703 0.010256696 -0.99992025,
+                                  -0.00068969768 0.012791443 -0.99991786,
+                                  -0.011460245 0.033019286 -0.99938911,
+                                  -0.0047218804 0.014058733 -0.99989003,
+                                  0.00066848251 -0.99999952 -0.00084930001,
+                                  0 -0.99999857 -0.0016985988,
+                                  0.0013369642 -0.99999917 0,
+                                  0.78766263 -0.61583549 -0.018282982 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 2, 3, 4, -1,
+                                4, 5, 6, -1, 4, 3, 5, -1,
+                                7, 8, 6, -1, 0, 9, 1, -1,
+                                0, 10, 9, -1, 0, 2, 4, -1,
+                                11, 12, 2, -1, 11, 2, 13, -1,
+                                11, 9, 14, -1, 8, 0, 4, -1,
+                                10, 0, 8, -1, 8, 4, 6, -1,
+                                8, 9, 10, -1, 14, 9, 8, -1,
+                                12, 11, 7, -1, 7, 11, 14, -1,
+                                8, 7, 14, -1, 6, 5, 7, -1,
+                                7, 5, 3, -1, 3, 2, 12, -1,
+                                12, 7, 3, -1, 9, 13, 1, -1,
+                                13, 9, 11, -1, 13, 2, 1, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 2, 3, 4, -1,
+                                5, 5, 6, -1, 5, 7, 5, -1,
+                                8, 9, 10, -1, 11, 11, 11, -1,
+                                11, 11, 11, -1, 0, 2, 4, -1,
+                                12, 13, 12, -1, 12, 12, 14, -1,
+                                15, 16, 17, -1, 18, 19, 20, -1,
+                                21, 19, 18, -1, 18, 20, 22, -1,
+                                23, 16, 24, -1, 17, 16, 25, -1,
+                                26, 15, 27, -1, 28, 15, 17, -1,
+                                9, 28, 17, -1, 29, 29, 29, -1,
+                                30, 31, 32, -1, 32, 33, 34, -1,
+                                34, 30, 32, -1, 35, 35, 36, -1,
+                                35, 35, 37, -1, 38, 38, 38, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.obj b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee14d6f5b0f53e32f560c8b66c0e3bcc0669cd4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.obj
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder2_r_rot.obj
+#
+# Vertices: 15
+# Faces: 26
+#
+####
+vn 1.954788 -1.765737 2.402649
+v 0.026170 -0.016500 0.051163 0.898039 0.898039 0.898039
+vn 2.584813 -1.415885 -2.145286
+v 0.053809 0.008210 -0.050970 0.898039 0.898039 0.898039
+vn 2.327144 0.617167 -1.728775
+v 0.060149 0.033860 -0.051383 0.898039 0.898039 0.898039
+vn 2.522201 0.907296 3.603206
+v 0.029939 0.038127 0.049939 0.898039 0.898039 0.898039
+vn 1.995374 2.982459 1.778768
+v 0.029881 0.075092 0.027880 0.898039 0.898039 0.898039
+vn -2.116661 -1.797011 -2.261171
+v -0.023636 -0.019271 -0.051185 0.898039 0.898039 0.898039
+vn -0.908447 -2.381929 1.961132
+v -0.012014 -0.029086 0.050052 0.898039 0.898039 0.898039
+vn -2.904221 -1.031260 2.886803
+v -0.030000 0.000032 0.050000 0.898039 0.898039 0.898039
+vn 0.503300 -2.725705 -2.150006
+v 0.007034 -0.030709 -0.050929 0.898039 0.898039 0.898039
+vn -6.065801 -0.808561 -0.113678
+v -0.041266 0.035804 0.000003 0.898039 0.898039 0.898039
+vn -2.096461 2.208182 1.406459
+v -0.040119 0.074981 0.027881 0.898039 0.898039 0.898039
+vn -2.097469 2.163192 -1.406699
+v -0.040119 0.074892 -0.028119 0.898039 0.898039 0.898039
+vn 1.597234 3.947250 -1.889015
+v 0.028548 0.074897 -0.027561 0.898039 0.898039 0.898039
+vn -2.472460 0.684320 -3.622721
+v -0.030060 0.037871 -0.051060 0.898039 0.898039 0.898039
+vn -2.334749 0.922388 4.176265
+v -0.030061 0.038032 0.049939 0.898039 0.898039 0.898039
+# 15 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 5//5
+f 6//6 7//7 8//8
+f 9//9 1//1 7//7
+f 2//2 1//1 9//9
+f 10//10 11//11 12//12
+f 3//3 13//13 5//5
+f 13//13 12//12 11//11
+f 11//11 5//5 13//13
+f 3//3 14//14 13//13
+f 13//13 14//14 12//12
+f 10//10 8//8 11//11
+f 8//8 15//15 11//11
+f 9//9 7//7 6//6
+f 4//4 5//5 11//11
+f 11//11 15//15 4//4
+f 1//1 3//3 4//4
+f 4//4 8//8 7//7
+f 15//15 8//8 4//4
+f 7//7 1//1 4//4
+f 6//6 8//8 10//10
+f 6//6 10//10 12//12
+f 6//6 12//12 14//14
+f 6//6 2//2 9//9
+f 6//6 14//14 3//3
+f 2//2 6//6 3//3
+# 26 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.wrl b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..5dc15a017233b491550c5e5aecfabba3ae8943b6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder2_r_rot.wrl
@@ -0,0 +1,163 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 0.99999994  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 26.143499 16.622801 -51.1362,
+                                      53.8218 -8.2055397 50.957001,
+                                      60.202801 -33.846401 51.328602,
+                                      30 -38 -50,
+                                      30 -75 -28,
+                                      -23.6661 19.1514 51.215199,
+                                      -12.0604 29.1464 -50.0056,
+                                      -30 -7.1054299e-015 -50,
+                                      6.9850502 30.6394 50.9781,
+                                      -41.209202 -35.869301 -0.0604578,
+                                      -40 -75 -28,
+                                      -40 -75 28,
+                                      28.6668 -74.894897 27.4417,
+                                      -30 -38 51,
+                                      -30 -38 -50 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.95801061 0.14835358 -0.24537097,
+                                      0.95126951 0.23382005 -0.20103359,
+                                      0.96503383 0.04444243 -0.25833046,
+                                      0.95763808 -0.051515564 -0.28332943,
+                                      0.94719726 -0.16387714 -0.27561155,
+                                      -0.94539809 0.32116601 0.055451158,
+                                      -0.85072345 0.52361119 -0.045837875,
+                                      -0.94841963 0.30935898 -0.069262445,
+                                      0.48255098 0.87536681 -0.029621091,
+                                      0.30875418 0.94839364 -0.072252393,
+                                      0.63832188 0.76964021 0.014116728,
+                                      -0.99269456 0.12002919 0.012267711,
+                                      -0.9807151 0.018035242 -0.19460903,
+                                      -0.98613828 0.064743288 0.15277287,
+                                      0.78715086 -0.61643302 0.02009712,
+                                      0.00076530798 -0.99999934 0.00094786455,
+                                      0.0015306149 -0.99999893 0,
+                                      0 -0.99999821 0.0018957275,
+                                      0.020573933 -0.51461303 0.85717571,
+                                      0.014141637 -0.52204686 0.85279959,
+                                      0.0077077025 -0.52942026 0.84832484,
+                                      -0.95856023 0.23569503 -0.16003181,
+                                      -0.95612562 0.042456537 -0.28986433,
+                                      -0.91036648 0 -0.41380292,
+                                      -0.35012519 0.93524694 0.052206125,
+                                      0 -0.51107544 -0.85953593,
+                                      -0.012444912 -0.0078510577 -0.9998917,
+                                      -4.3777014e-005 -6.9121597e-005 -1,
+                                      -0.018667853 -0.011776892 -0.99975628,
+                                      0 0 -1,
+                                      -0.037239179 -0.023409881 -0.99903214,
+                                      -0.95747912 0.26858634 0.10533343,
+                                      -0.97214878 0.1767661 0.1538852,
+                                      -0.96284682 0.10577355 0.24847165,
+                                      0.0037472604 0.0064887046 0.99997193,
+                                      0.0073643853 0.011422215 0.99990773,
+                                      0.0054677743 0.0060495501 0.99996674,
+                                      -0.003487291 -0.0033788821 0.9999882,
+                                      0.0028869384 0.0067082904 0.99997342 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 4, -1,
+                                    5, 6, 7, -1, 8, 0, 6, -1,
+                                    1, 0, 8, -1, 9, 10, 11, -1,
+                                    2, 12, 4, -1, 12, 11, 10, -1,
+                                    10, 4, 12, -1, 2, 13, 12, -1,
+                                    12, 13, 11, -1, 9, 7, 10, -1,
+                                    7, 14, 10, -1, 8, 6, 5, -1,
+                                    3, 4, 10, -1, 10, 14, 3, -1,
+                                    0, 2, 3, -1, 3, 7, 6, -1,
+                                    14, 7, 3, -1, 6, 0, 3, -1,
+                                    5, 7, 9, -1, 5, 9, 11, -1,
+                                    5, 11, 13, -1, 5, 1, 8, -1,
+                                    5, 13, 2, -1, 1, 5, 2, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 2, 4, -1,
+                                    5, 6, 7, -1, 8, 8, 9, -1,
+                                    10, 8, 8, -1, 11, 12, 13, -1,
+                                    14, 14, 14, -1, 15, 16, 15, -1,
+                                    15, 17, 15, -1, 18, 19, 19, -1,
+                                    19, 19, 20, -1, 11, 21, 12, -1,
+                                    22, 23, 12, -1, 24, 24, 24, -1,
+                                    25, 25, 25, -1, 25, 25, 25, -1,
+                                    0, 2, 3, -1, 26, 27, 28, -1,
+                                    29, 27, 26, -1, 28, 30, 26, -1,
+                                    31, 7, 11, -1, 31, 11, 13, -1,
+                                    32, 13, 33, -1, 34, 35, 36, -1,
+                                    34, 37, 38, -1, 35, 34, 38, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.obj b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ffe45d390b559fbe8a7e15da7d6455fbe5396f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_l.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
+vn -3.033174 2.833180 0.573562
+v -0.062078 0.087897 -0.050406 0.898039 0.898039 0.898039
+vn -2.264299 2.636767 2.031226
+v -0.027322 0.087871 0.023289 0.898039 0.898039 0.898039
+vn -1.694692 1.738600 -1.560078
+v -0.062078 0.087942 -0.106700 0.898039 0.898039 0.898039
+vn 1.725785 -1.585215 -1.810213
+v 0.078660 -0.080118 -0.109737 0.898039 0.898039 0.898039
+vn 2.395789 -3.531559 1.601617
+v 0.072444 -0.086994 -0.033846 0.898039 0.898039 0.898039
+vn -1.670941 -1.741003 -1.558065
+v -0.061923 -0.087058 -0.106839 0.898039 0.898039 0.898039
+vn 1.312764 -2.370086 2.595290
+v 0.016292 -0.087098 0.031613 0.898039 0.898039 0.898039
+vn -2.998154 -2.736490 0.648920
+v -0.061899 -0.087101 -0.050156 0.898039 0.898039 0.898039
+vn 1.595487 1.713533 -1.711929
+v 0.075783 0.088058 -0.108474 0.898039 0.898039 0.898039
+vn 0.086363 0.117161 -6.278451
+v 0.049948 0.059044 -0.109723 0.898039 0.898039 0.898039
+vn -2.724603 0.153954 -4.539036
+v -0.060552 0.058946 -0.109723 0.898039 0.898039 0.898039
+vn -2.728411 -0.148350 -4.539597
+v -0.060448 -0.058054 -0.109816 0.898039 0.898039 0.898039
+vn -5.856794 0.151685 1.946783
+v -0.060552 0.058890 -0.039723 0.898039 0.898039 0.898039
+vn 1.291223 2.420708 2.554520
+v 0.019824 0.088291 0.030335 0.898039 0.898039 0.898039
+vn 2.727077 2.300704 0.936220
+v 0.082400 0.087759 -0.036705 0.898039 0.898039 0.898039
+vn -0.684096 2.439935 2.875125
+v -0.011049 0.087876 0.034009 0.898039 0.898039 0.898039
+vn -0.708603 -2.484031 2.910074
+v -0.010894 -0.087124 0.033870 0.898039 0.898039 0.898039
+vn 4.201723 -1.400589 1.946266
+v 0.082567 -0.074985 -0.036830 0.898039 0.898039 0.898039
+vn -2.246501 -2.606346 2.001513
+v -0.027212 -0.087223 0.023439 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 5//5 7//7 8//8
+f 9//9 4//4 10//10
+f 9//9 11//11 3//3
+f 2//2 9//9 3//3
+f 11//11 9//9 10//10
+f 11//11 6//6 3//3
+f 12//12 6//6 11//11
+f 6//6 8//8 1//1
+f 13//13 1//1 8//8
+f 12//12 4//4 6//6
+f 14//14 15//15 16//16
+f 7//7 14//14 17//17
+f 2//2 16//16 9//9
+f 15//15 9//9 16//16
+f 13//13 2//2 1//1
+f 9//9 18//18 4//4
+f 15//15 18//18 9//9
+f 18//18 5//5 4//4
+f 5//5 14//14 7//7
+f 5//5 18//18 14//14
+f 15//15 14//14 18//18
+f 19//19 7//7 17//17
+f 7//7 19//19 8//8
+f 16//16 19//19 17//17
+f 2//2 19//19 16//16
+f 2//2 13//13 19//19
+f 8//8 19//19 13//13
+f 5//5 8//8 6//6
+f 10//10 4//4 11//11
+f 11//11 4//4 12//12
+f 3//3 6//6 1//1
+f 17//17 14//14 16//16
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1c5792cd1f9e848904abd61041ec6b38c7dd4287
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_l.wrl
@@ -0,0 +1,183 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 -110
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation -0 -0.99999994 -0  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 59.523998 -62.008202 87.994202,
+                                      133.21899 -27.251801 87.998497,
+                                      3.2300501 -62.008202 87.994202,
+                                      0.326489 78.595901 -80.180397,
+                                      76.223099 72.375198 -86.990898,
+                                      3.2300501 -61.992001 -87.005798,
+                                      141.68201 16.2229 -86.998497,
+                                      59.9132 -61.9683 -87.003601,
+                                      1.4556 75.8526 87.9991,
+                                      0.230049 49.994499 59.004601,
+                                      0.230049 -60.505501 58.9944,
+                                      0.230049 -60.494598 -58.0056,
+                                      70.230003 -60.505501 58.9944,
+                                      140.265 19.894501 88.386597,
+                                      73.225601 82.469803 87.751297,
+                                      143.939 -10.9791 87.999001,
+                                      143.939 -10.9637 -87.000999,
+                                      73.230003 82.507004 -74.992302,
+                                      133.508 -27.281401 -87.095497 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0 -0.00012358441 1,
+                                      -0.085492164 0.046552755 -0.99525076,
+                                      -0.028525129 0.015596791 -0.99947131,
+                                      -0.042777531 0.023349039 -0.99881178,
+                                      0.0017785751 0.0011830729 -0.99999768,
+                                      -0.00083864416 0.0009639847 -0.99999923,
+                                      -0.99867749 0.0087788189 0.050656568,
+                                      -0.9996962 0.0060642958 -0.023888417,
+                                      -0.99978209 0.013043233 0.016301541,
+                                      -0.99934798 -0.0030319632 0.03597651,
+                                      -0.9946779 -0.012806449 0.10223486,
+                                      -1.2140812e-005 -6.0607457e-005 1,
+                                      0.0009875457 0.0016206068 0.99999815,
+                                      -1.1731722e-005 -7.9707766e-005 1,
+                                      -0.44722793 -0.89442015 -8.3073821e-005,
+                                      -0.22965896 -0.97327113 -0.0001247935,
+                                      -0.44723842 -0.89441478 -8.3344174e-005,
+                                      0.19185072 -0.98139787 -0.007187929,
+                                      0.14336197 -0.98927683 0.027904039,
+                                      0.36796013 -0.92956412 0.022716111,
+                                      -0.99866509 -0.0074564153 -0.05111333,
+                                      -0.99465311 -0.015586213 -0.1020897,
+                                      -0.023833666 -0.015385473 0.99959755,
+                                      -0.010418784 -0.0052334573 0.99993205,
+                                      -0.0069499528 -0.0034963293 0.99996972,
+                                      0.99655187 0.082731575 0.0063196025,
+                                      0.97217238 0.22693788 -0.058138296,
+                                      0.99493551 0.10046588 0.0031655182,
+                                      0.44602862 -0.89329463 0.055525199,
+                                      -0.073292494 0.99727476 0.0084405914,
+                                      -0.054744821 0.99836159 0.016652564,
+                                      -0.091809943 0.99577659 0.00022513729,
+                                      0.0048414902 0.76462668 -0.64445525,
+                                      0.77466059 0.62507427 -0.095829874,
+                                      0.7458896 0.66302675 -0.063593544,
+                                      0.65105242 0.75895846 -0.010628303,
+                                      0.78813076 0.60888869 -0.090025678,
+                                      0.88845867 0.45734411 -0.038437448,
+                                      0.68234766 0.7310279 0.00018553656,
+                                      0.0026837103 0.0017254145 -0.99999499,
+                                      0.007890325 0.00074708625 -0.99996859,
+                                      0.83884007 -0.54437757 0.00071199058,
+                                      0.84256041 -0.53860182 -4.7394566e-005,
+                                      0.83507967 -0.55012727 0.0014713418,
+                                      0.44651791 -0.89471793 -0.010072147,
+                                      -0.22975494 -0.97324854 -9.0100679e-005,
+                                      0.99299377 0.11816734 1.0398734e-005 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    4, 6, 7, -1, 8, 3, 9, -1,
+                                    8, 10, 2, -1, 1, 8, 2, -1,
+                                    10, 8, 9, -1, 10, 5, 2, -1,
+                                    11, 5, 10, -1, 5, 7, 0, -1,
+                                    12, 0, 7, -1, 11, 3, 5, -1,
+                                    13, 14, 15, -1, 6, 13, 16, -1,
+                                    1, 15, 8, -1, 14, 8, 15, -1,
+                                    12, 1, 0, -1, 8, 17, 3, -1,
+                                    14, 17, 8, -1, 17, 4, 3, -1,
+                                    4, 13, 6, -1, 4, 17, 13, -1,
+                                    14, 13, 17, -1, 18, 6, 16, -1,
+                                    6, 18, 7, -1, 15, 18, 16, -1,
+                                    1, 18, 15, -1, 1, 12, 18, -1,
+                                    7, 18, 12, -1, 4, 7, 5, -1,
+                                    9, 3, 10, -1, 10, 3, 11, -1,
+                                    2, 5, 0, -1, 16, 13, 15, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 2, 3, -1,
+                                    2, 4, 5, -1, 6, 7, 8, -1,
+                                    6, 9, 10, -1, 11, 12, 13, -1,
+                                    9, 6, 8, -1, 14, 15, 15, -1,
+                                    16, 15, 14, -1, 15, 17, 18, -1,
+                                    19, 18, 17, -1, 20, 7, 21, -1,
+                                    22, 23, 24, -1, 25, 26, 27, -1,
+                                    11, 24, 12, -1, 23, 12, 24, -1,
+                                    19, 28, 18, -1, 29, 29, 30, -1,
+                                    31, 29, 29, -1, 32, 32, 32, -1,
+                                    33, 34, 35, -1, 33, 36, 37, -1,
+                                    38, 34, 36, -1, 39, 4, 40, -1,
+                                    4, 39, 5, -1, 41, 41, 42, -1,
+                                    43, 41, 41, -1, 28, 19, 44, -1,
+                                    17, 44, 19, -1, 2, 5, 3, -1,
+                                    8, 7, 9, -1, 9, 7, 20, -1,
+                                    45, 15, 18, -1, 27, 26, 46, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.obj b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c2ced246a256881a7e7fbb46ca52bfd36606d61
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.obj
@@ -0,0 +1,80 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder_r.obj
+#
+# Vertices: 17
+# Faces: 30
+#
+####
+vn -2.537604 2.832867 -1.769954
+v -0.031230 0.087049 -0.015372 0.898039 0.898039 0.898039
+vn -2.959508 -2.640159 -0.744090
+v -0.062063 -0.087971 0.041928 0.898039 0.898039 0.898039
+vn -3.000609 2.742483 -0.637058
+v -0.061931 0.086968 0.050844 0.898039 0.898039 0.898039
+vn -2.729048 -0.151600 4.539351
+v -0.060547 -0.059127 0.109906 0.898039 0.898039 0.898039
+vn -1.700638 -1.744521 1.556320
+v -0.062070 -0.088121 0.106860 0.898039 0.898039 0.898039
+vn 1.563330 -1.575747 1.506956
+v 0.082386 -0.088163 0.109456 0.898039 0.898039 0.898039
+vn -2.732671 0.139973 4.539960
+v -0.060454 0.057873 0.110092 0.898039 0.898039 0.898039
+vn 1.569758 1.568513 1.571771
+v 0.082455 0.086671 0.109981 0.898039 0.898039 0.898039
+vn -1.701039 1.743882 1.562858
+v -0.061931 0.086879 0.107138 0.898039 0.898039 0.898039
+vn 3.830101 -2.145181 -1.522516
+v 0.082439 -0.076298 0.036879 0.898039 0.898039 0.898039
+vn 2.012279 -2.919436 -2.316910
+v 0.027886 -0.088144 -0.021658 0.898039 0.898039 0.898039
+vn -2.511981 -2.853543 -1.838420
+v -0.031370 -0.087950 -0.015651 0.898039 0.898039 0.898039
+vn -1.314704 -2.458817 -2.659079
+v -0.015362 -0.087937 -0.032065 0.898039 0.898039 0.898039
+vn 0.635764 -2.480599 -2.898153
+v 0.007404 -0.087951 -0.034820 0.898039 0.898039 0.898039
+vn -1.240243 2.429230 -2.658181
+v -0.015223 0.087063 -0.031786 0.898039 0.898039 0.898039
+vn 1.044377 2.262783 -2.632565
+v 0.015945 0.087051 -0.034003 0.898039 0.898039 0.898039
+vn 2.794681 2.387670 -1.099012
+v 0.082537 0.086020 0.037163 0.898039 0.898039 0.898039
+# 17 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 10//10 6//6 11//11
+f 3//3 2//2 5//5
+f 3//3 5//5 9//9
+f 12//12 2//2 1//1
+f 12//12 6//6 2//2
+f 13//13 6//6 12//12
+f 5//5 2//2 6//6
+f 13//13 14//14 6//6
+f 11//11 6//6 14//14
+f 5//5 7//7 9//9
+f 4//4 7//7 5//5
+f 12//12 15//15 13//13
+f 12//12 1//1 15//15
+f 13//13 15//15 14//14
+f 15//15 16//16 14//14
+f 17//17 10//10 16//16
+f 11//11 16//16 10//10
+f 17//17 6//6 10//10
+f 8//8 6//6 17//17
+f 11//11 14//14 16//16
+f 3//3 8//8 1//1
+f 3//3 9//9 8//8
+f 15//15 8//8 16//16
+f 15//15 1//1 8//8
+f 16//16 8//8 17//17
+f 6//6 8//8 4//4
+f 7//7 4//4 8//8
+# 30 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d67c47b5335b2a5b87eab7fda5cf80d60c42e57c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/shoulder_r.wrl
@@ -0,0 +1,168 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 -110
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ -87 31.2997 125.511,
+                                      87.953697 61.992901 67.931702,
+                                      -87 62 59.293999,
+                                      59 60.5 5.6843399e-014,
+                                      88 62 3,
+                                      87.923302 -82.455704 0.40355799,
+                                      -58 60.5 1.42109e-014,
+                                      -86.911797 -82.385597 0.15691601,
+                                      -87 62 3,
+                                      76.173302 -82.500198 72.999603,
+                                      88.155899 -27.956499 131.51801,
+                                      88 31.2997 125.511,
+                                      88 15.2919 141.925,
+                                      88 -7.47399 144.67999,
+                                      -87 15.2919 141.925,
+                                      -87.009201 -15.8752 144.142,
+                                      -86.144402 -82.468002 72.974197 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ -0.0069854436 0.84443712 0.53560907,
+                                      -0.0070653353 0.9525584 0.30427378,
+                                      -0.0070437691 0.98966825 0.14320271,
+                                      0.03450105 0.0047347313 -0.99939352,
+                                      0.10197065 0.017823266 -0.99462777,
+                                      0.051758509 0.0076528708 -0.99863034,
+                                      -0.051009323 0.0092246262 -0.99865562,
+                                      -0.033531286 0.0053019971 -0.99942362,
+                                      -0.10188042 0.019522447 -0.99460518,
+                                      0.92032909 -0.36176175 0.1487377,
+                                      0.9979682 -0.059103563 0.023795735,
+                                      0.98121446 -0.17875446 0.072560638,
+                                      9.036331e-006 0.97325528 -0.22972631,
+                                      0 0.77834117 0.62784153,
+                                      0.99999988 -9.6410629e-005 -0.0005253969,
+                                      1 -0.00020563499 -1.0244989e-005,
+                                      0.99999988 -0.00019291972 -0.0004087073,
+                                      0.99999958 -0.00054376281 0.00071304018,
+                                      0.9999758 0.0059396513 -0.003618482,
+                                      8.1477926e-017 0.8944273 -0.44721365,
+                                      0 0.97324902 -0.22975293,
+                                      1.6295584e-016 0.89442724 -0.44721362,
+                                      -0 0.71590966 0.69819295,
+                                      -0 0.12013745 0.99275732,
+                                      -0.003237189 0.095575228 0.99541694,
+                                      -0.0064723683 0.070953682 0.99745864,
+                                      -0.00025177567 -0.73018861 0.68324566,
+                                      -0.00077344419 -0.73078489 0.68260747,
+                                      0.00731911 -0.67194349 0.74056625,
+                                      0.011115775 -0.64087653 0.76756352,
+                                      -0.00029882335 -0.99999964 -0.00088622718,
+                                      0.023352463 -0.54032922 0.84112972,
+                                      -0.99999988 -0.00056214276 -0.00011901358,
+                                      -0.99998534 -0.0050943205 0.0018236907,
+                                      -0.99999988 -0.00044362008 -0.00030130919,
+                                      -0.99999988 -6.7303648e-005 -0.00057579513,
+                                      -0.99991643 -0.011987122 0.0048607253,
+                                      -0.99965167 -0.024211304 0.010507568 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 9, 5, 10, -1,
+                                    2, 1, 4, -1, 2, 4, 8, -1,
+                                    11, 1, 0, -1, 11, 5, 1, -1,
+                                    12, 5, 11, -1, 4, 1, 5, -1,
+                                    12, 13, 5, -1, 10, 5, 13, -1,
+                                    4, 6, 8, -1, 3, 6, 4, -1,
+                                    11, 14, 12, -1, 11, 0, 14, -1,
+                                    12, 14, 13, -1, 14, 15, 13, -1,
+                                    16, 9, 15, -1, 10, 15, 9, -1,
+                                    16, 5, 9, -1, 7, 5, 16, -1,
+                                    10, 13, 15, -1, 2, 7, 0, -1,
+                                    2, 8, 7, -1, 14, 7, 15, -1,
+                                    14, 0, 7, -1, 15, 7, 16, -1,
+                                    5, 7, 3, -1, 6, 3, 7, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                    6, 7, 8, -1, 9, 10, 11, -1,
+                                    2, 1, 12, -1, 2, 12, 12, -1,
+                                    13, 1, 0, -1, 14, 10, 15, -1,
+                                    16, 10, 14, -1, 17, 15, 10, -1,
+                                    16, 18, 10, -1, 11, 10, 18, -1,
+                                    12, 19, 20, -1, 21, 19, 12, -1,
+                                    13, 22, 22, -1, 13, 0, 22, -1,
+                                    23, 24, 24, -1, 24, 25, 24, -1,
+                                    26, 27, 28, -1, 29, 28, 27, -1,
+                                    30, 30, 30, -1, 30, 30, 30, -1,
+                                    29, 31, 28, -1, 32, 33, 34, -1,
+                                    32, 34, 33, -1, 35, 33, 36, -1,
+                                    35, 34, 33, -1, 36, 33, 37, -1,
+                                    5, 7, 3, -1, 6, 3, 7, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.obj b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eaea642b2d47f0f71b55efb12724921e47810de2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_l1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn 1.318831 -2.651286 2.730514
+v 0.000813 -0.005002 0.002068 0.898039 0.898039 0.898039
+vn 1.589977 2.405902 2.449437
+v 0.001212 0.004998 0.001989 0.898039 0.898039 0.898039
+vn 0.700183 0.605436 6.097483
+v -0.007038 0.002698 0.003751 0.898039 0.898039 0.898039
+vn -1.180766 3.941405 2.455474
+v -0.037600 0.004998 0.002254 0.898039 0.898039 0.898039
+vn -2.647716 1.530959 2.040500
+v -0.042250 0.002498 0.002252 0.898039 0.898039 0.898039
+vn -0.114941 3.110566 3.138482
+v -0.029182 0.004997 0.003754 0.898039 0.898039 0.898039
+vn -0.146417 -3.092825 3.136186
+v -0.029515 -0.005000 0.003746 0.898039 0.898039 0.898039
+vn -2.639446 -1.532530 2.039400
+v -0.042250 -0.002502 0.002248 0.898039 0.898039 0.898039
+vn -1.195821 -3.980434 2.434545
+v -0.037600 -0.005002 0.002246 0.898039 0.898039 0.898039
+vn 0.057782 3.130084 3.140975
+v -0.012000 0.004997 0.003754 0.898039 0.898039 0.898039
+vn 0.216942 -3.040358 3.209886
+v -0.009253 -0.004972 0.003743 0.898039 0.898039 0.898039
+vn -0.616262 0.180918 6.192223
+v -0.033101 0.001149 0.003759 0.898039 0.898039 0.898039
+vn -0.743829 -2.952205 -2.650645
+v -0.037600 -0.004998 -0.002254 0.898039 0.898039 0.898039
+vn -2.314623 1.385161 -2.062994
+v -0.042250 0.002502 -0.002248 0.898039 0.898039 0.898039
+vn 1.570171 -1.545582 -1.527731
+v 0.002400 -0.004998 -0.002254 0.898039 0.898039 0.898039
+vn 1.570762 1.563802 -1.556642
+v 0.002400 0.005002 -0.002246 0.898039 0.898039 0.898039
+vn -0.743830 2.956422 -2.645942
+v -0.037600 0.005002 -0.002246 0.898039 0.898039 0.898039
+vn -2.314623 -1.381874 -2.065197
+v -0.042250 -0.002498 -0.002252 0.898039 0.898039 0.898039
+vn 2.875267 2.574349 0.889873
+v 0.002379 0.005000 0.000296 0.898039 0.898039 0.898039
+vn 2.624725 -2.360768 1.218077
+v 0.002304 -0.005001 0.000750 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.wrl b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fe8878b21aa2d11419ab9ca8cdd1144abe6e8897
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l1.wrl
@@ -0,0 +1,157 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 0.813474 -2.0718999 -5.0000501,
+                                  1.21165 -1.98485 5.0000801,
+                                  -7.0384302 -3.7490599 2.7009201,
+                                  -37.599998 -2.25 5,
+                                  -42.25 -2.25 2.5,
+                                  -29.182301 -3.74998 4.9995399,
+                                  -29.515301 -3.75018 -4.9972901,
+                                  -42.25 -2.25 -2.5,
+                                  -37.599998 -2.25 -5,
+                                  -12 -3.75 5,
+                                  -9.2532501 -3.7472799 -4.9685898,
+                                  -33.101002 -3.75845 1.15241,
+                                  -37.599998 2.25 -5,
+                                  -42.25 2.25 2.5,
+                                  2.4000001 2.25 -5,
+                                  2.4000001 2.25 5,
+                                  -37.599998 2.25 5,
+                                  -42.25 2.25 -2.5,
+                                  2.37907 -0.29173699 5,
+                                  2.30391 -0.75420499 -5 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.18655361 -0.9821592 -0.023690164,
+                                  0.16996521 -0.97563404 0.13874492,
+                                  0.10117246 -0.99381363 0.045810517,
+                                  -0.16676134 -0.93593878 0.31017619,
+                                  -0.15785259 -0.975541 0.15297802,
+                                  -0.077069275 -0.9903596 0.11510069,
+                                  -0.050827965 -0.99643731 -0.067299604,
+                                  -0.15725395 -0.97836506 -0.13443595,
+                                  -0.17267376 -0.93114531 -0.32117328,
+                                  0.042933267 -0.99479669 0.092391461,
+                                  0.082292773 -0.99631929 -0.023995943,
+                                  -0.10867187 -0.99393618 0.016769379,
+                                  0 1 0,
+                                  -0.16220154 6.4795145e-006 0.98675764,
+                                  -0.47353488 0 0.88077515,
+                                  -0.24415712 -7.9041594e-005 0.96973568,
+                                  -1 0 0,
+                                  -0.47353488 0 -0.88077515,
+                                  -0.24415697 2.9865605e-006 -0.9697358,
+                                  -0.16219907 -0.00060600007 -0.98675793,
+                                  0.99996614 -0.0082342681 0,
+                                  0.99979347 -0.020102773 -0.0030170237,
+                                  0.99947071 -0.031968266 -0.0060335952,
+                                  8.127201e-006 -2.6638958e-005 1,
+                                  0.74833816 -0.66331738 0.00010716102,
+                                  0.66222727 -0.74904019 -0.019847661,
+                                  0.82310301 -0.56753761 0.020060355,
+                                  1.7285187e-005 5.2394785e-006 -1,
+                                  0.00029201756 -0.0058125257 -0.99998307,
+                                  0.0014198367 -0.027302239 -0.99962622,
+                                  0.00071342639 -0.014536898 -0.99989414,
+                                  3.4570374e-005 -1.1057406e-006 -1 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 2, 1, 9, -1,
+                                10, 0, 2, -1, 7, 11, 4, -1,
+                                11, 5, 4, -1, 11, 7, 6, -1,
+                                12, 13, 14, -1, 15, 14, 13, -1,
+                                15, 13, 16, -1, 17, 13, 12, -1,
+                                16, 13, 3, -1, 3, 13, 4, -1,
+                                7, 13, 17, -1, 13, 7, 4, -1,
+                                7, 17, 12, -1, 8, 7, 12, -1,
+                                15, 18, 14, -1, 14, 18, 19, -1,
+                                16, 1, 15, -1, 5, 1, 3, -1,
+                                3, 1, 16, -1, 5, 9, 1, -1,
+                                18, 15, 1, -1, 19, 1, 0, -1,
+                                18, 1, 19, -1, 12, 14, 0, -1,
+                                10, 6, 0, -1, 8, 0, 6, -1,
+                                8, 12, 0, -1, 19, 0, 14, -1,
+                                2, 6, 10, -1, 5, 6, 9, -1,
+                                9, 6, 2, -1, 11, 6, 5, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 2, 1, 9, -1,
+                                10, 0, 2, -1, 7, 11, 4, -1,
+                                11, 5, 4, -1, 11, 7, 6, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                13, 14, 15, -1, 15, 14, 14, -1,
+                                16, 16, 16, -1, 16, 16, 16, -1,
+                                17, 17, 18, -1, 19, 17, 18, -1,
+                                20, 21, 21, -1, 21, 21, 22, -1,
+                                13, 23, 23, -1, 23, 23, 15, -1,
+                                15, 23, 13, -1, 23, 23, 23, -1,
+                                23, 23, 23, -1, 24, 24, 25, -1,
+                                26, 24, 24, -1, 18, 27, 28, -1,
+                                29, 30, 28, -1, 19, 28, 30, -1,
+                                19, 18, 28, -1, 31, 28, 27, -1,
+                                2, 6, 10, -1, 5, 6, 9, -1,
+                                9, 6, 2, -1, 11, 6, 5, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.obj b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36903ecd0acee8766ec907f2bcccffca17d4b559
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_l2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn 0.627289 2.086338 -4.981439
+v -0.025750 0.003010 -0.012748 0.898039 0.898039 0.898039
+vn 0.362253 5.095220 -2.229379
+v -0.025750 0.010004 -0.005634 0.898039 0.898039 0.898039
+vn 2.329035 1.567916 -1.053930
+v 0.002555 0.004993 -0.002192 0.898039 0.898039 0.898039
+vn -0.827029 1.932457 -5.257849
+v -0.035750 0.001274 -0.012749 0.898039 0.898039 0.898039
+vn -3.001692 1.310342 -2.633363
+v -0.058750 0.004168 -0.005747 0.898039 0.898039 0.898039
+vn -2.007503 1.707305 0.299002
+v -0.058690 0.007181 -0.002702 0.898039 0.898039 0.898039
+vn 2.347585 -1.595245 -1.103005
+v 0.002509 -0.004993 -0.002217 0.898039 0.898039 0.898039
+vn 0.362273 -5.091752 -2.237254
+v -0.025750 -0.009996 -0.005650 0.898039 0.898039 0.898039
+vn 0.627160 -2.078335 -4.984862
+v -0.025750 -0.002990 -0.012752 0.898039 0.898039 0.898039
+vn -0.714999 -5.322440 -1.965984
+v -0.046750 -0.009998 -0.001947 0.898039 0.898039 0.898039
+vn -0.827017 -1.924079 -5.260926
+v -0.035750 -0.001253 -0.012751 0.898039 0.898039 0.898039
+vn -2.008519 -1.705483 0.294407
+v -0.058701 -0.007166 -0.002723 0.898039 0.898039 0.898039
+vn -1.793823 -3.055372 2.828924
+v -0.050442 -0.009156 0.002089 0.898039 0.898039 0.898039
+vn -0.714532 5.325605 -1.957715
+v -0.046750 0.010002 -0.001931 0.898039 0.898039 0.898039
+vn -1.026012 1.729919 5.066228
+v -0.046750 0.006997 0.004256 0.898039 0.898039 0.898039
+vn -1.792798 3.052250 2.835677
+v -0.050442 0.009152 0.002103 0.898039 0.898039 0.898039
+vn -0.399969 5.314352 2.004060
+v -0.046750 0.009999 0.001258 0.898039 0.898039 0.898039
+vn -3.002051 -1.306164 -2.643422
+v -0.058750 -0.004159 -0.005753 0.898039 0.898039 0.898039
+vn -1.019568 -1.740676 5.060524
+v -0.046750 -0.007003 0.004244 0.898039 0.898039 0.898039
+vn 2.144928 2.095577 2.354459
+v 0.001040 0.005043 0.002032 0.898039 0.898039 0.898039
+vn 0.686393 1.252335 5.768398
+v -0.007093 0.003904 0.003754 0.898039 0.898039 0.898039
+vn 2.074761 -2.035280 2.305382
+v 0.001132 -0.005048 0.002006 0.898039 0.898039 0.898039
+vn -0.394465 -5.314753 1.998368
+v -0.046750 -0.010001 0.001242 0.898039 0.898039 0.898039
+vn 0.435391 5.253631 2.121748
+v -0.025750 0.009999 0.001258 0.898039 0.898039 0.898039
+vn 0.218298 2.262999 5.279667
+v -0.025750 0.006997 0.004256 0.898039 0.898039 0.898039
+vn 0.306103 -2.283367 5.243566
+v -0.023838 -0.006890 0.004229 0.898039 0.898039 0.898039
+vn 0.394268 -5.249390 2.123001
+v -0.025750 -0.010001 0.001242 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.wrl b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9975ed7e122e47fbb54df9bca35710bde31bb05a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_l2.wrl
@@ -0,0 +1,213 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -25.75 12.75 3,
+                                  -25.75 5.6420102 10,
+                                  2.55459 2.1963699 4.99159,
+                                  -35.75 12.75 1.26352,
+                                  -58.75 5.75 4.16326,
+                                  -58.689701 2.70784 7.1785102,
+                                  2.50914 2.2127299 -4.9946899,
+                                  -25.75 5.6420102 -10,
+                                  -25.75 12.75 -3,
+                                  -46.75 1.93915 -10,
+                                  -35.75 12.75 -1.26352,
+                                  -58.700901 2.7174101 -7.1679702,
+                                  -50.442299 -2.0961499 -9.1538496,
+                                  -46.75 1.93915 10,
+                                  -46.75 -4.25 7,
+                                  -50.442299 -2.0961499 9.1538496,
+                                  -46.75 -1.25 10,
+                                  -58.75 5.75 -4.16326,
+                                  -46.75 -4.25 -7,
+                                  1.03971 -2.0276 5.0445499,
+                                  -7.0934701 -3.7504201 3.90676,
+                                  1.1324199 -2.0095201 -5.0462599,
+                                  -46.75 -1.25 -10,
+                                  -25.75 -1.25 10,
+                                  -25.75 -4.25 7,
+                                  -23.8381 -4.23454 -6.8866701,
+                                  -25.75 -1.25 -10 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.013045483 0.70161396 0.71243781,
+                                  0.042648412 0.7010352 0.71185017,
+                                  0.20691527 0.68648869 0.69707924,
+                                  -0.12278644 0.6966247 0.70685035,
+                                  -0.12322462 0.69736046 0.70604831,
+                                  -0.12278584 0.69675499 0.70672214,
+                                  0.2067802 0.68650872 -0.69709957,
+                                  0.042579446 0.70103735 -0.71185231,
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+
+                            }
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+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
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+                                29, 30, 31, -1, 32, 33, 34, -1,
+                                35, 36, 26, -1, 37, 38, 39, -1,
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+                                47, 48, 49, -1, 48, 47, 50, -1,
+                                51, 51, 52, -1, 51, 52, 52, -1,
+                                51, 48, 50, -1, 53, 51, 50, -1,
+                                34, 19, 18, -1, 19, 34, 54, -1,
+                                55, 55, 56, -1, 55, 57, 55, -1,
+                                58, 59, 15, -1, 58, 23, 59, -1,
+                                28, 60, 40, -1, 28, 12, 60, -1,
+                                38, 29, 39, -1, 29, 38, 30, -1,
+                                34, 33, 54, -1, 43, 46, 61, -1,
+                                43, 61, 17, -1, 62, 35, 63, -1,
+                                36, 35, 62, -1, 41, 40, 60, -1,
+                                64, 65, 64, -1, 64, 66, 64, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.obj b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a574496fb056aa0b5b77c619d194bd9bf12d4d90
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.obj
@@ -0,0 +1,92 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_r1.obj
+#
+# Vertices: 20
+# Faces: 36
+#
+####
+vn 1.318831 -2.651286 2.730514
+v 0.000813 -0.005002 0.002068 0.898039 0.898039 0.898039
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+v 0.001212 0.004998 0.001989 0.898039 0.898039 0.898039
+vn 0.700183 0.605436 6.097483
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+v -0.042250 0.002502 -0.002248 0.898039 0.898039 0.898039
+vn 1.570171 -1.545582 -1.527731
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+v -0.037600 0.005002 -0.002246 0.898039 0.898039 0.898039
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+v -0.042250 -0.002498 -0.002252 0.898039 0.898039 0.898039
+vn 2.875267 2.574349 0.889873
+v 0.002379 0.005000 0.000296 0.898039 0.898039 0.898039
+vn 2.624725 -2.360768 1.218077
+v 0.002304 -0.005001 0.000750 0.898039 0.898039 0.898039
+# 20 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 2//2 10//10
+f 11//11 1//1 3//3
+f 8//8 12//12 5//5
+f 12//12 6//6 5//5
+f 12//12 8//8 7//7
+f 13//13 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 14//14 17//17
+f 18//18 14//14 13//13
+f 17//17 14//14 4//4
+f 4//4 14//14 5//5
+f 8//8 14//14 18//18
+f 14//14 8//8 5//5
+f 8//8 18//18 13//13
+f 9//9 8//8 13//13
+f 16//16 19//19 15//15
+f 15//15 19//19 20//20
+f 17//17 2//2 16//16
+f 6//6 2//2 4//4
+f 4//4 2//2 17//17
+f 6//6 10//10 2//2
+f 19//19 16//16 2//2
+f 20//20 2//2 1//1
+f 19//19 2//2 20//20
+f 13//13 15//15 1//1
+f 11//11 7//7 1//1
+f 9//9 1//1 7//7
+f 9//9 13//13 1//1
+f 20//20 1//1 15//15
+f 3//3 7//7 11//11
+f 6//6 7//7 10//10
+f 10//10 7//7 3//3
+f 12//12 7//7 6//6
+# 36 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.wrl b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fe8878b21aa2d11419ab9ca8cdd1144abe6e8897
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r1.wrl
@@ -0,0 +1,157 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 0.813474 -2.0718999 -5.0000501,
+                                  1.21165 -1.98485 5.0000801,
+                                  -7.0384302 -3.7490599 2.7009201,
+                                  -37.599998 -2.25 5,
+                                  -42.25 -2.25 2.5,
+                                  -29.182301 -3.74998 4.9995399,
+                                  -29.515301 -3.75018 -4.9972901,
+                                  -42.25 -2.25 -2.5,
+                                  -37.599998 -2.25 -5,
+                                  -12 -3.75 5,
+                                  -9.2532501 -3.7472799 -4.9685898,
+                                  -33.101002 -3.75845 1.15241,
+                                  -37.599998 2.25 -5,
+                                  -42.25 2.25 2.5,
+                                  2.4000001 2.25 -5,
+                                  2.4000001 2.25 5,
+                                  -37.599998 2.25 5,
+                                  -42.25 2.25 -2.5,
+                                  2.37907 -0.29173699 5,
+                                  2.30391 -0.75420499 -5 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.18655361 -0.9821592 -0.023690164,
+                                  0.16996521 -0.97563404 0.13874492,
+                                  0.10117246 -0.99381363 0.045810517,
+                                  -0.16676134 -0.93593878 0.31017619,
+                                  -0.15785259 -0.975541 0.15297802,
+                                  -0.077069275 -0.9903596 0.11510069,
+                                  -0.050827965 -0.99643731 -0.067299604,
+                                  -0.15725395 -0.97836506 -0.13443595,
+                                  -0.17267376 -0.93114531 -0.32117328,
+                                  0.042933267 -0.99479669 0.092391461,
+                                  0.082292773 -0.99631929 -0.023995943,
+                                  -0.10867187 -0.99393618 0.016769379,
+                                  0 1 0,
+                                  -0.16220154 6.4795145e-006 0.98675764,
+                                  -0.47353488 0 0.88077515,
+                                  -0.24415712 -7.9041594e-005 0.96973568,
+                                  -1 0 0,
+                                  -0.47353488 0 -0.88077515,
+                                  -0.24415697 2.9865605e-006 -0.9697358,
+                                  -0.16219907 -0.00060600007 -0.98675793,
+                                  0.99996614 -0.0082342681 0,
+                                  0.99979347 -0.020102773 -0.0030170237,
+                                  0.99947071 -0.031968266 -0.0060335952,
+                                  8.127201e-006 -2.6638958e-005 1,
+                                  0.74833816 -0.66331738 0.00010716102,
+                                  0.66222727 -0.74904019 -0.019847661,
+                                  0.82310301 -0.56753761 0.020060355,
+                                  1.7285187e-005 5.2394785e-006 -1,
+                                  0.00029201756 -0.0058125257 -0.99998307,
+                                  0.0014198367 -0.027302239 -0.99962622,
+                                  0.00071342639 -0.014536898 -0.99989414,
+                                  3.4570374e-005 -1.1057406e-006 -1 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 2, 1, 9, -1,
+                                10, 0, 2, -1, 7, 11, 4, -1,
+                                11, 5, 4, -1, 11, 7, 6, -1,
+                                12, 13, 14, -1, 15, 14, 13, -1,
+                                15, 13, 16, -1, 17, 13, 12, -1,
+                                16, 13, 3, -1, 3, 13, 4, -1,
+                                7, 13, 17, -1, 13, 7, 4, -1,
+                                7, 17, 12, -1, 8, 7, 12, -1,
+                                15, 18, 14, -1, 14, 18, 19, -1,
+                                16, 1, 15, -1, 5, 1, 3, -1,
+                                3, 1, 16, -1, 5, 9, 1, -1,
+                                18, 15, 1, -1, 19, 1, 0, -1,
+                                18, 1, 19, -1, 12, 14, 0, -1,
+                                10, 6, 0, -1, 8, 0, 6, -1,
+                                8, 12, 0, -1, 19, 0, 14, -1,
+                                2, 6, 10, -1, 5, 6, 9, -1,
+                                9, 6, 2, -1, 11, 6, 5, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 2, 1, 9, -1,
+                                10, 0, 2, -1, 7, 11, 4, -1,
+                                11, 5, 4, -1, 11, 7, 6, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                13, 14, 15, -1, 15, 14, 14, -1,
+                                16, 16, 16, -1, 16, 16, 16, -1,
+                                17, 17, 18, -1, 19, 17, 18, -1,
+                                20, 21, 21, -1, 21, 21, 22, -1,
+                                13, 23, 23, -1, 23, 23, 15, -1,
+                                15, 23, 13, -1, 23, 23, 23, -1,
+                                23, 23, 23, -1, 24, 24, 25, -1,
+                                26, 24, 24, -1, 18, 27, 28, -1,
+                                29, 30, 28, -1, 19, 28, 30, -1,
+                                19, 18, 28, -1, 31, 28, 27, -1,
+                                2, 6, 10, -1, 5, 6, 9, -1,
+                                9, 6, 2, -1, 11, 6, 5, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.obj b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f4bdccccd4d17ba4739fc6e971c276bdce2b9b4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.obj
@@ -0,0 +1,120 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object thumb_r2.obj
+#
+# Vertices: 27
+# Faces: 50
+#
+####
+vn 0.627289 2.086338 -4.981439
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+vn -2.007503 1.707305 0.299002
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+v -0.046750 0.009999 0.001258 0.898039 0.898039 0.898039
+vn -3.002051 -1.306164 -2.643422
+v -0.058750 -0.004159 -0.005753 0.898039 0.898039 0.898039
+vn -1.019568 -1.740676 5.060524
+v -0.046750 -0.007003 0.004244 0.898039 0.898039 0.898039
+vn 2.144928 2.095577 2.354459
+v 0.001040 0.005043 0.002032 0.898039 0.898039 0.898039
+vn 0.686393 1.252335 5.768398
+v -0.007093 0.003904 0.003754 0.898039 0.898039 0.898039
+vn 2.074761 -2.035280 2.305382
+v 0.001132 -0.005048 0.002006 0.898039 0.898039 0.898039
+vn -0.394465 -5.314753 1.998368
+v -0.046750 -0.010001 0.001242 0.898039 0.898039 0.898039
+vn 0.435391 5.253631 2.121748
+v -0.025750 0.009999 0.001258 0.898039 0.898039 0.898039
+vn 0.218298 2.262999 5.279667
+v -0.025750 0.006997 0.004256 0.898039 0.898039 0.898039
+vn 0.306103 -2.283367 5.243566
+v -0.023838 -0.006890 0.004229 0.898039 0.898039 0.898039
+vn 0.394268 -5.249390 2.123001
+v -0.025750 -0.010001 0.001242 0.898039 0.898039 0.898039
+# 27 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 9//9 8//8 10//10
+f 10//10 11//11 9//9
+f 12//12 10//10 13//13
+f 14//14 2//2 1//1
+f 14//14 1//1 4//4
+f 14//14 4//4 6//6
+f 6//6 15//15 16//16
+f 15//15 17//17 16//16
+f 17//17 14//14 16//16
+f 18//18 11//11 12//12
+f 12//12 11//11 10//10
+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
+f 23//23 13//13 10//10
+f 23//23 19//19 13//13
+f 20//20 3//3 24//24
+f 25//25 26//26 21//21
+f 22//22 26//26 27//27
+f 26//26 22//22 21//21
+f 27//27 7//7 22//22
+f 25//25 21//21 20//20
+f 20//20 24//24 25//25
+f 5//5 11//11 18//18
+f 11//11 5//5 4//4
+f 9//9 1//1 3//3
+f 9//9 3//3 7//7
+f 9//9 11//11 4//4
+f 1//1 9//9 4//4
+f 24//24 14//14 17//17
+f 14//14 24//24 2//2
+f 12//12 5//5 18//18
+f 12//12 6//6 5//5
+f 12//12 15//15 6//6
+f 12//12 19//19 15//15
+f 23//23 8//8 27//27
+f 23//23 10//10 8//8
+f 26//26 23//23 27//27
+f 23//23 26//26 19//19
+f 24//24 3//3 2//2
+f 25//25 24//24 17//17
+f 25//25 17//17 15//15
+f 19//19 25//25 15//15
+f 26//26 25//25 19//19
+f 7//7 27//27 8//8
+f 22//22 7//7 3//3
+f 3//3 20//20 22//22
+# 50 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.wrl b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9975ed7e122e47fbb54df9bca35710bde31bb05a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/thumb_r2.wrl
@@ -0,0 +1,213 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0.99999994 -0 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -25.75 12.75 3,
+                                  -25.75 5.6420102 10,
+                                  2.55459 2.1963699 4.99159,
+                                  -35.75 12.75 1.26352,
+                                  -58.75 5.75 4.16326,
+                                  -58.689701 2.70784 7.1785102,
+                                  2.50914 2.2127299 -4.9946899,
+                                  -25.75 5.6420102 -10,
+                                  -25.75 12.75 -3,
+                                  -46.75 1.93915 -10,
+                                  -35.75 12.75 -1.26352,
+                                  -58.700901 2.7174101 -7.1679702,
+                                  -50.442299 -2.0961499 -9.1538496,
+                                  -46.75 1.93915 10,
+                                  -46.75 -4.25 7,
+                                  -50.442299 -2.0961499 9.1538496,
+                                  -46.75 -1.25 10,
+                                  -58.75 5.75 -4.16326,
+                                  -46.75 -4.25 -7,
+                                  1.03971 -2.0276 5.0445499,
+                                  -7.0934701 -3.7504201 3.90676,
+                                  1.1324199 -2.0095201 -5.0462599,
+                                  -46.75 -1.25 -10,
+                                  -25.75 -1.25 10,
+                                  -25.75 -4.25 7,
+                                  -23.8381 -4.23454 -6.8866701,
+                                  -25.75 -1.25 -10 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.013045483 0.70161396 0.71243781,
+                                  0.042648412 0.7010352 0.71185017,
+                                  0.20691527 0.68648869 0.69707924,
+                                  -0.12278644 0.6966247 0.70685035,
+                                  -0.12322462 0.69736046 0.70604831,
+                                  -0.12278584 0.69675499 0.70672214,
+                                  0.2067802 0.68650872 -0.69709957,
+                                  0.042579446 0.70103735 -0.71185231,
+                                  -0.013090931 0.70161361 -0.71243739,
+                                  -0.12262718 0.69628572 -0.70721197,
+                                  -0.12278722 0.6966508 -0.7068246,
+                                  -0.2301767 0.0065595019 -0.97312677,
+                                  -0.1520685 0.0021992903 -0.9883675,
+                                  -0.22677886 0.0032797889 -0.97394085,
+                                  -0.12264073 0.6962924 0.70720309,
+                                  -0.50348985 -0.8640011 0.00035491833,
+                                  -0.50348371 -0.86400437 0.00089312682,
+                                  -4.5659192e-008 -0.70710683 0.70710683,
+                                  -0.11240018 0 0.99366307,
+                                  -0.11398935 0.0015121583 0.99348086,
+                                  -0.22649354 0.003004615 0.97400808,
+                                  -0.12326758 0.69745827 -0.70594406,
+                                  -0.122787 0.69679403 -0.7066834,
+                                  -0.50365537 -0.86390471 -0.00025260754,
+                                  -0.22960693 0.0060091726 0.97326499,
+                                  0.20720774 -0.97829705 0.00015087554,
+                                  0.11055028 -0.9932887 -0.034001127,
+                                  0.15199956 -0.98699778 -0.052265346,
+                                  -0.074880235 0 -0.99719256,
+                                  0.0013249314 -0.71206594 -0.7021113,
+                                  0.0019872992 -0.7071054 -0.7071054,
+                                  -9.1318398e-008 -0.70710683 -0.70710683,
+                                  0.18017322 -0.052301813 0.98224348,
+                                  0.17726825 -0.026159987 0.98381495,
+                                  0.08897949 -0.01313096 0.99594682,
+                                  0.0092954328 -0.99995667 0.00053766283,
+                                  0.041345697 -0.99855518 -0.034324259,
+                                  0.11400016 -0.68127304 -0.72309828,
+                                  0.039388683 -0.70455813 -0.70855236,
+                                  0.05711164 -0.7029497 -0.70894295,
+                                  0.11849935 -0.01559512 -0.99283165,
+                                  0.17712863 -0.023311032 -0.98391163,
+                                  0.17975241 -0.046609212 -0.98260713,
+                                  0.054812029 -0.74702501 0.66253239,
+                                  0.10812902 -0.85045588 0.51481348,
+                                  0.10965501 -0.78225917 0.61322612,
+                                  0.054887105 -0.70604086 0.70604086,
+                                  -0.29116166 0.95667398 0,
+                                  -0.19600406 0.9806031 0,
+                                  -0.29116163 0.95667392 0,
+                                  -0.098002031 0.99518621 0,
+                                  0.17750435 0.98412007 -1.3994988e-005,
+                                  0.34937114 0.93698442 -2.7545493e-005,
+                                  0.17750074 0.98412067 0,
+                                  0.087455191 0 0.99616849,
+                                  -0.99984467 -0.017622406 0.00038391139,
+                                  -0.99986905 -0.016188322 -0,
+                                  -0.99981809 -0.019056451 0.00076782185,
+                                  -0.50360221 -0.86393565 -0.00022950175,
+                                  -0.50354588 -0.86396837 0.00023661219,
+                                  0.058334745 0 -0.9982971,
+                                  -3.0439459e-008 -0.70710677 0.70710677,
+                                  0.00033990131 -0.99999988 -0.00050985196,
+                                  -0 -1 0,
+                                  0.94613957 -0.32375497 0.0016045594,
+                                  0.9507429 -0.30994314 -0.0048348252,
+                                  0.94129664 -0.33748478 0.0080435369 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 8, 7, 9, -1,
+                                9, 10, 8, -1, 11, 9, 12, -1,
+                                13, 1, 0, -1, 13, 0, 3, -1,
+                                13, 3, 5, -1, 5, 14, 15, -1,
+                                14, 16, 15, -1, 16, 13, 15, -1,
+                                17, 10, 11, -1, 11, 10, 9, -1,
+                                18, 11, 12, -1, 5, 15, 13, -1,
+                                19, 20, 21, -1, 22, 12, 9, -1,
+                                22, 18, 12, -1, 19, 2, 23, -1,
+                                24, 25, 20, -1, 21, 25, 26, -1,
+                                25, 21, 20, -1, 26, 6, 21, -1,
+                                24, 20, 19, -1, 19, 23, 24, -1,
+                                4, 10, 17, -1, 10, 4, 3, -1,
+                                8, 0, 2, -1, 8, 2, 6, -1,
+                                8, 10, 3, -1, 0, 8, 3, -1,
+                                23, 13, 16, -1, 13, 23, 1, -1,
+                                11, 4, 17, -1, 11, 5, 4, -1,
+                                11, 14, 5, -1, 11, 18, 14, -1,
+                                22, 7, 26, -1, 22, 9, 7, -1,
+                                25, 22, 26, -1, 22, 25, 18, -1,
+                                23, 2, 1, -1, 24, 23, 16, -1,
+                                24, 16, 14, -1, 18, 24, 14, -1,
+                                25, 24, 18, -1, 6, 26, 7, -1,
+                                21, 6, 2, -1, 2, 19, 21, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                6, 7, 8, -1, 8, 7, 9, -1,
+                                9, 10, 8, -1, 11, 12, 13, -1,
+                                14, 1, 0, -1, 14, 0, 3, -1,
+                                14, 3, 5, -1, 15, 15, 16, -1,
+                                17, 17, 17, -1, 18, 19, 20, -1,
+                                21, 10, 22, -1, 22, 10, 9, -1,
+                                23, 23, 23, -1, 24, 20, 19, -1,
+                                25, 26, 27, -1, 28, 13, 12, -1,
+                                29, 30, 31, -1, 32, 33, 34, -1,
+                                35, 36, 26, -1, 37, 38, 39, -1,
+                                36, 27, 26, -1, 40, 41, 42, -1,
+                                43, 44, 45, -1, 45, 46, 43, -1,
+                                47, 48, 49, -1, 48, 47, 50, -1,
+                                51, 51, 52, -1, 51, 52, 52, -1,
+                                51, 48, 50, -1, 53, 51, 50, -1,
+                                34, 19, 18, -1, 19, 34, 54, -1,
+                                55, 55, 56, -1, 55, 57, 55, -1,
+                                58, 59, 15, -1, 58, 23, 59, -1,
+                                28, 60, 40, -1, 28, 12, 60, -1,
+                                38, 29, 39, -1, 29, 38, 30, -1,
+                                34, 33, 54, -1, 43, 46, 61, -1,
+                                43, 61, 17, -1, 62, 35, 63, -1,
+                                36, 35, 62, -1, 41, 40, 60, -1,
+                                64, 65, 64, -1, 64, 66, 64, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/torso.obj b/data/RobotAPI/robots/Armar3/convexModel/torso.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34ed5d7588e651263c19055e9249e41fb88ffb9b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/torso.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object torso.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn -1.367587 -4.054772 -3.105032
+v -0.117853 -0.163940 0.126042 0.898039 0.898039 0.898039
+vn 1.268558 -4.130966 -2.493815
+v 0.117167 -0.164140 0.126052 0.898039 0.898039 0.898039
+vn -1.211322 -5.427284 -0.234974
+v -0.091323 -0.198994 0.233034 0.898039 0.898039 0.898039
+vn 0.006674 -0.075852 -4.738387
+v -0.000000 -0.000698 0.021411 0.898039 0.898039 0.898039
+vn -3.329007 -1.799227 -2.028513
+v -0.176996 -0.131767 0.131017 0.898039 0.898039 0.898039
+vn -3.599915 1.736808 -2.063367
+v -0.176937 0.058203 0.131043 0.898039 0.898039 0.898039
+vn -1.603817 4.458314 -2.131772
+v -0.142288 0.083107 0.130966 0.898039 0.898039 0.898039
+vn -3.919548 2.686577 0.487902
+v -0.180594 0.075170 0.358770 0.898039 0.898039 0.898039
+vn -1.564988 5.369410 1.144174
+v -0.114918 0.095818 0.446348 0.898039 0.898039 0.898039
+vn 0.023014 2.858699 -4.479457
+v 0.000016 0.019562 0.028917 0.898039 0.898039 0.898039
+vn 1.873704 3.989825 -2.119777
+v 0.146860 0.082302 0.129937 0.898039 0.898039 0.898039
+vn 3.938443 1.482485 -2.233393
+v 0.177030 0.051415 0.131012 0.898039 0.898039 0.898039
+vn 2.074742 -2.298042 2.158881
+v 0.115635 -0.141594 0.564570 0.898039 0.898039 0.898039
+vn 2.385023 2.214879 2.634224
+v 0.115089 0.049115 0.566889 0.898039 0.898039 0.898039
+vn 0.014630 0.528310 4.614349
+v 0.000414 -0.019590 0.632047 0.898039 0.898039 0.898039
+vn -2.382195 2.224539 2.633043
+v -0.115039 0.049376 0.566785 0.898039 0.898039 0.898039
+vn -4.604445 -2.412400 0.731819
+v -0.178985 -0.130726 0.365246 0.898039 0.898039 0.898039
+vn 3.070688 -1.944781 -1.826813
+v 0.176789 -0.135915 0.131261 0.898039 0.898039 0.898039
+vn 1.576684 5.363487 1.144847
+v 0.115068 0.095636 0.446344 0.898039 0.898039 0.898039
+vn 4.105149 -2.640635 0.594530
+v 0.180623 -0.129609 0.358938 0.898039 0.898039 0.898039
+vn -2.094711 -2.266207 2.270616
+v -0.115343 -0.139594 0.566337 0.898039 0.898039 0.898039
+vn 3.933928 2.692208 0.497140
+v 0.180771 0.074886 0.358224 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 8//8 9//9
+f 3//3 5//5 1//1
+f 1//1 5//5 4//4
+f 1//1 4//4 2//2
+f 6//6 10//10 4//4
+f 10//10 11//11 12//12
+f 10//10 12//12 4//4
+f 13//13 14//14 15//15
+f 8//8 16//16 9//9
+f 5//5 3//3 17//17
+f 2//2 4//4 18//18
+f 6//6 7//7 10//10
+f 11//11 7//7 19//19
+f 13//13 2//2 20//20
+f 18//18 20//20 2//2
+f 14//14 13//13 20//20
+f 17//17 21//21 8//8
+f 19//19 22//22 11//11
+f 9//9 16//16 19//19
+f 22//22 19//19 14//14
+f 6//6 8//8 7//7
+f 12//12 18//18 4//4
+f 13//13 3//3 2//2
+f 17//17 3//3 21//21
+f 3//3 13//13 21//21
+f 21//21 16//16 8//8
+f 20//20 22//22 14//14
+f 12//12 22//22 20//20
+f 22//22 12//12 11//11
+f 13//13 15//15 21//21
+f 19//19 7//7 9//9
+f 16//16 15//15 14//14
+f 17//17 6//6 5//5
+f 10//10 7//7 11//11
+f 17//17 8//8 6//6
+f 20//20 18//18 12//12
+f 21//21 15//15 16//16
+f 14//14 19//19 16//16
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/torso.wrl b/data/RobotAPI/robots/Armar3/convexModel/torso.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..538cdfc8b887172759a15e25040b9c54de8dcfbc
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/torso.wrl
@@ -0,0 +1,189 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              rotation 0 0 0.99999994  1.5700002
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Shape {
+                      appearance 
+                      Appearance {
+                        material 
+                        Material {
+                          diffuseColor 0.89999998 0.89999998 0.89999998
+                          ambientIntensity 0.17999999
+                          specularColor 0.1 0.1 0.1
+                          shininess 0.5
+
+                        }
+
+                      }
+                      geometry 
+                      IndexedFaceSet {
+                        coord 
+                        Coordinate {
+                          point [ -164.034 117.722 126.042,
+                              -164.047 -117.298 126.052,
+                              -199.067 91.164497 233.034,
+                              -0.69782299 -0.000447581 21.410999,
+                              -131.908 176.89101 131.017,
+                              58.061798 176.983 131.043,
+                              82.993698 142.354 130.966,
+                              75.026001 180.65401 358.76999,
+                              95.726303 114.994 446.34799,
+                              19.561899 -1.83073e-006 28.916599,
+                              82.419296 -146.79401 129.937,
+                              51.5555 -176.989 131.01199,
+                              -141.502 -115.748 564.57001,
+                              49.206501 -115.05 566.88898,
+                              -19.5895 -0.42930201 632.047,
+                              49.284801 115.078 566.78497,
+                              -130.868 178.881 365.246,
+                              -135.774 -176.897 131.261,
+                              95.727898 -114.992 446.34399,
+                              -129.465 -180.726 358.93799,
+                              -139.686 115.232 566.33698,
+                              75.029404 -180.711 358.224 ]
+
+                        }
+                        normal 
+                        Normal {
+                          vector [ -0.95035422 3.9327304e-005 -0.31117019,
+                              -0.98132032 -0.17843932 -0.071901329,
+                              -0.99758065 -0.063118197 -0.029138975,
+                              -0.019241983 0.42756343 -0.90378052,
+                              -0.18984725 0.41151768 -0.89140964,
+                              0.15961105 0.48101112 -0.86206305,
+                              0.97375494 0.22351679 -0.042913768,
+                              0.89719135 0.43958971 -0.042526644,
+                              0.98977536 0.097048208 0.10452948,
+                              -0.84495914 0.53460491 -0.015548481,
+                              -0.82988352 0.5517807 -0.082652047,
+                              -0.86133373 0.48133162 -0.16255556,
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+                        }
+                        coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
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+                            40, 42, 61, -1, 39, 64, 55, -1,
+                            65, 65, 65, -1, 60, 31, 45, -1 ]
+                        ccw TRUE
+                        solid FALSE
+                        convex TRUE
+                        creaseAngle 0.5
+
+                      }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_l.obj b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c878106b4dc299640146730da2c959692e86ea64
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.obj
@@ -0,0 +1,108 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_l.obj
+#
+# Vertices: 24
+# Faces: 44
+#
+####
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+vn 3.391986 3.400020 1.650791
+v 0.034738 0.034761 -0.066445 0.898039 0.898039 0.898039
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+v -0.045469 0.001464 -0.066572 0.898039 0.898039 0.898039
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+vn -3.573314 -3.576772 1.399286
+v -0.031677 -0.031759 -0.066550 0.898039 0.898039 0.898039
+# 24 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 5//5 1//1 3//3
+f 1//1 5//5 6//6
+f 7//7 8//8 9//9
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+f 20//20 4//4 2//2
+f 8//8 7//7 21//21
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+f 13//13 22//22 9//9
+f 23//23 14//14 12//12
+f 23//23 20//20 14//14
+f 18//18 22//22 24//24
+f 24//24 16//16 18//18
+f 16//16 11//11 17//17
+f 16//16 12//12 11//11
+f 4//4 13//13 3//3
+f 13//13 8//8 3//3
+f 10//10 14//14 1//1
+f 14//14 2//2 1//1
+f 15//15 7//7 9//9
+f 15//15 9//9 18//18
+f 11//11 19//19 17//17
+f 19//19 11//11 6//6
+f 3//3 8//8 21//21
+f 21//21 5//5 3//3
+f 21//21 19//19 6//6
+f 5//5 21//21 6//6
+f 22//22 13//13 4//4
+f 20//20 22//22 4//4
+f 24//24 22//22 20//20
+f 23//23 24//24 20//20
+f 12//12 16//16 24//24
+f 24//24 23//23 12//12
+# 44 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8ca7415c5304e95b9f4cc45876ab586ef7b6310d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_l.wrl
@@ -0,0 +1,207 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 -46.5
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 1 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 0.99999994  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
+                                  point [ 22.5 8.3066196 203.5,
+                                      22.5 -8.3066196 203.5,
+                                      48.5 1.5 166,
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+                                      34.7337 34.7337 166,
+                                      1.5 48.5 166,
+                                      22.5 22.5 0,
+                                      48.5 1.5 20,
+                                      22.5 -22.5 0,
+                                      -22.5 8.3066196 203.5,
+                                      -31.7337 34.7337 166,
+                                      -45.5 1.5 166,
+                                      34.7337 -31.7337 20,
+                                      -22.5 -8.3066196 203.5,
+                                      -22.5 22.5 0,
+                                      -45.5 1.5 20,
+                                      -31.7337 34.7337 20,
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+                                      1.5 48.5 20,
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+                                      1.5 -45.5 20,
+                                      -31.7337 -31.7337 166,
+                                      -31.7337 -31.7337 20 ]
+
+                                }
+                                normal 
+                                Normal {
+                                  vector [ 0.8240971 0.16862892 0.54076624,
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+                                      0 0 1,
+                                      0 0 -1,
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+                                      -0.91425037 -0.37870732 0.14396894,
+                                      -0.92387509 -0.38269413 0 ]
+
+                                }
+                                coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 0, 2, -1, 0, 4, 5, -1,
+                                    6, 7, 8, -1, 9, 5, 10, -1,
+                                    9, 0, 5, -1, 9, 10, 11, -1,
+                                    8, 7, 12, -1, 13, 9, 11, -1,
+                                    14, 15, 16, -1, 14, 17, 15, -1,
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+                                normalIndex [ 0, 1, 2, -1, 3, 4, 1, -1,
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+                                    28, 29, 30, -1, 28, 31, 28, -1,
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+                                    38, 18, 39, -1, 40, 29, 29, -1,
+                                    35, 35, 41, -1, 42, 22, 22, -1,
+                                    43, 15, 43, -1, 43, 44, 15, -1,
+                                    3, 45, 46, -1, 45, 45, 46, -1,
+                                    47, 47, 47, -1, 47, 47, 47, -1,
+                                    48, 48, 48, -1, 48, 48, 48, -1,
+                                    49, 49, 49, -1, 49, 49, 49, -1,
+                                    50, 50, 50, -1, 50, 50, 50, -1,
+                                    51, 51, 51, -1, 51, 51, 51, -1,
+                                    52, 52, 52, -1, 52, 52, 52, -1,
+                                    53, 53, 53, -1, 53, 53, 53, -1,
+                                    54, 55, 55, -1, 55, 38, 54, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_r.obj b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea7f8a98ab30cc84ca22e17119487e1105496cf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.obj
@@ -0,0 +1,108 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object underarm_r.obj
+#
+# Vertices: 24
+# Faces: 44
+#
+####
+vn -1.562900 2.001644 -4.057125
+v -0.008289 0.022507 -0.250000 0.898039 0.898039 0.898039
+vn -3.557457 3.438872 -1.514010
+v -0.034706 0.034761 -0.212500 0.898039 0.898039 0.898039
+vn -0.010811 5.105476 -1.353015
+v -0.001461 0.048501 -0.212500 0.898039 0.898039 0.898039
+vn -4.779558 0.013132 -1.677453
+v -0.048499 0.001539 -0.212500 0.898039 0.898039 0.898039
+vn -1.545525 -2.072894 -3.903313
+v -0.008325 -0.022493 -0.250000 0.898039 0.898039 0.898039
+vn 1.634253 1.978670 -3.957496
+v 0.008325 0.022493 -0.250000 0.898039 0.898039 0.898039
+vn -3.623533 -3.458668 -1.452293
+v -0.034759 -0.031706 -0.212500 0.898039 0.898039 0.898039
+vn -0.020468 -5.207568 -1.232127
+v -0.001536 -0.045499 -0.212500 0.898039 0.898039 0.898039
+vn 3.571081 -3.576772 1.404975
+v 0.031708 -0.031759 -0.066500 0.898039 0.898039 0.898039
+vn 1.861893 -1.864860 4.107778
+v 0.022482 -0.022518 -0.046500 0.898039 0.898039 0.898039
+vn -0.017028 -4.790120 1.680604
+v -0.001536 -0.045499 -0.066500 0.898039 0.898039 0.898039
+vn 4.790141 0.009400 1.680604
+v 0.045501 0.001464 -0.066500 0.898039 0.898039 0.898039
+vn 1.872917 1.737849 4.329894
+v 0.022518 0.022482 -0.046500 0.898039 0.898039 0.898039
+vn 4.867381 0.006247 -1.602958
+v 0.045501 0.001464 -0.212500 0.898039 0.898039 0.898039
+vn 1.608180 -2.052357 -3.802688
+v 0.008289 -0.022507 -0.250000 0.898039 0.898039 0.898039
+vn 3.663470 -3.527149 -1.370677
+v 0.031708 -0.031759 -0.212500 0.898039 0.898039 0.898039
+vn -4.641735 0.015443 1.792722
+v -0.048499 0.001539 -0.066500 0.898039 0.898039 0.898039
+vn -1.738557 1.741328 4.539864
+v -0.022482 0.022518 -0.046500 0.898039 0.898039 0.898039
+vn -3.394611 3.400020 1.645387
+v -0.034706 0.034761 -0.066500 0.898039 0.898039 0.898039
+vn -0.008051 4.641753 1.792722
+v -0.001461 0.048501 -0.066500 0.898039 0.898039 0.898039
+vn 3.605701 3.494406 -1.440051
+v 0.031761 0.034708 -0.212500 0.898039 0.898039 0.898039
+vn -3.508352 -3.454482 1.537559
+v -0.034759 -0.031706 -0.066500 0.898039 0.898039 0.898039
+vn -1.740829 -1.870148 4.329894
+v -0.022518 -0.022482 -0.046500 0.898039 0.898039 0.898039
+vn 3.460064 3.502847 1.537559
+v 0.031761 0.034708 -0.066500 0.898039 0.898039 0.898039
+# 24 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 2//2 1//1 4//4
+f 1//1 5//5 4//4
+f 3//3 6//6 1//1
+f 7//7 5//5 8//8
+f 5//5 7//7 4//4
+f 9//9 10//10 11//11
+f 12//12 13//13 10//10
+f 9//9 12//12 10//10
+f 6//6 14//14 15//15
+f 16//16 15//15 14//14
+f 16//16 8//8 15//15
+f 5//5 15//15 8//8
+f 17//17 18//18 19//19
+f 20//20 19//19 18//18
+f 20//20 18//18 13//13
+f 6//6 3//3 21//21
+f 6//6 21//21 14//14
+f 17//17 22//22 23//23
+f 18//18 17//17 23//23
+f 11//11 23//23 22//22
+f 11//11 10//10 23//23
+f 12//12 24//24 13//13
+f 24//24 20//20 13//13
+f 2//2 17//17 19//19
+f 17//17 2//2 4//4
+f 7//7 17//17 4//4
+f 7//7 22//22 17//17
+f 20//20 2//2 19//19
+f 2//2 20//20 3//3
+f 7//7 11//11 22//22
+f 7//7 8//8 11//11
+f 16//16 11//11 8//8
+f 11//11 16//16 9//9
+f 16//16 12//12 9//9
+f 16//16 14//14 12//12
+f 6//6 15//15 1//1
+f 1//1 15//15 5//5
+f 18//18 23//23 13//13
+f 13//13 23//23 10//10
+f 12//12 14//14 24//24
+f 21//21 24//24 14//14
+f 20//20 24//24 3//3
+f 21//21 3//3 24//24
+# 44 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/underarm_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..04136201e5a79dccf3ad18f04942e5beb41b9bd0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/underarm_r.wrl
@@ -0,0 +1,198 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 -46.5
+              rotation 0 0 1  0
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 22.5 8.3066196 -203.5,
+                                  34.7337 34.7337 -166,
+                                  48.5 1.5 -166,
+                                  1.5 48.5 -166,
+                                  -22.5 8.3066196 -203.5,
+                                  22.5 -8.3066196 -203.5,
+                                  -31.7337 34.7337 -166,
+                                  -45.5 1.5 -166,
+                                  -31.7337 -31.7337 -20,
+                                  -22.5 -22.5 0,
+                                  -45.5 1.5 -20,
+                                  1.5 -45.5 -20,
+                                  22.5 -22.5 0,
+                                  1.5 -45.5 -166,
+                                  -22.5 -8.3066196 -203.5,
+                                  -31.7337 -31.7337 -166,
+                                  1.5 48.5 -20,
+                                  22.5 22.5 0,
+                                  34.7337 34.7337 -20,
+                                  48.5 1.5 -20,
+                                  34.7337 -31.7337 -166,
+                                  -31.7337 34.7337 -20,
+                                  -22.5 22.5 0,
+                                  34.7337 -31.7337 -20 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ 0.8240971 0.1686289 -0.54076624,
+                                  0.80226499 0.33231992 -0.49591774,
+                                  0.30235219 0.72991866 -0.61302686,
+                                  0.15325248 0.71574879 -0.68133509,
+                                  -0.15568541 0.72196823 -0.67418385,
+                                  -0.0015497203 0.74256986 -0.66976684,
+                                  0.8451553 -0.001507933 -0.53451866,
+                                  0.83006966 -0.17096826 -0.53080511,
+                                  -0.91314429 0.37824914 -0.15197092,
+                                  -0.85319203 0.17405994 -0.49169752,
+                                  -0.90689802 0.2526665 -0.33718792,
+                                  -0.30684519 0.74076551 -0.59758896,
+                                  -0.79108918 -0.32769057 0.51652384,
+                                  -0.74070621 -0.16771078 0.65055913,
+                                  -0.002920019 -0.77267021 0.63480097,
+                                  0.16287151 -0.72789514 0.66606426,
+                                  -0.16771078 -0.74070626 0.65055925,
+                                  -0.32769054 -0.79108912 0.51652384,
+                                  0.15895216 -0.74404418 -0.64894718,
+                                  -0.0015587667 -0.77242374 -0.63510555,
+                                  -0.16142027 -0.75040704 -0.64096236,
+                                  -0.31772551 -0.76703197 -0.55741608,
+                                  -0.91425037 -0.37870732 -0.14396894,
+                                  -0.90953285 -0.25387082 -0.32908905,
+                                  -0.8589642 -0.17630219 -0.4807266,
+                                  -0.87525672 -0.0014350958 -0.48365644,
+                                  0.15196913 0.67681694 0.72029442,
+                                  0.29894924 0.72170377 0.62431812,
+                                  0.67681694 0.15196913 0.72029442,
+                                  0.72170377 0.29894924 0.62431812,
+                                  0.71752906 -0.0029106769 0.69652247,
+                                  0.68896455 -0.15665989 0.70766193,
+                                  0.91660166 -0.2900795 -0.27512774,
+                                  0.89566588 -0.37100911 -0.24522376,
+                                  0.31321886 -0.75615245 -0.57456714,
+                                  -0.15665987 0.68896449 0.70766199,
+                                  -0.30736011 0.74200875 0.59577918,
+                                  -0.0029106671 0.71752906 0.69652259,
+                                  -0.72789514 0.16287151 0.66606426,
+                                  -0.77085245 0.31930798 0.55120689,
+                                  -0.77267027 -0.0029200292 0.63480091,
+                                  0.31930798 -0.77085245 0.55120689,
+                                  0.74200881 -0.30736014 0.59577912,
+                                  0.38269413 0.92387509 0,
+                                  -0.38269413 0.92387509 0,
+                                  0.92387509 0.38269413 0,
+                                  -0.92387509 0.38269413 0,
+                                  -0.89939958 0.3725557 -0.22865395,
+                                  -0.92387509 -0.38269413 0,
+                                  -0.90195441 -0.37361401 -0.21654284,
+                                  -0.38269413 -0.92387509 0,
+                                  0 0 -1,
+                                  -0 0 1,
+                                  0.38269413 -0.92387509 0,
+                                  0.92387509 -0.38269413 0,
+                                  0.91153389 -0.37758204 -0.16290449 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 1, 0, 3, -1,
+                                0, 4, 3, -1, 2, 5, 0, -1,
+                                6, 4, 7, -1, 4, 6, 3, -1,
+                                8, 9, 10, -1, 11, 12, 9, -1,
+                                8, 11, 9, -1, 5, 13, 14, -1,
+                                15, 14, 13, -1, 15, 7, 14, -1,
+                                4, 14, 7, -1, 16, 17, 18, -1,
+                                19, 18, 17, -1, 19, 17, 12, -1,
+                                5, 2, 20, -1, 5, 20, 13, -1,
+                                16, 21, 22, -1, 17, 16, 22, -1,
+                                10, 22, 21, -1, 10, 9, 22, -1,
+                                11, 23, 12, -1, 23, 19, 12, -1,
+                                1, 16, 18, -1, 16, 1, 3, -1,
+                                6, 16, 3, -1, 6, 21, 16, -1,
+                                19, 1, 18, -1, 1, 19, 2, -1,
+                                6, 10, 21, -1, 6, 7, 10, -1,
+                                15, 10, 7, -1, 10, 15, 8, -1,
+                                15, 11, 8, -1, 15, 13, 11, -1,
+                                5, 14, 0, -1, 0, 14, 4, -1,
+                                17, 22, 12, -1, 12, 22, 9, -1,
+                                11, 13, 23, -1, 20, 23, 13, -1,
+                                19, 23, 2, -1, 20, 2, 23, -1 ]
+                            normalIndex [ 0, 1, 0, -1, 2, 3, 3, -1,
+                                3, 4, 5, -1, 6, 7, 0, -1,
+                                8, 9, 10, -1, 4, 11, 4, -1,
+                                12, 13, 13, -1, 14, 15, 16, -1,
+                                17, 16, 16, -1, 18, 19, 20, -1,
+                                21, 20, 20, -1, 22, 23, 24, -1,
+                                9, 24, 25, -1, 26, 26, 27, -1,
+                                28, 29, 28, -1, 30, 28, 31, -1,
+                                7, 32, 33, -1, 18, 34, 18, -1,
+                                35, 36, 35, -1, 26, 37, 35, -1,
+                                38, 38, 39, -1, 40, 13, 38, -1,
+                                15, 41, 15, -1, 42, 31, 31, -1,
+                                43, 43, 43, -1, 43, 43, 43, -1,
+                                44, 44, 44, -1, 44, 44, 44, -1,
+                                45, 45, 45, -1, 45, 45, 45, -1,
+                                8, 46, 46, -1, 8, 47, 46, -1,
+                                22, 48, 49, -1, 48, 22, 48, -1,
+                                50, 50, 50, -1, 50, 50, 50, -1,
+                                51, 51, 51, -1, 51, 51, 51, -1,
+                                52, 52, 52, -1, 52, 52, 52, -1,
+                                53, 53, 53, -1, 53, 53, 53, -1,
+                                54, 54, 55, -1, 33, 55, 54, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.obj b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e045f0e0dfb9c418d7ae7c8f23abc5749b2f9d8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.obj
@@ -0,0 +1,100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_l.obj
+#
+# Vertices: 22
+# Faces: 40
+#
+####
+vn -3.943943 4.292203 0.941398
+v -0.026965 0.028178 -0.095114 0.898039 0.898039 0.898039
+vn -5.424086 2.084728 0.973359
+v -0.035768 0.015291 -0.095198 0.898039 0.898039 0.898039
+vn -1.276066 1.822399 2.889769
+v -0.008294 0.011753 -0.020527 0.898039 0.898039 0.898039
+vn -2.040939 -1.440675 2.739568
+v -0.013849 -0.008845 -0.022565 0.898039 0.898039 0.898039
+vn -0.710870 5.472127 1.014522
+v -0.005212 0.039898 -0.094410 0.898039 0.898039 0.898039
+vn -3.529630 4.270132 -0.390418
+v -0.019472 0.037296 -0.269426 0.898039 0.898039 0.898039
+vn -5.119011 -1.539650 0.812217
+v -0.039499 -0.009725 -0.097242 0.898039 0.898039 0.898039
+vn -1.694152 2.248300 -2.050787
+v -0.010330 0.039368 -0.310013 0.898039 0.898039 0.898039
+vn 1.329651 1.423617 -1.658127
+v 0.033476 0.036874 -0.319458 0.898039 0.898039 0.898039
+vn 1.357471 -1.380534 -1.923772
+v 0.032122 -0.023021 -0.320531 0.898039 0.898039 0.898039
+vn -1.712150 -4.905533 0.914580
+v -0.012198 -0.038860 -0.094219 0.898039 0.898039 0.898039
+vn 1.708859 -2.363727 2.945449
+v 0.009513 -0.012819 -0.024603 0.898039 0.898039 0.898039
+vn -5.348473 0.012007 -0.849985
+v -0.038606 0.001548 -0.254388 0.898039 0.898039 0.898039
+vn 3.003601 4.714766 1.002036
+v 0.024065 0.033278 -0.095924 0.898039 0.898039 0.898039
+vn 2.069937 1.496271 2.868658
+v 0.012562 0.009833 -0.022657 0.898039 0.898039 0.898039
+vn 5.334566 2.220307 1.102567
+v 0.038136 0.014531 -0.094487 0.898039 0.898039 0.898039
+vn 5.389951 -1.173038 1.019458
+v 0.041268 -0.006718 -0.094598 0.898039 0.898039 0.898039
+vn -2.243171 -2.175197 -2.756129
+v -0.011266 -0.022945 -0.309398 0.898039 0.898039 0.898039
+vn 5.764779 -0.628722 0.015395
+v 0.043246 -0.000948 -0.161558 0.898039 0.898039 0.898039
+vn 2.947392 -4.431647 0.859790
+v 0.024628 -0.033932 -0.096880 0.898039 0.898039 0.898039
+vn 0.787100 -5.605177 -0.541765
+v 0.007841 -0.040172 -0.256657 0.898039 0.898039 0.898039
+vn -3.369166 -4.195389 -0.827041
+v -0.021366 -0.033226 -0.258554 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 2//2
+f 1//1 5//5 6//6
+f 1//1 3//3 5//5
+f 1//1 6//6 2//2
+f 4//4 2//2 7//7
+f 8//8 9//9 10//10
+f 11//11 12//12 4//4
+f 2//2 13//13 7//7
+f 6//6 13//13 2//2
+f 6//6 8//8 13//13
+f 9//9 5//5 14//14
+f 15//15 16//16 14//14
+f 17//17 16//16 15//15
+f 14//14 16//16 9//9
+f 9//9 8//8 5//5
+f 5//5 8//8 6//6
+f 18//18 8//8 10//10
+f 8//8 18//18 13//13
+f 9//9 19//19 10//10
+f 11//11 20//20 12//12
+f 21//21 20//20 11//11
+f 4//4 7//7 11//11
+f 7//7 22//22 11//11
+f 22//22 7//7 13//13
+f 3//3 15//15 5//5
+f 14//14 5//5 15//15
+f 17//17 19//19 16//16
+f 18//18 21//21 22//22
+f 22//22 21//21 11//11
+f 12//12 17//17 15//15
+f 13//13 18//18 22//22
+f 16//16 19//19 9//9
+f 21//21 18//18 10//10
+f 19//19 20//20 10//10
+f 20//20 21//21 10//10
+f 20//20 17//17 12//12
+f 20//20 19//19 17//17
+f 4//4 15//15 3//3
+f 4//4 12//12 15//15
+# 40 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e739262d4825a1088873a923fb0c9502943e2143
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_l.wrl
@@ -0,0 +1,220 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0.99999994 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation -25.299999 0 0
+                  rotation 0 0 1  0
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -69.835503 28.178101 26.8894,
+                                  -69.926399 15.2909 35.692299,
+                                  4.76682 11.7526 8.2778502,
+                                  2.7239499 -8.84517 13.831,
+                                  -69.114304 39.8983 5.1366501,
+                                  -244.14101 37.296101 19.257299,
+                                  -71.973602 -9.7248602 39.421501,
+                                  -284.72101 39.367699 10.0836,
+                                  -294.13101 36.874401 -33.73,
+                                  -295.20499 -23.0207 -32.377399,
+                                  -68.9291 -38.860401 12.1225,
+                                  0.70487899 -12.8186 -9.5321503,
+                                  -229.119 1.54814 38.4039,
+                                  -70.604401 33.278099 -24.141701,
+                                  2.6532099 9.8333902 -12.58,
+                                  -69.156998 14.5311 -38.210899,
+                                  -69.265404 -6.7177901 -41.343201,
+                                  -284.10699 -22.944599 11.0199,
+                                  -136.224 -0.94764 -43.374802,
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+                            }
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+                            Normal {
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+                            normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
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+                                81, 81, 82, -1, 81, 83, 81, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.obj b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6094f0e98a0f1c0cdc8322fc69c9e23fe08f69b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.obj
@@ -0,0 +1,88 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object upperarm_r.obj
+#
+# Vertices: 19
+# Faces: 34
+#
+####
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+vn -5.005787 1.410458 0.885626
+v -0.040545 0.009631 -0.095244 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 3//3 5//5
+f 6//6 4//4 5//5
+f 7//7 6//6 5//5
+f 8//8 5//5 2//2
+f 2//2 5//5 3//3
+f 1//1 3//3 4//4
+f 9//9 10//10 2//2
+f 8//8 2//2 10//10
+f 11//11 12//12 13//13
+f 14//14 12//12 15//15
+f 14//14 15//15 16//16
+f 8//8 7//7 5//5
+f 10//10 9//9 16//16
+f 14//14 16//16 9//9
+f 13//13 7//7 11//11
+f 14//14 9//9 1//1
+f 12//12 11//11 15//15
+f 17//17 8//8 10//10
+f 11//11 7//7 17//17
+f 12//12 18//18 13//13
+f 4//4 13//13 18//18
+f 6//6 13//13 4//4
+f 13//13 6//6 7//7
+f 10//10 16//16 19//19
+f 17//17 10//10 19//19
+f 19//19 11//11 17//17
+f 16//16 15//15 19//19
+f 11//11 19//19 15//15
+f 2//2 1//1 9//9
+f 18//18 12//12 14//14
+f 1//1 4//4 18//18
+f 18//18 14//14 1//1
+f 8//8 17//17 7//7
+# 34 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8b016e97e4c017d41c5843b152473b088eb71b9b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/upperarm_r.wrl
@@ -0,0 +1,201 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0.99999994 -0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 1 0 0  3.1400001
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation -25.299999 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
+                          translation 0 0 0
+                          rotation 0 0 1  0
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.89999998 0.89999998 0.89999998
+                                  ambientIntensity 0.17999999
+                                  specularColor 0.1 0.1 0.1
+                                  shininess 0.5
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
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+                                      -69.975998 -9.5665703 -40.4846 ]
+
+                                }
+                                normal 
+                                Normal {
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+                                    44, 45, 46, -1, 47, 48, 45, -1,
+                                    49, 48, 47, -1, 48, 49, 50, -1,
+                                    51, 28, 52, -1, 39, 26, 52, -1,
+                                    53, 54, 43, -1, 24, 55, 53, -1,
+                                    56, 53, 57, -1, 16, 58, 59, -1,
+                                    60, 22, 21, -1, 61, 62, 61, -1,
+                                    61, 63, 61, -1, 64, 64, 64, -1 ]
+                                ccw TRUE
+                                solid FALSE
+                                convex TRUE
+                                creaseAngle 0.5
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.obj b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e37cd111e0fb538eefeef4c1a2b545abf3f25baf
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.obj
@@ -0,0 +1,76 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object wrist1_l.obj
+#
+# Vertices: 16
+# Faces: 28
+#
+####
+vn 1.444488 2.115852 2.141826
+v 0.004978 0.022000 0.027504 0.898039 0.898039 0.898039
+vn 3.109068 0.000000 3.313369
+v 0.009478 0.000000 0.027508 0.898039 0.898039 0.898039
+vn 3.098533 2.912080 0.008034
+v 0.012000 0.022000 0.000010 0.898039 0.898039 0.898039
+vn 3.098533 -2.912080 0.008034
+v 0.012000 -0.022000 0.000010 0.898039 0.898039 0.898039
+vn 1.444488 -2.115852 2.141826
+v 0.004978 -0.022000 0.027504 0.898039 0.898039 0.898039
+vn -3.790717 0.000000 -3.245568
+v -0.009478 0.000000 -0.027508 0.898039 0.898039 0.898039
+vn -1.455436 2.084750 -2.120463
+v -0.004977 0.022000 -0.028504 0.898039 0.898039 0.898039
+vn -1.455436 -2.084750 -2.120463
+v -0.004977 -0.022000 -0.028504 0.898039 0.898039 0.898039
+vn -3.098541 2.912080 0.003100
+v -0.012000 0.022000 -0.000010 0.898039 0.898039 0.898039
+vn -3.098541 -2.912080 0.003100
+v -0.012000 -0.022000 -0.000010 0.898039 0.898039 0.898039
+vn 3.795880 0.000000 -3.239527
+v 0.009522 0.000000 -0.027492 0.898039 0.898039 0.898039
+vn 1.458811 -2.084750 -2.118143
+v 0.005023 -0.022000 -0.028496 0.898039 0.898039 0.898039
+vn 1.458811 2.084750 -2.118143
+v 0.005023 0.022000 -0.028496 0.898039 0.898039 0.898039
+vn -3.114340 0.000000 3.308414
+v -0.009522 0.000000 0.027492 0.898039 0.898039 0.898039
+vn -1.447897 2.115852 2.139523
+v -0.005022 0.022000 0.027496 0.898039 0.898039 0.898039
+vn -1.447897 -2.115852 2.139523
+v -0.005022 -0.022000 0.027496 0.898039 0.898039 0.898039
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 2//2 5//5
+f 4//4 3//3 2//2
+f 6//6 7//7 8//8
+f 6//6 9//9 7//7
+f 8//8 10//10 6//6
+f 6//6 10//10 9//9
+f 11//11 12//12 13//13
+f 11//11 13//13 3//3
+f 11//11 4//4 12//12
+f 4//4 11//11 3//3
+f 14//14 15//15 9//9
+f 9//9 10//10 14//14
+f 10//10 16//16 14//14
+f 12//12 8//8 7//7
+f 12//12 7//7 13//13
+f 1//1 13//13 7//7
+f 3//3 13//13 1//1
+f 1//1 9//9 15//15
+f 7//7 9//9 1//1
+f 12//12 16//16 8//8
+f 16//16 10//10 8//8
+f 4//4 16//16 12//12
+f 16//16 4//4 5//5
+f 14//14 16//16 5//5
+f 5//5 2//2 14//14
+f 14//14 2//2 1//1
+f 14//14 1//1 15//15
+# 28 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..af0e490c8e61e159813471bda036762a7b96994f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_l.wrl
@@ -0,0 +1,138 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0.99999994 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0 1  0
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.89999998 0.89999998 0.89999998
+                              ambientIntensity 0.17999999
+                              specularColor 0.1 0.1 0.1
+                              shininess 0.5
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ -27.5 22 5,
+                                  -27.5 8.2432603e-014 9.4998703,
+                                  7.4520597e-014 22 12,
+                                  7.8866303e-014 -22 12,
+                                  -27.5 -22 5,
+                                  27.5 8.34085e-014 -9.4998703,
+                                  28.5 22 -5,
+                                  28.5 -22 -5,
+                                  8.03921e-014 22 -12,
+                                  7.5920701e-014 -22 -12,
+                                  27.5 8.5850997e-014 9.4998703,
+                                  28.5 -22 5,
+                                  28.5 22 5,
+                                  -27.5 8.6984497e-014 -9.4998703,
+                                  -27.5 22 -5,
+                                  -27.5 -22 -5 ]
+
+                            }
+                            normal 
+                            Normal {
+                              vector [ -0.24197149 0.19443578 0.95060229,
+                                  -0.19450888 -3.0276947e-018 0.9809007,
+                                  -0.0019269871 0.096802168 0.99530172,
+                                  -0.0019269871 -0.096802168 0.99530172,
+                                  -0.24197149 -0.19443578 0.95060229,
+                                  0.9761858 0 -0.21693642,
+                                  0.99735397 0 -0.072697885,
+                                  0.99402857 0 -0.1091198,
+                                  0.18910144 -3.1103561e-018 -0.98195767,
+                                  -0.0019269873 0.096802182 -0.99530178,
+                                  0.23442686 0.18456748 -0.95445222,
+                                  0.23442686 -0.18456748 -0.95445222,
+                                  -0.0019269871 -0.096802168 -0.99530172,
+                                  0.9761858 -0 0.21693642,
+                                  0.99735397 0 0.072697885,
+                                  0.99402857 0 0.1091198,
+                                  0.18910144 0 0.98195767,
+                                  0.23442686 0.18456748 0.95445222,
+                                  0.23442686 -0.18456748 0.95445222,
+                                  -0.19450888 0 -0.9809007,
+                                  -0.24197149 0.19443578 -0.95060229,
+                                  -0.24197149 -0.19443578 -0.95060229,
+                                  0 1 0,
+                                  0 -1 0,
+                                  -1 0 0 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 1, 4, -1,
+                                3, 2, 1, -1, 5, 6, 7, -1,
+                                5, 8, 6, -1, 7, 9, 5, -1,
+                                5, 9, 8, -1, 10, 11, 12, -1,
+                                10, 12, 2, -1, 10, 3, 11, -1,
+                                3, 10, 2, -1, 13, 14, 8, -1,
+                                8, 9, 13, -1, 9, 15, 13, -1,
+                                11, 7, 6, -1, 11, 6, 12, -1,
+                                0, 12, 6, -1, 2, 12, 0, -1,
+                                0, 8, 14, -1, 6, 8, 0, -1,
+                                11, 15, 7, -1, 15, 9, 7, -1,
+                                3, 15, 11, -1, 15, 3, 4, -1,
+                                13, 15, 4, -1, 4, 1, 13, -1,
+                                13, 1, 0, -1, 13, 0, 14, -1 ]
+                            normalIndex [ 0, 1, 2, -1, 3, 1, 4, -1,
+                                3, 2, 1, -1, 5, 6, 7, -1,
+                                8, 9, 10, -1, 11, 12, 8, -1,
+                                8, 12, 9, -1, 13, 14, 15, -1,
+                                16, 17, 2, -1, 16, 3, 18, -1,
+                                3, 16, 2, -1, 19, 20, 9, -1,
+                                9, 12, 19, -1, 12, 21, 19, -1,
+                                14, 7, 6, -1, 14, 6, 15, -1,
+                                22, 22, 22, -1, 22, 22, 22, -1,
+                                22, 22, 22, -1, 22, 22, 22, -1,
+                                23, 23, 23, -1, 23, 23, 23, -1,
+                                23, 23, 23, -1, 23, 23, 23, -1,
+                                24, 24, 24, -1, 24, 24, 24, -1,
+                                24, 24, 24, -1, 24, 24, 24, -1 ]
+                            ccw TRUE
+                            solid FALSE
+                            convex TRUE
+                            creaseAngle 0.5
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.obj b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca905429d115bb5f6c0681411223b46a94dc8e26
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.obj
@@ -0,0 +1,76 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object wrist1_r.obj
+#
+# Vertices: 16
+# Faces: 28
+#
+####
+vn 1.442803 -2.118707 -2.140138
+v 0.004961 -0.022026 -0.027486 0.898039 0.898039 0.898039
+vn 3.109067 -0.005115 -3.313366
+v 0.009478 -0.000029 -0.027508 0.898039 0.898039 0.898039
+vn 3.096213 -2.914552 -0.005711
+v 0.011982 -0.022010 0.000008 0.898039 0.898039 0.898039
+vn 3.100850 2.909605 -0.010352
+v 0.012018 0.021990 -0.000027 0.898039 0.898039 0.898039
+vn 1.446172 2.112994 -2.143510
+v 0.004996 0.021974 -0.027521 0.898039 0.898039 0.898039
+vn -3.790716 0.005604 3.245564
+v -0.009478 0.000029 0.027508 0.898039 0.898039 0.898039
+vn -1.457095 -2.081900 2.122123
+v -0.004995 -0.021973 0.028521 0.898039 0.898039 0.898039
+vn -1.453776 2.087597 2.118801
+v -0.004960 0.022027 0.028486 0.898039 0.898039 0.898039
+vn -3.100859 -2.909614 -0.000781
+v -0.012018 -0.021990 0.000027 0.898039 0.898039 0.898039
+vn -3.096222 2.914543 -0.005422
+v -0.011982 0.022010 -0.000008 0.898039 0.898039 0.898039
+vn 3.795879 -0.000441 3.239529
+v 0.009522 0.000014 0.027492 0.898039 0.898039 0.898039
+vn 1.460470 2.085275 2.116482
+v 0.005040 0.022019 0.028478 0.898039 0.898039 0.898039
+vn 1.457150 -2.084222 2.119805
+v 0.005005 -0.021981 0.028514 0.898039 0.898039 0.898039
+vn -3.114339 -0.000157 -3.308415
+v -0.009522 -0.000014 -0.027492 0.898039 0.898039 0.898039
+vn -1.449581 -2.116403 -2.137837
+v -0.005039 -0.022018 -0.027478 0.898039 0.898039 0.898039
+vn -1.446212 2.115299 -2.141209
+v -0.005004 0.021982 -0.027514 0.898039 0.898039 0.898039
+# 16 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 2//2 5//5
+f 4//4 3//3 2//2
+f 6//6 7//7 8//8
+f 6//6 9//9 7//7
+f 8//8 10//10 6//6
+f 6//6 10//10 9//9
+f 11//11 12//12 13//13
+f 11//11 13//13 3//3
+f 11//11 4//4 12//12
+f 4//4 11//11 3//3
+f 14//14 15//15 9//9
+f 9//9 10//10 14//14
+f 10//10 16//16 14//14
+f 12//12 8//8 7//7
+f 12//12 7//7 13//13
+f 1//1 13//13 7//7
+f 3//3 13//13 1//1
+f 1//1 9//9 15//15
+f 7//7 9//9 1//1
+f 12//12 16//16 8//8
+f 16//16 10//10 8//8
+f 4//4 16//16 12//12
+f 16//16 4//4 5//5
+f 14//14 16//16 5//5
+f 5//5 2//2 14//14
+f 14//14 2//2 1//1
+f 14//14 1//1 15//15
+# 28 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e6628ff818cd8253b05a81b668d3a4d92623e121
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist1_r.wrl
@@ -0,0 +1,156 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0.99999994 0 0  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Transform {
+                              translation 0 0 0
+                              rotation 0 0 1  0
+                              scale 1 1 1
+                              scaleOrientation 0 0 1  0
+                              center 0 0 0
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.89999998 0.89999998 0.89999998
+                                      ambientIntensity 0.17999999
+                                      specularColor 0.1 0.1 0.1
+                                      shininess 0.5
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
+                                      point [ -27.5 22 5,
+                                          -27.5 8.2432603e-014 9.4998703,
+                                          7.4520597e-014 22 12,
+                                          7.8866303e-014 -22 12,
+                                          -27.5 -22 5,
+                                          27.5 8.34085e-014 -9.4998703,
+                                          28.5 22 -5,
+                                          28.5 -22 -5,
+                                          8.03921e-014 22 -12,
+                                          7.5920701e-014 -22 -12,
+                                          27.5 8.5850997e-014 9.4998703,
+                                          28.5 -22 5,
+                                          28.5 22 5,
+                                          -27.5 8.6984497e-014 -9.4998703,
+                                          -27.5 22 -5,
+                                          -27.5 -22 -5 ]
+
+                                    }
+                                    normal 
+                                    Normal {
+                                      vector [ -0.24197149 0.19443578 0.95060229,
+                                          -0.19450888 -3.0276947e-018 0.9809007,
+                                          -0.0019269871 0.096802168 0.99530172,
+                                          -0.0019269871 -0.096802168 0.99530172,
+                                          -0.24197149 -0.19443578 0.95060229,
+                                          0.9761858 0 -0.21693642,
+                                          0.99735397 0 -0.072697885,
+                                          0.99402857 0 -0.1091198,
+                                          0.18910144 -3.1103561e-018 -0.98195767,
+                                          -0.0019269873 0.096802182 -0.99530178,
+                                          0.23442686 0.18456748 -0.95445222,
+                                          0.23442686 -0.18456748 -0.95445222,
+                                          -0.0019269871 -0.096802168 -0.99530172,
+                                          0.9761858 -0 0.21693642,
+                                          0.99735397 0 0.072697885,
+                                          0.99402857 0 0.1091198,
+                                          0.18910144 0 0.98195767,
+                                          0.23442686 0.18456748 0.95445222,
+                                          0.23442686 -0.18456748 0.95445222,
+                                          -0.19450888 0 -0.9809007,
+                                          -0.24197149 0.19443578 -0.95060229,
+                                          -0.24197149 -0.19443578 -0.95060229,
+                                          0 1 0,
+                                          0 -1 0,
+                                          -1 0 0 ]
+
+                                    }
+                                    coordIndex [ 0, 1, 2, -1, 3, 1, 4, -1,
+                                        3, 2, 1, -1, 5, 6, 7, -1,
+                                        5, 8, 6, -1, 7, 9, 5, -1,
+                                        5, 9, 8, -1, 10, 11, 12, -1,
+                                        10, 12, 2, -1, 10, 3, 11, -1,
+                                        3, 10, 2, -1, 13, 14, 8, -1,
+                                        8, 9, 13, -1, 9, 15, 13, -1,
+                                        11, 7, 6, -1, 11, 6, 12, -1,
+                                        0, 12, 6, -1, 2, 12, 0, -1,
+                                        0, 8, 14, -1, 6, 8, 0, -1,
+                                        11, 15, 7, -1, 15, 9, 7, -1,
+                                        3, 15, 11, -1, 15, 3, 4, -1,
+                                        13, 15, 4, -1, 4, 1, 13, -1,
+                                        13, 1, 0, -1, 13, 0, 14, -1 ]
+                                    normalIndex [ 0, 1, 2, -1, 3, 1, 4, -1,
+                                        3, 2, 1, -1, 5, 6, 7, -1,
+                                        8, 9, 10, -1, 11, 12, 8, -1,
+                                        8, 12, 9, -1, 13, 14, 15, -1,
+                                        16, 17, 2, -1, 16, 3, 18, -1,
+                                        3, 16, 2, -1, 19, 20, 9, -1,
+                                        9, 12, 19, -1, 12, 21, 19, -1,
+                                        14, 7, 6, -1, 14, 6, 15, -1,
+                                        22, 22, 22, -1, 22, 22, 22, -1,
+                                        22, 22, 22, -1, 22, 22, 22, -1,
+                                        23, 23, 23, -1, 23, 23, 23, -1,
+                                        23, 23, 23, -1, 23, 23, 23, -1,
+                                        24, 24, 24, -1, 24, 24, 24, -1,
+                                        24, 24, 24, -1, 24, 24, 24, -1 ]
+                                    ccw TRUE
+                                    solid FALSE
+                                    convex TRUE
+                                    creaseAngle 0.5
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.obj b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..301c56493b3d93ed0818b9bcb59f999ee6851e83
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.obj
@@ -0,0 +1,84 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object wrist2_l.obj
+#
+# Vertices: 18
+# Faces: 32
+#
+####
+vn -1.221866 -2.391868 -2.533177
+v -0.004034 -0.035994 -0.029003 0.898039 0.898039 0.898039
+vn -1.225898 -2.391865 2.531232
+v -0.004080 -0.035994 0.028997 0.898039 0.898039 0.898039
+vn -2.952116 -2.270876 -0.047280
+v -0.022555 -0.034964 -0.000018 0.898039 0.898039 0.898039
+vn 1.218275 -2.395754 -2.531235
+v 0.003966 -0.036006 -0.028997 0.898039 0.898039 0.898039
+vn 3.057415 0.252781 -3.699303
+v 0.011048 -0.003270 -0.028991 0.898039 0.898039 0.898039
+vn 2.944940 -2.280266 -0.042585
+v 0.022444 -0.035036 0.000018 0.898039 0.898039 0.898039
+vn 1.214243 -2.395750 2.533174
+v 0.003920 -0.036006 0.029003 0.898039 0.898039 0.898039
+vn 2.215799 1.821140 2.347212
+v 0.009198 0.006872 0.029007 0.898039 0.898039 0.898039
+vn 5.547710 0.186928 0.831837
+v 0.022425 -0.032036 0.001044 0.898039 0.898039 0.898039
+vn 2.220869 1.816277 -2.341504
+v 0.009244 0.006872 -0.028993 0.898039 0.898039 0.898039
+vn -3.050700 0.262507 -3.704166
+v -0.011013 -0.003235 -0.029009 0.898039 0.898039 0.898039
+vn 3.043975 0.244917 3.745270
+v 0.011002 -0.003270 0.029009 0.898039 0.898039 0.898039
+vn -3.049140 0.254619 3.740419
+v -0.011059 -0.003234 0.028991 0.898039 0.898039 0.898039
+vn -2.213723 1.828193 2.343686
+v -0.009222 0.006901 0.028993 0.898039 0.898039 0.898039
+vn -5.548404 0.204596 0.823003
+v -0.022528 -0.031964 0.001008 0.898039 0.898039 0.898039
+vn -2.211342 1.823335 -2.345033
+v -0.009176 0.006901 -0.029007 0.898039 0.898039 0.898039
+vn 0.006234 2.808920 -2.212871
+v 0.000041 0.011500 -0.029000 0.898039 0.898039 0.898039
+vn 0.002711 2.808923 2.212875
+v -0.000005 0.011500 0.029000 0.898039 0.898039 0.898039
+# 18 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 4//4 6//6
+f 8//8 9//9 10//10
+f 9//9 5//5 10//10
+f 9//9 6//6 5//5
+f 11//11 1//1 3//3
+f 12//12 9//9 8//8
+f 12//12 7//7 6//6
+f 6//6 9//9 12//12
+f 13//13 3//3 2//2
+f 13//13 14//14 15//15
+f 3//3 13//13 15//15
+f 15//15 14//14 16//16
+f 11//11 15//15 16//16
+f 15//15 11//11 3//3
+f 7//7 1//1 4//4
+f 7//7 2//2 1//1
+f 11//11 16//16 17//17
+f 11//11 5//5 4//4
+f 1//1 11//11 4//4
+f 10//10 5//5 11//11
+f 11//11 17//17 10//10
+f 18//18 10//10 17//17
+f 18//18 8//8 10//10
+f 7//7 14//14 2//2
+f 8//8 18//18 14//14
+f 14//14 7//7 12//12
+f 14//14 12//12 8//8
+f 14//14 13//13 2//2
+f 14//14 17//17 16//16
+f 14//14 18//18 17//17
+# 32 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.wrl b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..22f351390af4f8465dd6aebff44a4f01df644ac3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_l.wrl
@@ -0,0 +1,171 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0.99999994 0 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0.99999994 0  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Transform {
+                              translation 0 0 0
+                              rotation 0 0 1  0
+                              scale 1 1 1
+                              scaleOrientation 0 0 1  0
+                              center 0 0 0
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.89999998 0.89999998 0.89999998
+                                      ambientIntensity 0.17999999
+                                      specularColor 0.1 0.1 0.1
+                                      shininess 0.5
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
+                                      point [ 4 -29 -36,
+                                          4 29 -36,
+                                          22.4998 8.14172e-014 -35,
+                                          -4 -29 -36,
+                                          -11.0305 -29 -3.25208,
+                                          -22.4998 8.5560397e-014 -35,
+                                          -4 29 -36,
+                                          -9.2097797 29 6.8867102,
+                                          -22.476601 1.02616 -32,
+                                          -9.2097797 -29 6.8867102,
+                                          11.0305 -29 -3.25208,
+                                          -11.0305 29 -3.25208,
+                                          11.0305 29 -3.25208,
+                                          9.2097797 29 6.8867102,
+                                          22.476601 1.02616 -32,
+                                          9.2097797 -29 6.8867102,
+                                          7.6539103e-014 -29 11.4998,
+                                          7.0908401e-014 29 11.4998 ]
+
+                                    }
+                                    normal 
+                                    Normal {
+                                      vector [ 0.017997779 0 -0.99983805,
+                                          0.026997764 0 -0.99963558,
+                                          0.053975843 0 -0.99854231,
+                                          -0.83228016 -0.52477026 -0.17867839,
+                                          -0.91327977 -0.40533286 -0.040316783,
+                                          -0.017997779 0 -0.99983805,
+                                          -0.026997764 0 -0.99963558,
+                                          -0.053975843 0 -0.99854231,
+                                          -0.96212578 0.10888536 0.24991593,
+                                          -0.97837019 -0.06529507 0.19628604,
+                                          -0.96289343 -0.10167933 0.24999531,
+                                          -0.9621067 -0.23601368 0.13655892,
+                                          -0.93988591 -0.33997568 0.032112256,
+                                          0.91327977 -0.40533292 -0.040316906,
+                                          0.83228016 -0.52477026 -0.17867839,
+                                          -0.90039259 0.4308446 -0.060548004,
+                                          -0.99036294 0.055776898 0.12676808,
+                                          -0.83228016 0.52477026 -0.17867839,
+                                          -0.83509874 0.52160078 -0.17476499,
+                                          -0.92584246 0.37790874 0.00089496968,
+                                          0.90039259 0.4308446 -0.060547974,
+                                          0.83509874 0.52160078 -0.17476493,
+                                          0.83228022 0.52477032 -0.17867841,
+                                          0.96212578 0.10888535 0.24991591,
+                                          0.99036294 0.055776879 0.12676805,
+                                          0.9258424 0.37790868 0.0008950156,
+                                          0.97837025 -0.065295108 0.19628596,
+                                          0.96289343 -0.10167933 0.24999531,
+                                          0.9621067 -0.23601374 0.1365588,
+                                          0.9398858 -0.33997568 0.03211217,
+                                          0 -1 0,
+                                          -0.44785035 0 0.89410859,
+                                          0 1 0,
+                                          0.44785035 2.1738897e-017 0.89410859 ]
+
+                                    }
+                                    coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                        6, 3, 5, -1, 7, 8, 9, -1,
+                                        8, 4, 9, -1, 8, 5, 4, -1,
+                                        10, 0, 2, -1, 11, 8, 7, -1,
+                                        11, 6, 5, -1, 5, 8, 11, -1,
+                                        12, 2, 1, -1, 12, 13, 14, -1,
+                                        2, 12, 14, -1, 14, 13, 15, -1,
+                                        10, 14, 15, -1, 14, 10, 2, -1,
+                                        6, 0, 3, -1, 6, 1, 0, -1,
+                                        10, 15, 16, -1, 10, 4, 3, -1,
+                                        0, 10, 3, -1, 9, 4, 10, -1,
+                                        10, 16, 9, -1, 17, 9, 16, -1,
+                                        17, 7, 9, -1, 6, 13, 1, -1,
+                                        7, 17, 13, -1, 13, 6, 11, -1,
+                                        13, 11, 7, -1, 13, 12, 1, -1,
+                                        13, 16, 15, -1, 13, 17, 16, -1 ]
+                                    normalIndex [ 0, 1, 2, -1, 3, 4, 4, -1,
+                                        5, 6, 7, -1, 8, 9, 10, -1,
+                                        9, 11, 10, -1, 9, 4, 12, -1,
+                                        13, 14, 13, -1, 15, 16, 8, -1,
+                                        15, 17, 18, -1, 18, 19, 15, -1,
+                                        20, 21, 22, -1, 20, 23, 24, -1,
+                                        21, 20, 25, -1, 26, 23, 27, -1,
+                                        28, 26, 27, -1, 26, 29, 13, -1,
+                                        5, 0, 6, -1, 5, 1, 0, -1,
+                                        30, 30, 30, -1, 30, 30, 30, -1,
+                                        30, 30, 30, -1, 30, 30, 30, -1,
+                                        30, 30, 30, -1, 31, 31, 31, -1,
+                                        31, 31, 31, -1, 32, 32, 32, -1,
+                                        32, 32, 32, -1, 32, 32, 32, -1,
+                                        32, 32, 32, -1, 32, 32, 32, -1,
+                                        33, 33, 33, -1, 33, 33, 33, -1 ]
+                                    ccw TRUE
+                                    solid FALSE
+                                    convex TRUE
+                                    creaseAngle 0.5
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.obj b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0497a3c9b728481e6e126656b5249767918cf18
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.obj
@@ -0,0 +1,84 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object wrist2_r.obj
+#
+# Vertices: 18
+# Faces: 32
+#
+####
+vn -1.219963 -2.394856 -2.531272
+v -0.004006 -0.036020 -0.028975 0.898039 0.898039 0.898039
+vn -1.223995 -2.390823 2.533136
+v -0.004052 -0.035974 0.029025 0.898039 0.898039 0.898039
+vn -2.950308 -2.273261 -0.045470
+v -0.022528 -0.034982 0.000010 0.898039 0.898039 0.898039
+vn 1.220180 -2.396798 -2.529327
+v 0.003994 -0.036026 -0.028968 0.898039 0.898039 0.898039
+vn 3.057213 0.252268 -3.699505
+v 0.011051 -0.003284 -0.028989 0.898039 0.898039 0.898039
+vn 2.946753 -2.277956 -0.040772
+v 0.022472 -0.035018 0.000046 0.898039 0.898039 0.898039
+vn 1.216148 -2.392766 2.535080
+v 0.003948 -0.035980 0.029032 0.898039 0.898039 0.898039
+vn 2.214350 1.824770 2.345760
+v 0.009192 0.006902 0.029002 0.898039 0.898039 0.898039
+vn 5.547559 0.192003 0.831685
+v 0.022450 -0.032017 0.001070 0.898039 0.898039 0.898039
+vn 2.219423 1.816179 -2.342951
+v 0.009238 0.006856 -0.028998 0.898039 0.898039 0.898039
+vn -3.050908 0.257131 -3.704372
+v -0.011010 -0.003266 -0.029006 0.898039 0.898039 0.898039
+vn 3.043780 0.250320 3.745072
+v 0.011005 -0.003238 0.029011 0.898039 0.898039 0.898039
+vn -3.049341 0.255171 3.740217
+v -0.011056 -0.003220 0.028994 0.898039 0.898039 0.898039
+vn -2.215177 1.828297 2.342231
+v -0.009227 0.006917 0.028987 0.898039 0.898039 0.898039
+vn -5.548565 0.200837 0.822843
+v -0.022503 -0.031981 0.001034 0.898039 0.898039 0.898039
+vn -2.212792 1.819707 -2.346482
+v -0.009181 0.006871 -0.029013 0.898039 0.898039 0.898039
+vn 0.004000 2.807161 -2.215107
+v 0.000032 0.011477 -0.029009 0.898039 0.898039 0.898039
+vn 0.000476 2.810685 2.210637
+v -0.000014 0.011523 0.028991 0.898039 0.898039 0.898039
+# 18 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 4//4 5//5 6//6
+f 7//7 4//4 6//6
+f 8//8 9//9 10//10
+f 9//9 5//5 10//10
+f 9//9 6//6 5//5
+f 11//11 1//1 3//3
+f 12//12 9//9 8//8
+f 12//12 7//7 6//6
+f 6//6 9//9 12//12
+f 13//13 3//3 2//2
+f 13//13 14//14 15//15
+f 3//3 13//13 15//15
+f 15//15 14//14 16//16
+f 11//11 15//15 16//16
+f 15//15 11//11 3//3
+f 7//7 1//1 4//4
+f 7//7 2//2 1//1
+f 11//11 16//16 17//17
+f 11//11 5//5 4//4
+f 1//1 11//11 4//4
+f 10//10 5//5 11//11
+f 11//11 17//17 10//10
+f 18//18 10//10 17//17
+f 18//18 8//8 10//10
+f 7//7 14//14 2//2
+f 8//8 18//18 14//14
+f 14//14 7//7 12//12
+f 14//14 12//12 8//8
+f 14//14 13//13 2//2
+f 14//14 17//17 16//16
+f 14//14 18//18 17//17
+# 32 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.wrl b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..9ba1d2ba26bb2a3e64f1055a1dd9831b54ae3d3c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/convexModel/wrist2_r.wrl
@@ -0,0 +1,171 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 0.001 0.001 0.001
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0.99999994 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Transform {
+                      translation 0 0 0
+                      rotation 0 0.99999994 0  1.5700002
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Transform {
+                              translation 0 0 0
+                              rotation 0 0 1  0
+                              scale 1 1 1
+                              scaleOrientation 0 0 1  0
+                              center 0 0 0
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.89999998 0.89999998 0.89999998
+                                      ambientIntensity 0.17999999
+                                      specularColor 0.1 0.1 0.1
+                                      shininess 0.5
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
+                                      point [ 4 -29 -36,
+                                          4 29 -36,
+                                          22.4998 8.14172e-014 -35,
+                                          -4 -29 -36,
+                                          -11.0305 -29 -3.25208,
+                                          -22.4998 8.5560397e-014 -35,
+                                          -4 29 -36,
+                                          -9.2097797 29 6.8867102,
+                                          -22.476601 1.02616 -32,
+                                          -9.2097797 -29 6.8867102,
+                                          11.0305 -29 -3.25208,
+                                          -11.0305 29 -3.25208,
+                                          11.0305 29 -3.25208,
+                                          9.2097797 29 6.8867102,
+                                          22.476601 1.02616 -32,
+                                          9.2097797 -29 6.8867102,
+                                          7.6539103e-014 -29 11.4998,
+                                          7.0908401e-014 29 11.4998 ]
+
+                                    }
+                                    normal 
+                                    Normal {
+                                      vector [ 0.017997779 0 -0.99983805,
+                                          0.026997764 0 -0.99963558,
+                                          0.053975843 0 -0.99854231,
+                                          -0.83228016 -0.52477026 -0.17867839,
+                                          -0.91327977 -0.40533286 -0.040316783,
+                                          -0.017997779 0 -0.99983805,
+                                          -0.026997764 0 -0.99963558,
+                                          -0.053975843 0 -0.99854231,
+                                          -0.96212578 0.10888536 0.24991593,
+                                          -0.97837019 -0.06529507 0.19628604,
+                                          -0.96289343 -0.10167933 0.24999531,
+                                          -0.9621067 -0.23601368 0.13655892,
+                                          -0.93988591 -0.33997568 0.032112256,
+                                          0.91327977 -0.40533292 -0.040316906,
+                                          0.83228016 -0.52477026 -0.17867839,
+                                          -0.90039259 0.4308446 -0.060548004,
+                                          -0.99036294 0.055776898 0.12676808,
+                                          -0.83228016 0.52477026 -0.17867839,
+                                          -0.83509874 0.52160078 -0.17476499,
+                                          -0.92584246 0.37790874 0.00089496968,
+                                          0.90039259 0.4308446 -0.060547974,
+                                          0.83509874 0.52160078 -0.17476493,
+                                          0.83228022 0.52477032 -0.17867841,
+                                          0.96212578 0.10888535 0.24991591,
+                                          0.99036294 0.055776879 0.12676805,
+                                          0.9258424 0.37790868 0.0008950156,
+                                          0.97837025 -0.065295108 0.19628596,
+                                          0.96289343 -0.10167933 0.24999531,
+                                          0.9621067 -0.23601374 0.1365588,
+                                          0.9398858 -0.33997568 0.03211217,
+                                          0 -1 0,
+                                          -0.44785035 0 0.89410859,
+                                          0 1 0,
+                                          0.44785035 2.1738897e-017 0.89410859 ]
+
+                                    }
+                                    coordIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                        6, 3, 5, -1, 7, 8, 9, -1,
+                                        8, 4, 9, -1, 8, 5, 4, -1,
+                                        10, 0, 2, -1, 11, 8, 7, -1,
+                                        11, 6, 5, -1, 5, 8, 11, -1,
+                                        12, 2, 1, -1, 12, 13, 14, -1,
+                                        2, 12, 14, -1, 14, 13, 15, -1,
+                                        10, 14, 15, -1, 14, 10, 2, -1,
+                                        6, 0, 3, -1, 6, 1, 0, -1,
+                                        10, 15, 16, -1, 10, 4, 3, -1,
+                                        0, 10, 3, -1, 9, 4, 10, -1,
+                                        10, 16, 9, -1, 17, 9, 16, -1,
+                                        17, 7, 9, -1, 6, 13, 1, -1,
+                                        7, 17, 13, -1, 13, 6, 11, -1,
+                                        13, 11, 7, -1, 13, 12, 1, -1,
+                                        13, 16, 15, -1, 13, 17, 16, -1 ]
+                                    normalIndex [ 0, 1, 2, -1, 3, 4, 4, -1,
+                                        5, 6, 7, -1, 8, 9, 10, -1,
+                                        9, 11, 10, -1, 9, 4, 12, -1,
+                                        13, 14, 13, -1, 15, 16, 8, -1,
+                                        15, 17, 18, -1, 18, 19, 15, -1,
+                                        20, 21, 22, -1, 20, 23, 24, -1,
+                                        21, 20, 25, -1, 26, 23, 27, -1,
+                                        28, 26, 27, -1, 26, 29, 13, -1,
+                                        5, 0, 6, -1, 5, 1, 0, -1,
+                                        30, 30, 30, -1, 30, 30, 30, -1,
+                                        30, 30, 30, -1, 30, 30, 30, -1,
+                                        30, 30, 30, -1, 31, 31, 31, -1,
+                                        31, 31, 31, -1, 32, 32, 32, -1,
+                                        32, 32, 32, -1, 32, 32, 32, -1,
+                                        32, 32, 32, -1, 32, 32, 32, -1,
+                                        33, 33, 33, -1, 33, 33, 33, -1 ]
+                                    ccw TRUE
+                                    solid FALSE
+                                    convex TRUE
+                                    creaseAngle 0.5
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3125da4973b010727d03b6acc51805dd8e66f5d0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.obj
@@ -0,0 +1,428 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object elbow_l.obj
+#
+# Vertices: 102
+# Faces: 208
+#
+####
+vn -4.713636 -1.572050 -1.565793
+v -0.028482 -0.025482 0.023043 0.874510 0.945098 1.000000
+vn -2.856697 0.902989 -2.526037
+v -0.028535 -0.017035 -0.043964 0.874510 0.945098 1.000000
+vn -1.572044 -1.572048 -1.568294
+v -0.028535 -0.025535 -0.043957 0.874510 0.945098 1.000000
+vn -2.225228 2.161924 -2.825557
+v -0.011069 0.007743 -0.043997 0.874510 0.945098 1.000000
+vn -2.680627 -3.926107 1.115982
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..30a68473f1e7a69f4accaba6cdf927e37bb17ae0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_l.wrl
@@ -0,0 +1,456 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
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+      children 
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+              scale 1 1 1
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+              center 0 0 0
+              children 
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+                  scale 1 1 1
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+                  center 0 0 0
+                  children 
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+                                                50, 46, 48, -1, 45, 46, 50, -1,
+                                                51, 49, 10, -1, 52, 49, 51, -1,
+                                                48, 49, 52, -1, 51, 10, 11, -1,
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+                                                1, 1, 1, -1, 1, 1, 1, -1,
+                                                1, 1, 1, -1, 1, 1, 1, -1,
+                                                1, 1, 1, -1, 1, 1, 1, -1,
+                                                1, 1, 1, -1, 1, 1, 1, -1,
+                                                2, 2, 2, -1, 1, 1, 1, -1 ]
+                                            ccw TRUE
+                                            solid TRUE
+                                            convex TRUE
+                                            creaseAngle 0
+
+                                          }
+
+                                        }
+
+                                    }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb9d1b2e47e1033736acebd4a7fe925cb13b9a84
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.obj
@@ -0,0 +1,428 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fe6a7a3baed3236dd804f3247d710ed3f8792d32
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/elbow_r.wrl
@@ -0,0 +1,447 @@
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+                                        ccw TRUE
+                                        solid TRUE
+                                        convex TRUE
+                                        creaseAngle 0
+
+                                      }
+
+                                    }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f8975433a62e42b12e4ac55037f77bb72626f6
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.obj
@@ -0,0 +1,3132 @@
+####
+#
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+#
+####
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e60ec0e71d041bf2a1e8845d7299ae7d38b716ab
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_l.wrl
@@ -0,0 +1,3105 @@
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+
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+                                    471, 452, 390, -1, 471, 468, 452, -1,
+                                    472, 454, 453, -1, 472, 470, 454, -1,
+                                    473, 453, 455, -1, 474, 453, 473, -1,
+                                    475, 453, 474, -1, 476, 472, 453, -1,
+                                    475, 476, 453, -1, 477, 455, 456, -1,
+                                    478, 455, 477, -1, 473, 455, 478, -1,
+                                    479, 456, 457, -1, 480, 477, 456, -1,
+                                    481, 480, 456, -1, 479, 481, 456, -1,
+                                    482, 457, 312, -1, 482, 479, 457, -1,
+                                    313, 482, 312, -1, 483, 477, 480, -1,
+                                    478, 477, 483, -1, 484, 480, 481, -1,
+                                    483, 480, 484, -1, 485, 481, 479, -1,
+                                    486, 481, 485, -1, 484, 481, 486, -1,
+                                    487, 479, 482, -1, 488, 485, 479, -1,
+                                    487, 488, 479, -1, 314, 482, 313, -1,
+                                    314, 487, 482, -1, 488, 486, 485, -1,
+                                    489, 486, 488, -1, 489, 484, 486, -1,
+                                    490, 488, 487, -1, 490, 489, 488, -1,
+                                    315, 487, 314, -1, 315, 490, 487, -1,
+                                    489, 483, 484, -1, 489, 478, 483, -1,
+                                    491, 478, 489, -1, 492, 473, 478, -1,
+                                    491, 492, 478, -1, 493, 489, 490, -1,
+                                    493, 491, 489, -1, 316, 490, 315, -1,
+                                    316, 493, 490, -1, 494, 495, 473, -1,
+                                    496, 473, 495, -1, 492, 494, 473, -1,
+                                    496, 474, 473, -1, 497, 498, 495, -1,
+                                    499, 495, 498, -1, 494, 497, 495, -1,
+                                    500, 496, 495, -1, 499, 500, 495, -1,
+                                    501, 502, 498, -1, 503, 498, 502, -1,
+                                    497, 501, 498, -1, 503, 353, 498, -1,
+                                    504, 498, 353, -1, 504, 499, 498, -1,
+                                    501, 466, 502, -1, 505, 502, 466, -1,
+                                    505, 503, 502, -1, 506, 463, 466, -1,
+                                    501, 506, 466, -1, 467, 507, 466, -1,
+                                    508, 466, 507, -1, 508, 505, 466, -1,
+                                    509, 510, 463, -1, 464, 463, 510, -1,
+                                    506, 509, 463, -1, 511, 512, 510, -1,
+                                    513, 510, 512, -1, 509, 511, 510, -1,
+                                    514, 510, 513, -1, 515, 510, 514, -1,
+                                    515, 464, 510, -1, 284, 285, 512, -1,
+                                    516, 512, 285, -1, 511, 284, 512, -1,
+                                    513, 512, 516, -1, 516, 285, 286, -1,
+                                    283, 284, 511, -1, 428, 511, 509, -1,
+                                    428, 283, 511, -1, 427, 509, 506, -1,
+                                    427, 428, 509, -1, 426, 506, 501, -1,
+                                    426, 427, 506, -1, 425, 501, 497, -1,
+                                    425, 426, 501, -1, 424, 497, 494, -1,
+                                    424, 425, 497, -1, 423, 494, 492, -1,
+                                    423, 424, 494, -1, 422, 492, 491, -1,
+                                    422, 423, 492, -1, 421, 491, 493, -1,
+                                    421, 422, 491, -1, 420, 493, 316, -1,
+                                    420, 421, 493, -1, 317, 420, 316, -1,
+                                    286, 287, 458, -1, 516, 458, 459, -1,
+                                    516, 286, 458, -1, 513, 459, 461, -1,
+                                    513, 516, 459, -1, 514, 461, 462, -1,
+                                    517, 513, 461, -1, 517, 461, 514, -1,
+                                    515, 462, 460, -1, 515, 514, 462, -1,
+                                    515, 460, 464, -1, 517, 514, 513, -1,
+                                    518, 411, 372, -1, 519, 372, 411, -1,
+                                    520, 415, 411, -1, 519, 411, 413, -1,
+                                    521, 520, 411, -1, 518, 521, 411, -1,
+                                    518, 372, 375, -1, 522, 367, 372, -1,
+                                    523, 522, 372, -1, 519, 523, 372, -1,
+                                    524, 375, 378, -1, 525, 518, 375, -1,
+                                    524, 525, 375, -1, 526, 378, 384, -1,
+                                    527, 524, 378, -1, 526, 527, 378, -1,
+                                    528, 384, 387, -1, 528, 526, 384, -1,
+                                    529, 387, 390, -1, 529, 528, 387, -1,
+                                    471, 390, 419, -1, 529, 390, 470, -1,
+                                    530, 419, 418, -1, 530, 471, 419, -1,
+                                    531, 418, 417, -1, 531, 530, 418, -1,
+                                    532, 417, 415, -1, 532, 531, 417, -1,
+                                    533, 532, 415, -1, 520, 533, 415, -1,
+                                    534, 413, 407, -1, 535, 519, 413, -1,
+                                    534, 535, 413, -1, 536, 407, 408, -1,
+                                    536, 537, 407, -1, 534, 407, 537, -1,
+                                    538, 408, 352, -1, 538, 536, 408, -1,
+                                    539, 352, 353, -1, 539, 538, 352, -1,
+                                    504, 353, 359, -1, 539, 353, 503, -1,
+                                    540, 359, 360, -1, 540, 504, 359, -1,
+                                    541, 360, 362, -1, 541, 540, 360, -1,
+                                    542, 362, 367, -1, 542, 541, 362, -1,
+                                    543, 542, 367, -1, 522, 543, 367, -1,
+                                    544, 545, 507, -1, 537, 507, 545, -1,
+                                    467, 544, 507, -1, 536, 508, 507, -1,
+                                    536, 507, 537, -1, 546, 547, 545, -1,
+                                    534, 545, 547, -1, 544, 546, 545, -1,
+                                    534, 537, 545, -1, 548, 549, 547, -1,
+                                    535, 547, 549, -1, 546, 548, 547, -1,
+                                    534, 547, 535, -1, 550, 551, 549, -1,
+                                    519, 549, 551, -1, 548, 550, 549, -1,
+                                    535, 549, 519, -1, 552, 553, 551, -1,
+                                    523, 551, 553, -1, 550, 552, 551, -1,
+                                    519, 551, 523, -1, 554, 555, 553, -1,
+                                    522, 553, 555, -1, 552, 554, 553, -1,
+                                    523, 553, 522, -1, 475, 474, 555, -1,
+                                    543, 555, 474, -1, 554, 475, 555, -1,
+                                    522, 555, 543, -1, 542, 474, 496, -1,
+                                    543, 474, 542, -1, 541, 496, 500, -1,
+                                    542, 496, 541, -1, 540, 500, 499, -1,
+                                    541, 500, 540, -1, 540, 499, 504, -1,
+                                    529, 470, 472, -1, 528, 472, 476, -1,
+                                    529, 472, 528, -1, 526, 476, 475, -1,
+                                    528, 476, 526, -1, 527, 475, 554, -1,
+                                    526, 475, 527, -1, 524, 554, 552, -1,
+                                    527, 554, 524, -1, 525, 552, 550, -1,
+                                    524, 552, 525, -1, 518, 550, 548, -1,
+                                    525, 550, 518, -1, 521, 548, 546, -1,
+                                    518, 548, 521, -1, 520, 546, 544, -1,
+                                    521, 546, 520, -1, 533, 544, 467, -1,
+                                    520, 544, 533, -1, 532, 467, 465, -1,
+                                    533, 467, 532, -1, 531, 465, 469, -1,
+                                    532, 465, 531, -1, 530, 469, 468, -1,
+                                    531, 469, 530, -1, 530, 468, 471, -1,
+                                    539, 503, 505, -1, 538, 505, 508, -1,
+                                    539, 505, 538, -1, 538, 508, 536, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 5, 6, -1, 7, 2, 3, -1,
+                                    8, 2, 7, -1, 9, 2, 8, -1,
+                                    10, 2, 9, -1, 11, 2, 10, -1,
+                                    12, 2, 11, -1, 13, 2, 12, -1,
+                                    14, 2, 13, -1, 15, 2, 14, -1,
+                                    16, 6, 15, -1, 17, 4, 6, -1,
+                                    18, 17, 6, -1, 19, 18, 6, -1,
+                                    20, 19, 6, -1, 21, 20, 6, -1,
+                                    22, 21, 6, -1, 23, 22, 6, -1,
+                                    24, 23, 6, -1, 25, 24, 6, -1,
+                                    16, 25, 6, -1, 0, 26, 1, -1,
+                                    27, 1, 26, -1, 27, 3, 1, -1,
+                                    28, 29, 26, -1, 30, 26, 29, -1,
+                                    0, 28, 26, -1, 30, 27, 26, -1,
+                                    31, 32, 29, -1, 33, 29, 32, -1,
+                                    28, 31, 29, -1, 33, 30, 29, -1,
+                                    34, 35, 32, -1, 36, 32, 35, -1,
+                                    31, 34, 32, -1, 37, 33, 32, -1,
+                                    36, 37, 32, -1, 38, 39, 35, -1,
+                                    40, 35, 39, -1, 34, 38, 35, -1,
+                                    40, 36, 35, -1, 41, 42, 39, -1,
+                                    40, 39, 42, -1, 38, 41, 39, -1,
+                                    43, 44, 42, -1, 45, 42, 44, -1,
+                                    41, 43, 42, -1, 45, 40, 42, -1,
+                                    46, 47, 44, -1, 48, 44, 47, -1,
+                                    43, 46, 44, -1, 48, 45, 44, -1,
+                                    49, 50, 47, -1, 51, 47, 50, -1,
+                                    46, 49, 47, -1, 52, 48, 47, -1,
+                                    51, 52, 47, -1, 53, 54, 50, -1,
+                                    55, 50, 54, -1, 49, 53, 50, -1,
+                                    55, 51, 50, -1, 53, 56, 54, -1,
+                                    57, 54, 56, -1, 57, 55, 54, -1,
+                                    58, 59, 60, -1, 61, 57, 56, -1,
+                                    62, 56, 63, -1, 64, 63, 56, -1,
+                                    65, 56, 62, -1, 66, 64, 59, -1,
+                                    67, 56, 65, -1, 68, 56, 67, -1,
+                                    69, 56, 68, -1, 70, 56, 69, -1,
+                                    61, 56, 70, -1, 71, 66, 59, -1,
+                                    72, 71, 59, -1, 73, 72, 59, -1,
+                                    74, 73, 59, -1, 75, 74, 59, -1,
+                                    76, 75, 59, -1, 77, 76, 59, -1,
+                                    78, 77, 59, -1, 79, 78, 59, -1,
+                                    58, 79, 59, -1, 80, 60, 81, -1,
+                                    80, 58, 60, -1, 82, 81, 83, -1,
+                                    80, 81, 82, -1, 84, 83, 85, -1,
+                                    84, 82, 83, -1, 86, 85, 87, -1,
+                                    84, 85, 86, -1, 88, 87, 89, -1,
+                                    86, 87, 88, -1, 90, 89, 91, -1,
+                                    88, 89, 90, -1, 92, 91, 93, -1,
+                                    90, 91, 92, -1, 94, 93, 95, -1,
+                                    92, 93, 94, -1, 4, 95, 5, -1,
+                                    94, 95, 4, -1, 96, 3, 27, -1,
+                                    96, 7, 3, -1, 97, 27, 30, -1,
+                                    97, 96, 27, -1, 98, 30, 33, -1,
+                                    99, 97, 30, -1, 98, 99, 30, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 101, 52, 51, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    102, 51, 55, -1, 102, 101, 51, -1,
+                                    103, 55, 57, -1, 104, 55, 103, -1,
+                                    102, 55, 104, -1, 103, 57, 61, -1,
+                                    8, 7, 96, -1, 105, 96, 97, -1,
+                                    106, 8, 96, -1, 107, 106, 96, -1,
+                                    105, 107, 96, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    108, 8, 106, -1, 109, 9, 8, -1,
+                                    110, 109, 8, -1, 108, 110, 8, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 111, 9, 109, -1,
+                                    111, 10, 9, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    111, 112, 10, -1, 11, 10, 112, -1,
+                                    100, 100, 100, -1, 113, 11, 112, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 114, 115, 11, -1,
+                                    116, 11, 115, -1, 113, 114, 11, -1,
+                                    116, 12, 11, -1, 100, 100, 100, -1,
+                                    117, 116, 115, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    13, 12, 116, -1, 118, 119, 116, -1,
+                                    120, 116, 119, -1, 117, 118, 116, -1,
+                                    120, 13, 116, -1, 100, 100, 100, -1,
+                                    121, 120, 119, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    14, 13, 120, -1, 121, 122, 120, -1,
+                                    123, 120, 122, -1, 123, 14, 120, -1,
+                                    124, 125, 122, -1, 126, 122, 125, -1,
+                                    121, 124, 122, -1, 126, 123, 122, -1,
+                                    100, 100, 100, -1, 127, 126, 125, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 15, 14, 123, -1,
+                                    128, 123, 126, -1, 128, 15, 123, -1,
+                                    127, 129, 126, -1, 130, 126, 129, -1,
+                                    130, 128, 126, -1, 131, 132, 129, -1,
+                                    133, 129, 132, -1, 127, 131, 129, -1,
+                                    133, 130, 129, -1, 134, 135, 132, -1,
+                                    136, 132, 135, -1, 131, 134, 132, -1,
+                                    136, 133, 132, -1, 134, 137, 135, -1,
+                                    138, 135, 137, -1, 138, 136, 135, -1,
+                                    139, 140, 137, -1, 141, 137, 140, -1,
+                                    134, 139, 137, -1, 141, 138, 137, -1,
+                                    142, 143, 140, -1, 144, 140, 143, -1,
+                                    145, 142, 140, -1, 139, 145, 140, -1,
+                                    144, 141, 140, -1, 146, 147, 143, -1,
+                                    148, 143, 147, -1, 142, 146, 143, -1,
+                                    148, 144, 143, -1, 149, 63, 147, -1,
+                                    64, 147, 63, -1, 146, 149, 147, -1,
+                                    64, 148, 147, -1, 149, 62, 63, -1,
+                                    150, 62, 149, -1, 150, 65, 62, -1,
+                                    151, 149, 146, -1, 151, 150, 149, -1,
+                                    152, 146, 142, -1, 153, 151, 146, -1,
+                                    152, 153, 146, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 154, 15, 128, -1,
+                                    154, 16, 15, -1, 155, 128, 130, -1,
+                                    155, 154, 128, -1, 156, 130, 133, -1,
+                                    156, 155, 130, -1, 157, 133, 136, -1,
+                                    157, 156, 133, -1, 158, 136, 138, -1,
+                                    158, 157, 136, -1, 159, 138, 141, -1,
+                                    159, 158, 138, -1, 160, 141, 144, -1,
+                                    160, 159, 141, -1, 161, 144, 148, -1,
+                                    161, 160, 144, -1, 66, 148, 64, -1,
+                                    161, 148, 66, -1, 67, 65, 150, -1,
+                                    162, 150, 151, -1, 163, 67, 150, -1,
+                                    164, 163, 150, -1, 162, 164, 150, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 165, 67, 163, -1,
+                                    166, 68, 67, -1, 167, 166, 67, -1,
+                                    165, 167, 67, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    69, 68, 166, -1, 100, 100, 100, -1,
+                                    168, 69, 166, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 168, 169, 69, -1,
+                                    70, 69, 169, -1, 100, 100, 100, -1,
+                                    170, 70, 169, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    171, 172, 70, -1, 103, 70, 172, -1,
+                                    170, 171, 70, -1, 103, 61, 70, -1,
+                                    100, 100, 100, -1, 173, 103, 172, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 174, 104, 103, -1,
+                                    173, 174, 103, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    175, 176, 177, -1, 178, 177, 176, -1,
+                                    179, 180, 181, -1, 182, 177, 178, -1,
+                                    183, 177, 182, -1, 184, 177, 183, -1,
+                                    185, 177, 184, -1, 186, 177, 185, -1,
+                                    187, 177, 186, -1, 188, 177, 187, -1,
+                                    189, 177, 188, -1, 190, 177, 189, -1,
+                                    191, 181, 190, -1, 192, 179, 181, -1,
+                                    193, 192, 181, -1, 194, 193, 181, -1,
+                                    195, 194, 181, -1, 196, 195, 181, -1,
+                                    197, 196, 181, -1, 198, 197, 181, -1,
+                                    199, 198, 181, -1, 200, 199, 181, -1,
+                                    191, 200, 181, -1, 175, 201, 176, -1,
+                                    178, 176, 201, -1, 202, 203, 201, -1,
+                                    204, 201, 203, -1, 175, 202, 201, -1,
+                                    204, 178, 201, -1, 205, 206, 203, -1,
+                                    207, 203, 206, -1, 202, 205, 203, -1,
+                                    207, 204, 203, -1, 208, 209, 206, -1,
+                                    210, 206, 209, -1, 205, 208, 206, -1,
+                                    211, 207, 206, -1, 210, 211, 206, -1,
+                                    212, 213, 209, -1, 214, 209, 213, -1,
+                                    208, 212, 209, -1, 214, 210, 209, -1,
+                                    215, 216, 213, -1, 217, 213, 216, -1,
+                                    212, 215, 213, -1, 217, 214, 213, -1,
+                                    218, 219, 216, -1, 220, 216, 219, -1,
+                                    215, 218, 216, -1, 220, 217, 216, -1,
+                                    221, 222, 219, -1, 223, 219, 222, -1,
+                                    218, 221, 219, -1, 223, 220, 219, -1,
+                                    224, 225, 222, -1, 226, 222, 225, -1,
+                                    221, 224, 222, -1, 227, 223, 222, -1,
+                                    226, 227, 222, -1, 228, 229, 225, -1,
+                                    230, 225, 229, -1, 224, 228, 225, -1,
+                                    230, 226, 225, -1, 228, 231, 229, -1,
+                                    230, 229, 231, -1, 232, 233, 234, -1,
+                                    235, 230, 231, -1, 236, 231, 237, -1,
+                                    238, 237, 231, -1, 239, 231, 236, -1,
+                                    240, 238, 233, -1, 241, 231, 239, -1,
+                                    242, 231, 241, -1, 243, 231, 242, -1,
+                                    244, 231, 243, -1, 235, 231, 244, -1,
+                                    245, 240, 233, -1, 246, 245, 233, -1,
+                                    247, 246, 233, -1, 248, 247, 233, -1,
+                                    249, 248, 233, -1, 250, 249, 233, -1,
+                                    251, 250, 233, -1, 252, 251, 233, -1,
+                                    253, 252, 233, -1, 232, 253, 233, -1,
+                                    254, 234, 255, -1, 254, 232, 234, -1,
+                                    256, 255, 257, -1, 254, 255, 256, -1,
+                                    258, 257, 259, -1, 256, 257, 258, -1,
+                                    260, 259, 261, -1, 260, 258, 259, -1,
+                                    262, 261, 263, -1, 260, 261, 262, -1,
+                                    264, 263, 265, -1, 262, 263, 264, -1,
+                                    266, 265, 267, -1, 264, 265, 266, -1,
+                                    268, 267, 269, -1, 266, 267, 268, -1,
+                                    179, 269, 180, -1, 268, 269, 179, -1,
+                                    270, 178, 204, -1, 270, 182, 178, -1,
+                                    271, 204, 207, -1, 272, 270, 204, -1,
+                                    271, 272, 204, -1, 273, 227, 226, -1,
+                                    274, 226, 230, -1, 275, 226, 274, -1,
+                                    275, 273, 226, -1, 274, 230, 235, -1,
+                                    276, 182, 270, -1, 277, 183, 182, -1,
+                                    278, 277, 182, -1, 276, 278, 182, -1,
+                                    279, 183, 277, -1, 280, 184, 183, -1,
+                                    281, 280, 183, -1, 279, 281, 183, -1,
+                                    282, 184, 280, -1, 282, 185, 184, -1,
+                                    282, 283, 185, -1, 186, 185, 283, -1,
+                                    284, 186, 283, -1, 285, 286, 186, -1,
+                                    187, 186, 286, -1, 284, 285, 186, -1,
+                                    287, 187, 286, -1, 288, 289, 187, -1,
+                                    188, 187, 289, -1, 287, 288, 187, -1,
+                                    290, 188, 289, -1, 291, 290, 289, -1,
+                                    292, 188, 290, -1, 292, 189, 188, -1,
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+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        } ]
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5769fc84b295fad7f17ac51298378b58f076b5a8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.obj
@@ -0,0 +1,488 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object eye_link_l.obj
+#
+# Vertices: 120
+# Faces: 232
+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..38f2c96bc24f0eab35b63c3914b034d52c778d4f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_l.wrl
@@ -0,0 +1,542 @@
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+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
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+                        } ]
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+                    }
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+                }
+
+            }
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+        }
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+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac1c2cb9bdbda36845e47b373bfbc6c91608cbcb
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.obj
@@ -0,0 +1,488 @@
+####
+#
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+#
+####
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a4c55c4d405691cd427371cdb53036a826fd5060
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_link_r.wrl
@@ -0,0 +1,547 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0.99999994 0 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      scale 0.001 0.001 0.001
+                      children [ 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.47999999 0.36000001 1
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
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+                                Coordinate {
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+                                }
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+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        },
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+                          children 
+                            DEF _+8 Shape {
+                              appearance 
+                              Appearance {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83ceab6eca2d872ee5df9a962b36228168a951f7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.obj
@@ -0,0 +1,3132 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/eye_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e60ec0e71d041bf2a1e8845d7299ae7d38b716ab
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/eye_r.wrl
@@ -0,0 +1,3105 @@
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+                                    183, 67, 318, -1, 319, 68, 69, -1,
+                                    318, 68, 319, -1, 320, 69, 70, -1,
+                                    319, 69, 320, -1, 321, 70, 71, -1,
+                                    320, 70, 321, -1, 322, 71, 72, -1,
+                                    321, 71, 322, -1, 323, 72, 73, -1,
+                                    322, 72, 323, -1, 324, 73, 74, -1,
+                                    323, 73, 324, -1, 325, 74, 75, -1,
+                                    324, 74, 325, -1, 326, 75, 56, -1,
+                                    325, 75, 326, -1, 326, 56, 76, -1,
+                                    83, 4, 15, -1, 327, 15, 16, -1,
+                                    327, 83, 15, -1, 328, 16, 17, -1,
+                                    328, 327, 16, -1, 329, 17, 18, -1,
+                                    329, 328, 17, -1, 330, 18, 19, -1,
+                                    330, 329, 18, -1, 331, 19, 20, -1,
+                                    331, 330, 19, -1, 332, 20, 21, -1,
+                                    332, 331, 20, -1, 333, 21, 22, -1,
+                                    333, 332, 21, -1, 334, 22, 23, -1,
+                                    334, 333, 22, -1, 335, 23, 14, -1,
+                                    335, 334, 23, -1, 176, 335, 14, -1,
+                                    336, 83, 327, -1, 336, 82, 83, -1,
+                                    337, 327, 328, -1, 337, 336, 327, -1,
+                                    338, 328, 329, -1, 338, 337, 328, -1,
+                                    339, 329, 330, -1, 339, 338, 329, -1,
+                                    340, 330, 331, -1, 340, 339, 330, -1,
+                                    341, 331, 332, -1, 342, 340, 331, -1,
+                                    341, 342, 331, -1, 343, 332, 333, -1,
+                                    343, 341, 332, -1, 344, 333, 334, -1,
+                                    344, 343, 333, -1, 345, 334, 335, -1,
+                                    345, 344, 334, -1, 346, 335, 176, -1,
+                                    346, 345, 335, -1, 177, 346, 176, -1,
+                                    347, 82, 336, -1, 347, 81, 82, -1,
+                                    348, 336, 337, -1, 348, 347, 336, -1,
+                                    349, 337, 338, -1, 349, 348, 337, -1,
+                                    350, 338, 339, -1, 350, 349, 338, -1,
+                                    351, 339, 340, -1, 351, 350, 339, -1,
+                                    352, 340, 342, -1, 352, 351, 340, -1,
+                                    353, 342, 341, -1, 353, 352, 342, -1,
+                                    354, 341, 343, -1, 353, 341, 354, -1,
+                                    355, 343, 344, -1, 355, 354, 343, -1,
+                                    356, 344, 345, -1, 356, 355, 344, -1,
+                                    357, 345, 346, -1, 357, 356, 345, -1,
+                                    358, 346, 177, -1, 358, 357, 346, -1,
+                                    178, 358, 177, -1, 359, 354, 355, -1,
+                                    359, 353, 354, -1, 360, 355, 356, -1,
+                                    360, 359, 355, -1, 361, 356, 357, -1,
+                                    362, 356, 361, -1, 362, 360, 356, -1,
+                                    363, 357, 358, -1, 364, 361, 357, -1,
+                                    365, 364, 357, -1, 363, 365, 357, -1,
+                                    366, 358, 178, -1, 366, 363, 358, -1,
+                                    179, 366, 178, -1, 367, 361, 364, -1,
+                                    367, 362, 361, -1, 367, 364, 365, -1,
+                                    368, 365, 363, -1, 367, 365, 368, -1,
+                                    369, 363, 366, -1, 370, 368, 363, -1,
+                                    369, 370, 363, -1, 180, 366, 179, -1,
+                                    180, 369, 366, -1, 370, 371, 368, -1,
+                                    372, 368, 371, -1, 367, 368, 372, -1,
+                                    373, 371, 370, -1, 373, 374, 371, -1,
+                                    375, 371, 374, -1, 375, 372, 371, -1,
+                                    376, 370, 369, -1, 376, 373, 370, -1,
+                                    181, 369, 180, -1, 181, 376, 369, -1,
+                                    373, 377, 374, -1, 378, 374, 377, -1,
+                                    378, 375, 374, -1, 379, 377, 373, -1,
+                                    380, 381, 377, -1, 378, 377, 381, -1,
+                                    379, 380, 377, -1, 382, 373, 376, -1,
+                                    382, 379, 373, -1, 182, 376, 181, -1,
+                                    182, 382, 376, -1, 380, 383, 381, -1,
+                                    384, 381, 383, -1, 384, 378, 381, -1,
+                                    385, 386, 383, -1, 387, 383, 386, -1,
+                                    380, 385, 383, -1, 387, 384, 383, -1,
+                                    385, 388, 386, -1, 387, 386, 388, -1,
+                                    321, 388, 385, -1, 322, 389, 388, -1,
+                                    390, 388, 389, -1, 321, 322, 388, -1,
+                                    390, 387, 388, -1, 320, 385, 380, -1,
+                                    320, 321, 385, -1, 319, 380, 379, -1,
+                                    319, 320, 380, -1, 318, 379, 382, -1,
+                                    318, 319, 379, -1, 183, 382, 182, -1,
+                                    183, 318, 382, -1, 323, 391, 389, -1,
+                                    390, 389, 391, -1, 322, 323, 389, -1,
+                                    323, 392, 391, -1, 393, 391, 392, -1,
+                                    390, 391, 393, -1, 324, 394, 392, -1,
+                                    395, 392, 394, -1, 323, 324, 392, -1,
+                                    395, 393, 392, -1, 325, 396, 394, -1,
+                                    397, 394, 396, -1, 324, 325, 394, -1,
+                                    397, 395, 394, -1, 326, 398, 396, -1,
+                                    399, 396, 398, -1, 325, 326, 396, -1,
+                                    400, 396, 399, -1, 397, 396, 400, -1,
+                                    76, 77, 398, -1, 401, 398, 77, -1,
+                                    326, 76, 398, -1, 399, 398, 401, -1,
+                                    401, 77, 78, -1, 402, 81, 347, -1,
+                                    402, 80, 81, -1, 403, 347, 348, -1,
+                                    403, 402, 347, -1, 404, 348, 349, -1,
+                                    405, 403, 348, -1, 406, 405, 348, -1,
+                                    404, 406, 348, -1, 407, 349, 350, -1,
+                                    407, 404, 349, -1, 408, 350, 351, -1,
+                                    408, 407, 350, -1, 352, 408, 351, -1,
+                                    79, 80, 402, -1, 409, 402, 403, -1,
+                                    409, 79, 402, -1, 410, 403, 405, -1,
+                                    410, 409, 403, -1, 411, 405, 406, -1,
+                                    412, 410, 405, -1, 411, 412, 405, -1,
+                                    413, 406, 404, -1, 413, 411, 406, -1,
+                                    407, 413, 404, -1, 78, 79, 409, -1,
+                                    401, 409, 410, -1, 401, 78, 409, -1,
+                                    412, 414, 410, -1, 399, 410, 414, -1,
+                                    399, 401, 410, -1, 415, 414, 412, -1,
+                                    416, 399, 414, -1, 415, 416, 414, -1,
+                                    415, 412, 411, -1, 416, 400, 399, -1,
+                                    417, 400, 416, -1, 418, 397, 400, -1,
+                                    417, 418, 400, -1, 415, 417, 416, -1,
+                                    419, 393, 395, -1, 419, 390, 393, -1,
+                                    418, 395, 397, -1, 418, 419, 395, -1,
+                                    317, 269, 274, -1, 420, 274, 275, -1,
+                                    317, 274, 420, -1, 421, 275, 276, -1,
+                                    420, 275, 421, -1, 422, 276, 277, -1,
+                                    421, 276, 422, -1, 423, 277, 278, -1,
+                                    422, 277, 423, -1, 424, 278, 279, -1,
+                                    423, 278, 424, -1, 425, 279, 280, -1,
+                                    424, 279, 425, -1, 426, 280, 281, -1,
+                                    425, 280, 426, -1, 427, 281, 282, -1,
+                                    426, 281, 427, -1, 428, 282, 263, -1,
+                                    427, 282, 428, -1, 428, 263, 283, -1,
+                                    290, 220, 231, -1, 429, 231, 232, -1,
+                                    429, 290, 231, -1, 430, 232, 233, -1,
+                                    430, 429, 232, -1, 431, 233, 234, -1,
+                                    431, 430, 233, -1, 432, 234, 235, -1,
+                                    432, 431, 234, -1, 433, 235, 236, -1,
+                                    433, 432, 235, -1, 434, 236, 237, -1,
+                                    434, 433, 236, -1, 435, 237, 238, -1,
+                                    435, 434, 237, -1, 436, 238, 239, -1,
+                                    436, 435, 238, -1, 437, 239, 230, -1,
+                                    437, 436, 239, -1, 310, 437, 230, -1,
+                                    289, 290, 429, -1, 438, 429, 430, -1,
+                                    438, 289, 429, -1, 439, 430, 431, -1,
+                                    439, 438, 430, -1, 440, 431, 432, -1,
+                                    440, 439, 431, -1, 441, 432, 433, -1,
+                                    441, 440, 432, -1, 442, 433, 434, -1,
+                                    442, 441, 433, -1, 443, 434, 435, -1,
+                                    443, 442, 434, -1, 444, 435, 436, -1,
+                                    444, 443, 435, -1, 445, 436, 437, -1,
+                                    445, 444, 436, -1, 446, 437, 310, -1,
+                                    446, 445, 437, -1, 311, 446, 310, -1,
+                                    447, 289, 438, -1, 447, 288, 289, -1,
+                                    448, 438, 439, -1, 448, 447, 438, -1,
+                                    449, 439, 440, -1, 449, 448, 439, -1,
+                                    450, 440, 441, -1, 450, 449, 440, -1,
+                                    451, 441, 442, -1, 451, 450, 441, -1,
+                                    452, 442, 443, -1, 452, 451, 442, -1,
+                                    453, 443, 444, -1, 454, 452, 443, -1,
+                                    453, 454, 443, -1, 455, 444, 445, -1,
+                                    455, 453, 444, -1, 456, 445, 446, -1,
+                                    456, 455, 445, -1, 457, 446, 311, -1,
+                                    457, 456, 446, -1, 312, 457, 311, -1,
+                                    458, 288, 447, -1, 458, 287, 288, -1,
+                                    459, 447, 448, -1, 459, 458, 447, -1,
+                                    460, 448, 449, -1, 461, 459, 448, -1,
+                                    462, 461, 448, -1, 460, 462, 448, -1,
+                                    463, 449, 450, -1, 464, 449, 463, -1,
+                                    464, 460, 449, -1, 465, 450, 451, -1,
+                                    463, 450, 466, -1, 467, 466, 450, -1,
+                                    465, 467, 450, -1, 468, 451, 452, -1,
+                                    469, 465, 451, -1, 468, 469, 451, -1,
+                                    470, 452, 454, -1, 470, 390, 452, -1,
+                                    471, 452, 390, -1, 471, 468, 452, -1,
+                                    472, 454, 453, -1, 472, 470, 454, -1,
+                                    473, 453, 455, -1, 474, 453, 473, -1,
+                                    475, 453, 474, -1, 476, 472, 453, -1,
+                                    475, 476, 453, -1, 477, 455, 456, -1,
+                                    478, 455, 477, -1, 473, 455, 478, -1,
+                                    479, 456, 457, -1, 480, 477, 456, -1,
+                                    481, 480, 456, -1, 479, 481, 456, -1,
+                                    482, 457, 312, -1, 482, 479, 457, -1,
+                                    313, 482, 312, -1, 483, 477, 480, -1,
+                                    478, 477, 483, -1, 484, 480, 481, -1,
+                                    483, 480, 484, -1, 485, 481, 479, -1,
+                                    486, 481, 485, -1, 484, 481, 486, -1,
+                                    487, 479, 482, -1, 488, 485, 479, -1,
+                                    487, 488, 479, -1, 314, 482, 313, -1,
+                                    314, 487, 482, -1, 488, 486, 485, -1,
+                                    489, 486, 488, -1, 489, 484, 486, -1,
+                                    490, 488, 487, -1, 490, 489, 488, -1,
+                                    315, 487, 314, -1, 315, 490, 487, -1,
+                                    489, 483, 484, -1, 489, 478, 483, -1,
+                                    491, 478, 489, -1, 492, 473, 478, -1,
+                                    491, 492, 478, -1, 493, 489, 490, -1,
+                                    493, 491, 489, -1, 316, 490, 315, -1,
+                                    316, 493, 490, -1, 494, 495, 473, -1,
+                                    496, 473, 495, -1, 492, 494, 473, -1,
+                                    496, 474, 473, -1, 497, 498, 495, -1,
+                                    499, 495, 498, -1, 494, 497, 495, -1,
+                                    500, 496, 495, -1, 499, 500, 495, -1,
+                                    501, 502, 498, -1, 503, 498, 502, -1,
+                                    497, 501, 498, -1, 503, 353, 498, -1,
+                                    504, 498, 353, -1, 504, 499, 498, -1,
+                                    501, 466, 502, -1, 505, 502, 466, -1,
+                                    505, 503, 502, -1, 506, 463, 466, -1,
+                                    501, 506, 466, -1, 467, 507, 466, -1,
+                                    508, 466, 507, -1, 508, 505, 466, -1,
+                                    509, 510, 463, -1, 464, 463, 510, -1,
+                                    506, 509, 463, -1, 511, 512, 510, -1,
+                                    513, 510, 512, -1, 509, 511, 510, -1,
+                                    514, 510, 513, -1, 515, 510, 514, -1,
+                                    515, 464, 510, -1, 284, 285, 512, -1,
+                                    516, 512, 285, -1, 511, 284, 512, -1,
+                                    513, 512, 516, -1, 516, 285, 286, -1,
+                                    283, 284, 511, -1, 428, 511, 509, -1,
+                                    428, 283, 511, -1, 427, 509, 506, -1,
+                                    427, 428, 509, -1, 426, 506, 501, -1,
+                                    426, 427, 506, -1, 425, 501, 497, -1,
+                                    425, 426, 501, -1, 424, 497, 494, -1,
+                                    424, 425, 497, -1, 423, 494, 492, -1,
+                                    423, 424, 494, -1, 422, 492, 491, -1,
+                                    422, 423, 492, -1, 421, 491, 493, -1,
+                                    421, 422, 491, -1, 420, 493, 316, -1,
+                                    420, 421, 493, -1, 317, 420, 316, -1,
+                                    286, 287, 458, -1, 516, 458, 459, -1,
+                                    516, 286, 458, -1, 513, 459, 461, -1,
+                                    513, 516, 459, -1, 514, 461, 462, -1,
+                                    517, 513, 461, -1, 517, 461, 514, -1,
+                                    515, 462, 460, -1, 515, 514, 462, -1,
+                                    515, 460, 464, -1, 517, 514, 513, -1,
+                                    518, 411, 372, -1, 519, 372, 411, -1,
+                                    520, 415, 411, -1, 519, 411, 413, -1,
+                                    521, 520, 411, -1, 518, 521, 411, -1,
+                                    518, 372, 375, -1, 522, 367, 372, -1,
+                                    523, 522, 372, -1, 519, 523, 372, -1,
+                                    524, 375, 378, -1, 525, 518, 375, -1,
+                                    524, 525, 375, -1, 526, 378, 384, -1,
+                                    527, 524, 378, -1, 526, 527, 378, -1,
+                                    528, 384, 387, -1, 528, 526, 384, -1,
+                                    529, 387, 390, -1, 529, 528, 387, -1,
+                                    471, 390, 419, -1, 529, 390, 470, -1,
+                                    530, 419, 418, -1, 530, 471, 419, -1,
+                                    531, 418, 417, -1, 531, 530, 418, -1,
+                                    532, 417, 415, -1, 532, 531, 417, -1,
+                                    533, 532, 415, -1, 520, 533, 415, -1,
+                                    534, 413, 407, -1, 535, 519, 413, -1,
+                                    534, 535, 413, -1, 536, 407, 408, -1,
+                                    536, 537, 407, -1, 534, 407, 537, -1,
+                                    538, 408, 352, -1, 538, 536, 408, -1,
+                                    539, 352, 353, -1, 539, 538, 352, -1,
+                                    504, 353, 359, -1, 539, 353, 503, -1,
+                                    540, 359, 360, -1, 540, 504, 359, -1,
+                                    541, 360, 362, -1, 541, 540, 360, -1,
+                                    542, 362, 367, -1, 542, 541, 362, -1,
+                                    543, 542, 367, -1, 522, 543, 367, -1,
+                                    544, 545, 507, -1, 537, 507, 545, -1,
+                                    467, 544, 507, -1, 536, 508, 507, -1,
+                                    536, 507, 537, -1, 546, 547, 545, -1,
+                                    534, 545, 547, -1, 544, 546, 545, -1,
+                                    534, 537, 545, -1, 548, 549, 547, -1,
+                                    535, 547, 549, -1, 546, 548, 547, -1,
+                                    534, 547, 535, -1, 550, 551, 549, -1,
+                                    519, 549, 551, -1, 548, 550, 549, -1,
+                                    535, 549, 519, -1, 552, 553, 551, -1,
+                                    523, 551, 553, -1, 550, 552, 551, -1,
+                                    519, 551, 523, -1, 554, 555, 553, -1,
+                                    522, 553, 555, -1, 552, 554, 553, -1,
+                                    523, 553, 522, -1, 475, 474, 555, -1,
+                                    543, 555, 474, -1, 554, 475, 555, -1,
+                                    522, 555, 543, -1, 542, 474, 496, -1,
+                                    543, 474, 542, -1, 541, 496, 500, -1,
+                                    542, 496, 541, -1, 540, 500, 499, -1,
+                                    541, 500, 540, -1, 540, 499, 504, -1,
+                                    529, 470, 472, -1, 528, 472, 476, -1,
+                                    529, 472, 528, -1, 526, 476, 475, -1,
+                                    528, 476, 526, -1, 527, 475, 554, -1,
+                                    526, 475, 527, -1, 524, 554, 552, -1,
+                                    527, 554, 524, -1, 525, 552, 550, -1,
+                                    524, 552, 525, -1, 518, 550, 548, -1,
+                                    525, 550, 518, -1, 521, 548, 546, -1,
+                                    518, 548, 521, -1, 520, 546, 544, -1,
+                                    521, 546, 520, -1, 533, 544, 467, -1,
+                                    520, 544, 533, -1, 532, 467, 465, -1,
+                                    533, 467, 532, -1, 531, 465, 469, -1,
+                                    532, 465, 531, -1, 530, 469, 468, -1,
+                                    531, 469, 530, -1, 530, 468, 471, -1,
+                                    539, 503, 505, -1, 538, 505, 508, -1,
+                                    539, 505, 538, -1, 538, 508, 536, -1 ]
+                                normalIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                    4, 5, 6, -1, 7, 2, 3, -1,
+                                    8, 2, 7, -1, 9, 2, 8, -1,
+                                    10, 2, 9, -1, 11, 2, 10, -1,
+                                    12, 2, 11, -1, 13, 2, 12, -1,
+                                    14, 2, 13, -1, 15, 2, 14, -1,
+                                    16, 6, 15, -1, 17, 4, 6, -1,
+                                    18, 17, 6, -1, 19, 18, 6, -1,
+                                    20, 19, 6, -1, 21, 20, 6, -1,
+                                    22, 21, 6, -1, 23, 22, 6, -1,
+                                    24, 23, 6, -1, 25, 24, 6, -1,
+                                    16, 25, 6, -1, 0, 26, 1, -1,
+                                    27, 1, 26, -1, 27, 3, 1, -1,
+                                    28, 29, 26, -1, 30, 26, 29, -1,
+                                    0, 28, 26, -1, 30, 27, 26, -1,
+                                    31, 32, 29, -1, 33, 29, 32, -1,
+                                    28, 31, 29, -1, 33, 30, 29, -1,
+                                    34, 35, 32, -1, 36, 32, 35, -1,
+                                    31, 34, 32, -1, 37, 33, 32, -1,
+                                    36, 37, 32, -1, 38, 39, 35, -1,
+                                    40, 35, 39, -1, 34, 38, 35, -1,
+                                    40, 36, 35, -1, 41, 42, 39, -1,
+                                    40, 39, 42, -1, 38, 41, 39, -1,
+                                    43, 44, 42, -1, 45, 42, 44, -1,
+                                    41, 43, 42, -1, 45, 40, 42, -1,
+                                    46, 47, 44, -1, 48, 44, 47, -1,
+                                    43, 46, 44, -1, 48, 45, 44, -1,
+                                    49, 50, 47, -1, 51, 47, 50, -1,
+                                    46, 49, 47, -1, 52, 48, 47, -1,
+                                    51, 52, 47, -1, 53, 54, 50, -1,
+                                    55, 50, 54, -1, 49, 53, 50, -1,
+                                    55, 51, 50, -1, 53, 56, 54, -1,
+                                    57, 54, 56, -1, 57, 55, 54, -1,
+                                    58, 59, 60, -1, 61, 57, 56, -1,
+                                    62, 56, 63, -1, 64, 63, 56, -1,
+                                    65, 56, 62, -1, 66, 64, 59, -1,
+                                    67, 56, 65, -1, 68, 56, 67, -1,
+                                    69, 56, 68, -1, 70, 56, 69, -1,
+                                    61, 56, 70, -1, 71, 66, 59, -1,
+                                    72, 71, 59, -1, 73, 72, 59, -1,
+                                    74, 73, 59, -1, 75, 74, 59, -1,
+                                    76, 75, 59, -1, 77, 76, 59, -1,
+                                    78, 77, 59, -1, 79, 78, 59, -1,
+                                    58, 79, 59, -1, 80, 60, 81, -1,
+                                    80, 58, 60, -1, 82, 81, 83, -1,
+                                    80, 81, 82, -1, 84, 83, 85, -1,
+                                    84, 82, 83, -1, 86, 85, 87, -1,
+                                    84, 85, 86, -1, 88, 87, 89, -1,
+                                    86, 87, 88, -1, 90, 89, 91, -1,
+                                    88, 89, 90, -1, 92, 91, 93, -1,
+                                    90, 91, 92, -1, 94, 93, 95, -1,
+                                    92, 93, 94, -1, 4, 95, 5, -1,
+                                    94, 95, 4, -1, 96, 3, 27, -1,
+                                    96, 7, 3, -1, 97, 27, 30, -1,
+                                    97, 96, 27, -1, 98, 30, 33, -1,
+                                    99, 97, 30, -1, 98, 99, 30, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 101, 52, 51, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    102, 51, 55, -1, 102, 101, 51, -1,
+                                    103, 55, 57, -1, 104, 55, 103, -1,
+                                    102, 55, 104, -1, 103, 57, 61, -1,
+                                    8, 7, 96, -1, 105, 96, 97, -1,
+                                    106, 8, 96, -1, 107, 106, 96, -1,
+                                    105, 107, 96, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    108, 8, 106, -1, 109, 9, 8, -1,
+                                    110, 109, 8, -1, 108, 110, 8, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 100, 100, 100, -1,
+                                    100, 100, 100, -1, 111, 9, 109, -1,
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+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        } ]
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head.obj b/data/RobotAPI/robots/Armar3/fullmodel/head.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51e6bfc3fe74f6c7592dfc5a2594534d51f0b4f0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head.obj
@@ -0,0 +1,3668 @@
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+#
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+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head.wrl b/data/RobotAPI/robots/Armar3/fullmodel/head.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..49eabc9bb24d0b6076672f53c05cb79bdf9be477
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head.wrl
@@ -0,0 +1,4439 @@
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+                                502, 459, 503, -1, 504, 458, 461, -1,
+                                503, 458, 504, -1, 505, 461, 464, -1,
+                                504, 461, 505, -1, 506, 464, 313, -1,
+                                505, 464, 506, -1, 506, 313, 323, -1,
+                                356, 507, 439, -1, 441, 439, 507, -1,
+                                357, 353, 507, -1, 508, 507, 353, -1,
+                                356, 357, 507, -1, 508, 441, 507, -1,
+                                508, 353, 359, -1, 368, 367, 356, -1,
+                                445, 368, 356, -1, 369, 368, 445, -1,
+                                509, 445, 444, -1, 509, 369, 445, -1,
+                                510, 444, 448, -1, 510, 509, 444, -1,
+                                510, 448, 453, -1, 511, 453, 455, -1,
+                                511, 510, 453, -1, 237, 243, 455, -1,
+                                511, 455, 243, -1, 240, 243, 237, -1,
+                                511, 243, 242, -1, 493, 489, 492, -1,
+                                229, 489, 493, -1, 512, 493, 494, -1,
+                                513, 493, 512, -1, 145, 493, 513, -1,
+                                145, 144, 493, -1, 229, 493, 144, -1,
+                                495, 514, 494, -1, 512, 494, 514, -1,
+                                515, 514, 495, -1, 512, 514, 515, -1,
+                                516, 495, 491, -1, 515, 495, 516, -1,
+                                517, 518, 519, -1, 520, 519, 518, -1,
+                                521, 517, 519, -1, 522, 521, 519, -1,
+                                522, 519, 520, -1, 517, 523, 518, -1,
+                                524, 518, 523, -1, 520, 518, 524, -1,
+                                525, 526, 523, -1, 527, 523, 526, -1,
+                                517, 525, 523, -1, 524, 523, 527, -1,
+                                528, 529, 526, -1, 530, 526, 529, -1,
+                                525, 528, 526, -1, 527, 526, 530, -1,
+                                531, 532, 529, -1, 533, 529, 532, -1,
+                                528, 531, 529, -1, 530, 529, 533, -1,
+                                534, 535, 532, -1, 536, 532, 535, -1,
+                                537, 534, 532, -1, 531, 537, 532, -1,
+                                533, 532, 536, -1, 371, 386, 535, -1,
+                                538, 535, 386, -1, 534, 371, 535, -1,
+                                536, 535, 538, -1, 538, 386, 400, -1,
+                                323, 371, 534, -1, 506, 534, 537, -1,
+                                506, 323, 534, -1, 505, 537, 531, -1,
+                                505, 506, 537, -1, 504, 531, 528, -1,
+                                504, 505, 531, -1, 503, 528, 525, -1,
+                                503, 504, 528, -1, 502, 525, 517, -1,
+                                502, 503, 525, -1, 521, 539, 517, -1,
+                                500, 517, 539, -1, 500, 502, 517, -1,
+                                540, 539, 521, -1, 500, 539, 541, -1,
+                                542, 541, 539, -1, 542, 539, 540, -1,
+                                540, 521, 522, -1, 543, 500, 541, -1,
+                                544, 543, 541, -1, 544, 541, 542, -1,
+                                543, 501, 500, -1, 545, 501, 543, -1,
+                                546, 497, 501, -1, 546, 501, 545, -1,
+                                545, 543, 544, -1, 498, 497, 546, -1,
+                                547, 267, 272, -1, 548, 547, 272, -1,
+                                274, 548, 272, -1, 549, 265, 267, -1,
+                                547, 549, 267, -1, 549, 263, 265, -1,
+                                549, 260, 263, -1, 550, 257, 260, -1,
+                                549, 550, 260, -1, 550, 254, 257, -1,
+                                551, 255, 254, -1, 550, 551, 254, -1,
+                                551, 249, 255, -1, 551, 252, 249, -1,
+                                551, 319, 252, -1, 552, 314, 319, -1,
+                                553, 552, 319, -1, 551, 553, 319, -1,
+                                554, 314, 552, -1, 318, 314, 554, -1,
+                                555, 552, 553, -1, 556, 554, 552, -1,
+                                431, 556, 552, -1, 424, 552, 555, -1,
+                                427, 431, 552, -1, 429, 427, 552, -1,
+                                422, 429, 552, -1, 424, 422, 552, -1,
+                                555, 553, 551, -1, 557, 551, 550, -1,
+                                558, 551, 557, -1, 558, 555, 551, -1,
+                                559, 550, 549, -1, 560, 557, 550, -1,
+                                559, 560, 550, -1, 561, 549, 547, -1,
+                                561, 559, 549, -1, 41, 42, 547, -1,
+                                562, 547, 42, -1, 548, 41, 547, -1,
+                                562, 561, 547, -1, 43, 562, 42, -1,
+                                548, 36, 41, -1, 33, 41, 36, -1,
+                                548, 85, 36, -1, 548, 84, 85, -1,
+                                563, 84, 548, -1, 564, 82, 84, -1,
+                                563, 564, 84, -1, 274, 276, 548, -1,
+                                565, 548, 276, -1, 565, 563, 548, -1,
+                                565, 276, 349, -1, 321, 565, 349, -1,
+                                566, 83, 82, -1, 564, 566, 82, -1,
+                                566, 81, 83, -1, 566, 80, 81, -1,
+                                567, 77, 80, -1, 566, 567, 80, -1,
+                                567, 568, 77, -1, 78, 77, 568, -1,
+                                345, 347, 568, -1, 78, 568, 347, -1,
+                                342, 345, 568, -1, 567, 342, 568, -1,
+                                418, 78, 347, -1, 417, 418, 347, -1,
+                                412, 417, 347, -1, 344, 342, 567, -1,
+                                569, 567, 566, -1, 381, 567, 569, -1,
+                                384, 567, 381, -1, 384, 344, 567, -1,
+                                570, 566, 564, -1, 569, 566, 570, -1,
+                                571, 564, 563, -1, 570, 564, 571, -1,
+                                572, 563, 565, -1, 571, 563, 572, -1,
+                                321, 554, 565, -1, 573, 565, 554, -1,
+                                572, 565, 573, -1, 556, 574, 554, -1,
+                                575, 554, 574, -1, 316, 318, 554, -1,
+                                321, 316, 554, -1, 573, 554, 575, -1,
+                                431, 574, 556, -1, 576, 575, 574, -1,
+                                577, 576, 574, -1, 434, 574, 431, -1,
+                                434, 479, 574, -1, 577, 574, 479, -1,
+                                402, 578, 399, -1, 579, 399, 578, -1,
+                                579, 400, 399, -1, 402, 580, 578, -1,
+                                581, 578, 580, -1, 582, 578, 581, -1,
+                                582, 579, 578, -1, 401, 583, 580, -1,
+                                575, 580, 583, -1, 402, 401, 580, -1,
+                                584, 581, 580, -1, 575, 584, 580, -1,
+                                403, 585, 583, -1, 573, 583, 585, -1,
+                                401, 403, 583, -1, 573, 575, 583, -1,
+                                404, 586, 585, -1, 572, 585, 586, -1,
+                                403, 404, 585, -1, 572, 573, 585, -1,
+                                405, 587, 586, -1, 571, 586, 587, -1,
+                                404, 405, 586, -1, 571, 572, 586, -1,
+                                406, 588, 587, -1, 570, 587, 588, -1,
+                                405, 406, 587, -1, 570, 571, 587, -1,
+                                398, 396, 588, -1, 569, 588, 396, -1,
+                                410, 398, 588, -1, 409, 410, 588, -1,
+                                407, 409, 588, -1, 406, 407, 588, -1,
+                                569, 570, 588, -1, 383, 569, 396, -1,
+                                582, 581, 584, -1, 576, 584, 575, -1,
+                                577, 584, 576, -1, 582, 584, 577, -1,
+                                383, 381, 569, -1, 369, 557, 560, -1,
+                                369, 558, 557, -1, 363, 560, 559, -1,
+                                363, 369, 560, -1, 362, 559, 561, -1,
+                                363, 559, 362, -1, 362, 561, 562, -1,
+                                43, 44, 562, -1, 361, 562, 44, -1,
+                                362, 562, 361, -1, 361, 44, 45, -1,
+                                72, 78, 418, -1, 74, 72, 418, -1,
+                                412, 414, 417, -1, 361, 51, 50, -1,
+                                361, 50, 203, -1, 51, 46, 39, -1,
+                                361, 46, 51, -1, 361, 45, 46, -1,
+                                589, 469, 470, -1, 590, 589, 470, -1,
+                                471, 590, 470, -1, 589, 466, 469, -1,
+                                591, 466, 589, -1, 577, 468, 466, -1,
+                                591, 577, 466, -1, 128, 136, 589, -1,
+                                592, 589, 136, -1, 130, 128, 589, -1,
+                                131, 130, 589, -1, 125, 131, 589, -1,
+                                590, 125, 589, -1, 592, 591, 589, -1,
+                                593, 592, 136, -1, 134, 593, 136, -1,
+                                120, 131, 125, -1, 594, 125, 590, -1,
+                                594, 124, 125, -1, 473, 595, 590, -1,
+                                596, 590, 595, -1, 472, 473, 590, -1,
+                                471, 472, 590, -1, 596, 594, 590, -1,
+                                475, 555, 595, -1, 597, 595, 555, -1,
+                                474, 475, 595, -1, 473, 474, 595, -1,
+                                597, 596, 595, -1, 476, 424, 555, -1,
+                                475, 476, 555, -1, 558, 597, 555, -1,
+                                577, 478, 468, -1, 577, 479, 478, -1,
+                                582, 577, 591, -1, 598, 591, 592, -1,
+                                582, 591, 598, -1, 599, 592, 593, -1,
+                                598, 592, 599, -1, 139, 600, 593, -1,
+                                601, 593, 600, -1, 138, 139, 593, -1,
+                                134, 138, 593, -1, 599, 593, 601, -1,
+                                142, 602, 600, -1, 603, 600, 602, -1,
+                                140, 142, 600, -1, 139, 140, 600, -1,
+                                601, 600, 603, -1, 496, 499, 602, -1,
+                                604, 602, 499, -1, 491, 496, 602, -1,
+                                605, 491, 602, -1, 142, 605, 602, -1,
+                                603, 602, 604, -1, 498, 604, 499, -1,
+                                516, 491, 605, -1, 141, 605, 142, -1,
+                                515, 516, 605, -1, 512, 515, 605, -1,
+                                513, 512, 605, -1, 141, 513, 605, -1,
+                                579, 538, 400, -1, 606, 536, 538, -1,
+                                579, 606, 538, -1, 607, 533, 536, -1,
+                                606, 607, 536, -1, 608, 530, 533, -1,
+                                607, 608, 533, -1, 609, 527, 530, -1,
+                                608, 609, 530, -1, 610, 524, 527, -1,
+                                609, 610, 527, -1, 522, 520, 524, -1,
+                                540, 522, 524, -1, 542, 540, 524, -1,
+                                610, 542, 524, -1, 544, 542, 610, -1,
+                                604, 610, 609, -1, 545, 544, 610, -1,
+                                604, 545, 610, -1, 603, 609, 608, -1,
+                                603, 604, 609, -1, 601, 608, 607, -1,
+                                601, 603, 608, -1, 599, 607, 606, -1,
+                                599, 601, 607, -1, 598, 606, 579, -1,
+                                598, 599, 606, -1, 582, 598, 579, -1,
+                                546, 545, 604, -1, 498, 546, 604, -1,
+                                594, 171, 124, -1, 242, 171, 594, -1,
+                                242, 172, 171, -1, 511, 594, 596, -1,
+                                511, 242, 594, -1, 510, 596, 597, -1,
+                                511, 596, 510, -1, 509, 597, 558, -1,
+                                510, 597, 509, -1, 509, 558, 369, -1,
+                                145, 513, 141, -1, 242, 169, 170, -1,
+                                167, 173, 170, -1, 242, 170, 173, -1,
+                                242, 173, 172, -1, 226, 235, 222, -1,
+                                300, 303, 306, -1, 300, 306, 310, -1,
+                                611, 359, 358, -1, 360, 611, 358, -1,
+                                611, 612, 359, -1, 508, 359, 612, -1,
+                                300, 310, 613, -1, 614, 613, 310, -1,
+                                615, 300, 613, -1, 612, 615, 613, -1,
+                                508, 612, 613, -1, 508, 613, 614, -1,
+                                614, 310, 436, -1, 298, 300, 615, -1,
+                                616, 615, 294, -1, 611, 294, 615, -1,
+                                616, 298, 615, -1, 611, 615, 612, -1,
+                                616, 294, 298, -1, 360, 294, 611, -1,
+                                614, 436, 441, -1, 508, 614, 441, -1,
+                                617, 618, 619, -1, 620, 617, 619, -1,
+                                617, 621, 618, -1, 622, 623, 621, -1,
+                                617, 622, 621, -1, 624, 625, 623, -1,
+                                626, 624, 623, -1, 622, 626, 623, -1,
+                                627, 624, 626, -1, 628, 626, 622, -1,
+                                629, 627, 626, -1, 628, 629, 626, -1,
+                                630, 622, 617, -1, 630, 628, 622, -1,
+                                620, 631, 617, -1, 632, 617, 631, -1,
+                                632, 630, 617, -1, 633, 632, 631, -1,
+                                634, 629, 628, -1, 635, 628, 630, -1,
+                                636, 634, 628, -1, 635, 636, 628, -1,
+                                637, 630, 632, -1, 637, 635, 630, -1,
+                                633, 638, 632, -1, 639, 632, 638, -1,
+                                639, 637, 632, -1, 640, 639, 638, -1,
+                                641, 642, 643, -1, 641, 644, 642, -1,
+                                641, 645, 644, -1, 646, 644, 645, -1,
+                                647, 648, 645, -1, 649, 645, 648, -1,
+                                641, 647, 645, -1, 650, 645, 649, -1,
+                                646, 645, 650, -1, 651, 652, 648, -1,
+                                653, 648, 652, -1, 647, 651, 648, -1,
+                                649, 648, 653, -1, 654, 655, 652, -1,
+                                656, 652, 655, -1, 651, 654, 652, -1,
+                                653, 652, 656, -1, 657, 656, 655, -1,
+                                649, 658, 659, -1, 650, 649, 659, -1,
+                                649, 660, 658, -1, 653, 661, 660, -1,
+                                649, 653, 660, -1, 662, 663, 661, -1,
+                                664, 662, 661, -1, 656, 664, 661, -1,
+                                653, 656, 661, -1, 657, 664, 656, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 2, 3, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                4, 5, 6, -1, 7, 4, 6, -1,
+                                0, 0, 0, -1, 8, 3, 9, -1,
+                                10, 3, 8, -1, 11, 3, 10, -1,
+                                1, 3, 11, -1, 0, 0, 0, -1,
+                                12, 9, 13, -1, 0, 0, 0, -1,
+                                12, 8, 9, -1, 0, 0, 0, -1,
+                                12, 13, 14, -1, 15, 14, 16, -1,
+                                12, 14, 15, -1, 17, 16, 18, -1,
+                                15, 16, 17, -1, 17, 18, 19, -1,
+                                0, 0, 0, -1, 20, 21, 22, -1,
+                                23, 17, 19, -1, 0, 0, 0, -1,
+                                24, 22, 25, -1, 0, 0, 0, -1,
+                                24, 20, 22, -1, 0, 0, 0, -1,
+                                26, 25, 27, -1, 26, 24, 25, -1,
+                                28, 27, 29, -1, 26, 27, 28, -1,
+                                30, 29, 5, -1, 31, 29, 30, -1,
+                                32, 29, 31, -1, 33, 29, 32, -1,
+                                28, 29, 33, -1, 34, 5, 4, -1,
+                                30, 5, 34, -1, 35, 35, 35, -1,
+                                36, 37, 38, -1, 35, 35, 35, -1,
+                                35, 35, 35, -1, 39, 40, 41, -1,
+                                42, 39, 41, -1, 35, 35, 35, -1,
+                                43, 38, 44, -1, 35, 35, 35, -1,
+                                35, 35, 35, -1, 45, 38, 46, -1,
+                                47, 46, 38, -1, 36, 38, 45, -1,
+                                47, 38, 48, -1, 49, 48, 38, -1,
+                                50, 38, 43, -1, 49, 38, 50, -1,
+                                35, 35, 35, -1, 51, 52, 53, -1,
+                                35, 35, 35, -1, 54, 52, 51, -1,
+                                55, 56, 57, -1, 58, 56, 55, -1,
+                                58, 59, 56, -1, 35, 35, 35, -1,
+                                60, 53, 61, -1, 35, 35, 35, -1,
+                                60, 51, 53, -1, 35, 35, 35, -1,
+                                62, 61, 63, -1, 64, 60, 61, -1,
+                                62, 64, 61, -1, 65, 63, 66, -1,
+                                65, 62, 63, -1, 65, 66, 67, -1,
+                                68, 67, 69, -1, 68, 65, 67, -1,
+                                70, 69, 71, -1, 72, 68, 69, -1,
+                                70, 72, 69, -1, 73, 71, 74, -1,
+                                73, 70, 71, -1, 75, 74, 76, -1,
+                                75, 73, 74, -1, 35, 35, 35, -1,
+                                77, 77, 78, -1, 75, 76, 79, -1,
+                                35, 35, 35, -1, 80, 78, 81, -1,
+                                80, 77, 78, -1, 35, 35, 35, -1,
+                                82, 81, 83, -1, 82, 80, 81, -1,
+                                35, 35, 35, -1, 84, 83, 85, -1,
+                                35, 35, 35, -1, 84, 82, 83, -1,
+                                35, 35, 35, -1, 86, 87, 88, -1,
+                                89, 84, 85, -1, 90, 91, 92, -1,
+                                90, 92, 93, -1, 35, 35, 35, -1,
+                                94, 88, 95, -1, 35, 35, 35, -1,
+                                96, 88, 94, -1, 86, 88, 96, -1,
+                                35, 35, 35, -1, 97, 95, 98, -1,
+                                94, 95, 97, -1, 99, 98, 100, -1,
+                                97, 98, 99, -1, 101, 100, 102, -1,
+                                103, 100, 101, -1, 99, 100, 103, -1,
+                                104, 102, 40, -1, 101, 102, 104, -1,
+                                105, 40, 39, -1, 104, 40, 105, -1,
+                                35, 35, 35, -1, 106, 107, 108, -1,
+                                35, 35, 35, -1, 109, 110, 111, -1,
+                                109, 111, 112, -1, 113, 112, 111, -1,
+                                35, 35, 35, -1, 114, 108, 115, -1,
+                                35, 35, 35, -1, 116, 117, 108, -1,
+                                106, 108, 117, -1, 116, 108, 114, -1,
+                                35, 35, 35, -1, 118, 115, 119, -1,
+                                35, 35, 35, -1, 120, 115, 118, -1,
+                                114, 115, 120, -1, 121, 119, 122, -1,
+                                123, 119, 124, -1, 121, 124, 119, -1,
+                                125, 119, 123, -1, 118, 119, 125, -1,
+                                126, 122, 127, -1, 126, 121, 122, -1,
+                                126, 127, 128, -1, 35, 35, 35, -1,
+                                129, 130, 131, -1, 126, 128, 132, -1,
+                                35, 35, 35, -1, 133, 131, 134, -1,
+                                35, 35, 35, -1, 135, 131, 133, -1,
+                                129, 131, 135, -1, 35, 35, 35, -1,
+                                136, 134, 137, -1, 35, 35, 35, -1,
+                                133, 134, 136, -1, 136, 137, 138, -1,
+                                139, 138, 140, -1, 136, 138, 139, -1,
+                                139, 140, 110, -1, 139, 110, 109, -1,
+                                0, 0, 0, -1, 141, 142, 143, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                0, 0, 0, -1, 144, 145, 146, -1,
+                                144, 146, 147, -1, 148, 147, 146, -1,
+                                0, 0, 0, -1, 149, 143, 150, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                151, 143, 149, -1, 152, 143, 151, -1,
+                                141, 143, 152, -1, 0, 0, 0, -1,
+                                153, 150, 154, -1, 0, 0, 0, -1,
+                                0, 0, 0, -1, 149, 150, 155, -1,
+                                153, 155, 150, -1, 0, 0, 0, -1,
+                                156, 154, 157, -1, 153, 154, 156, -1,
+                                158, 157, 159, -1, 156, 157, 158, -1,
+                                160, 159, 161, -1, 158, 159, 160, -1,
+                                162, 161, 163, -1, 160, 161, 164, -1,
+                                162, 164, 161, -1, 165, 166, 167, -1,
+                                168, 169, 170, -1, 171, 162, 163, -1,
+                                172, 169, 168, -1, 173, 167, 174, -1,
+                                175, 165, 167, -1, 176, 175, 167, -1,
+                                173, 176, 167, -1, 173, 174, 177, -1,
+                                178, 177, 179, -1, 178, 173, 177, -1,
+                                0, 0, 0, -1, 180, 181, 182, -1,
+                                179, 178, 179, -1, 0, 0, 0, -1,
+                                183, 182, 184, -1, 185, 180, 182, -1,
+                                183, 185, 182, -1, 0, 0, 0, -1,
+                                186, 184, 187, -1, 0, 0, 0, -1,
+                                186, 183, 184, -1, 0, 0, 0, -1,
+                                188, 187, 189, -1, 188, 186, 187, -1,
+                                0, 0, 0, -1, 190, 189, 191, -1,
+                                0, 0, 0, -1, 190, 188, 189, -1,
+                                0, 0, 0, -1, 192, 191, 193, -1,
+                                0, 0, 0, -1, 192, 190, 191, -1,
+                                194, 193, 195, -1, 194, 192, 193, -1,
+                                196, 195, 197, -1, 196, 194, 195, -1,
+                                198, 197, 199, -1, 200, 196, 197, -1,
+                                198, 200, 197, -1, 201, 202, 145, -1,
+                                198, 199, 203, -1, 204, 205, 206, -1,
+                                207, 204, 206, -1, 208, 207, 206, -1,
+                                209, 145, 144, -1, 210, 145, 209, -1,
+                                201, 145, 211, -1, 210, 211, 145, -1,
+                                212, 213, 214, -1, 15, 215, 216, -1,
+                                217, 218, 219, -1, 220, 215, 15, -1,
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head_base.obj b/data/RobotAPI/robots/Armar3/fullmodel/head_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b99bccfd4abe007a37e36b9490322ee9385873d0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head_base.obj
@@ -0,0 +1,484 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/head_base.wrl b/data/RobotAPI/robots/Armar3/fullmodel/head_base.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a05afc26cb924b80e20c267a82a1317e93d982
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/head_base.wrl
@@ -0,0 +1,478 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_l1.obj b/data/RobotAPI/robots/Armar3/fullmodel/index_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f712665a78dfc448dc63255e747e894a26656999
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_l1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/index_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_l1.wrl
@@ -0,0 +1,715 @@
+#VRML V2.0 utf8
+
+
+Group {
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+          rotation -0 -0 -0.99999994  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
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+                            DEF _+6 Group {
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+                                    Material {
+                                      diffuseColor 0.87840003 0.949 1
+
+                                    }
+
+                                  }
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+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_l2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/index_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0a70a328c49ef3c2362a84afb7063c71919dd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_l2.wrl
@@ -0,0 +1,686 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0.99999994 0 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          scale 0.001 0.001 0.001
+                          children [ 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.87840003 0.949 1
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_r1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/index_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_r1.wrl
@@ -0,0 +1,715 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/index_r2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/index_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0a70a328c49ef3c2362a84afb7063c71919dd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/index_r2.wrl
@@ -0,0 +1,686 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/jaw.obj b/data/RobotAPI/robots/Armar3/fullmodel/jaw.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2833fcff8840733601585e1970d05fee30fd6124
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/jaw.obj
@@ -0,0 +1,2148 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/jaw.wrl b/data/RobotAPI/robots/Armar3/fullmodel/jaw.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..1f7f8b2ffc2b1b432713e7f9fc5788a5a55540c0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/jaw.wrl
@@ -0,0 +1,2515 @@
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+                                        387, 367, 368, -1, 387, 385, 367, -1,
+                                        388, 368, 373, -1, 388, 387, 368, -1,
+                                        389, 373, 371, -1, 389, 388, 373, -1,
+                                        377, 390, 371, -1, 391, 371, 390, -1,
+                                        391, 389, 371, -1, 392, 393, 390, -1,
+                                        394, 390, 393, -1, 377, 392, 390, -1,
+                                        394, 391, 390, -1, 395, 396, 393, -1,
+                                        397, 393, 396, -1, 398, 395, 393, -1,
+                                        399, 398, 393, -1, 392, 399, 393, -1,
+                                        397, 394, 393, -1, 400, 396, 395, -1,
+                                        401, 397, 396, -1, 402, 401, 396, -1,
+                                        403, 402, 396, -1, 404, 403, 396, -1,
+                                        404, 396, 400, -1, 405, 395, 398, -1,
+                                        400, 395, 405, -1, 405, 398, 399, -1,
+                                        406, 399, 392, -1, 405, 399, 407, -1,
+                                        406, 407, 399, -1, 408, 392, 377, -1,
+                                        406, 392, 408, -1, 378, 408, 377, -1,
+                                        409, 381, 383, -1, 409, 382, 381, -1,
+                                        410, 383, 384, -1, 411, 383, 410, -1,
+                                        409, 383, 411, -1, 412, 384, 386, -1,
+                                        413, 384, 412, -1, 410, 384, 413, -1,
+                                        414, 386, 385, -1, 415, 386, 414, -1,
+                                        415, 412, 386, -1, 416, 385, 387, -1,
+                                        416, 414, 385, -1, 417, 387, 388, -1,
+                                        417, 416, 387, -1, 418, 388, 389, -1,
+                                        418, 417, 388, -1, 419, 389, 391, -1,
+                                        420, 418, 389, -1, 419, 420, 389, -1,
+                                        421, 391, 394, -1, 422, 419, 391, -1,
+                                        423, 422, 391, -1, 421, 423, 391, -1,
+                                        424, 394, 397, -1, 424, 421, 394, -1,
+                                        425, 397, 401, -1, 425, 424, 397, -1,
+                                        426, 401, 402, -1, 425, 401, 426, -1,
+                                        427, 402, 403, -1, 426, 402, 427, -1,
+                                        427, 403, 404, -1, 428, 414, 416, -1,
+                                        429, 414, 428, -1, 415, 414, 429, -1,
+                                        430, 416, 417, -1, 428, 416, 430, -1,
+                                        431, 417, 418, -1, 431, 430, 417, -1,
+                                        432, 418, 420, -1, 433, 418, 432, -1,
+                                        431, 418, 433, -1, 434, 420, 419, -1,
+                                        432, 420, 434, -1, 435, 419, 422, -1,
+                                        434, 419, 435, -1, 436, 422, 423, -1,
+                                        437, 422, 436, -1, 435, 422, 438, -1,
+                                        437, 438, 422, -1, 436, 423, 421, -1,
+                                        436, 421, 424, -1, 439, 424, 425, -1,
+                                        436, 424, 439, -1, 170, 440, 174, -1,
+                                        441, 174, 440, -1, 441, 307, 174, -1,
+                                        442, 440, 170, -1, 443, 440, 442, -1,
+                                        444, 440, 443, -1, 444, 441, 440, -1,
+                                        445, 170, 178, -1, 442, 170, 445, -1,
+                                        446, 178, 181, -1, 445, 178, 446, -1,
+                                        447, 181, 184, -1, 446, 181, 447, -1,
+                                        448, 184, 187, -1, 447, 184, 448, -1,
+                                        449, 187, 190, -1, 448, 187, 449, -1,
+                                        450, 190, 193, -1, 449, 190, 450, -1,
+                                        451, 193, 197, -1, 450, 193, 451, -1,
+                                        452, 197, 200, -1, 451, 197, 452, -1,
+                                        453, 200, 204, -1, 452, 200, 453, -1,
+                                        454, 204, 207, -1, 453, 204, 454, -1,
+                                        309, 207, 209, -1, 309, 454, 207, -1,
+                                        455, 456, 457, -1, 458, 457, 456, -1,
+                                        459, 455, 457, -1, 460, 459, 457, -1,
+                                        461, 460, 457, -1, 461, 457, 458, -1,
+                                        455, 462, 456, -1, 463, 456, 462, -1,
+                                        464, 456, 463, -1, 465, 458, 456, -1,
+                                        464, 465, 456, -1, 466, 407, 462, -1,
+                                        408, 462, 407, -1, 455, 466, 462, -1,
+                                        467, 463, 462, -1, 408, 467, 462, -1,
+                                        466, 405, 407, -1, 406, 408, 407, -1,
+                                        466, 400, 405, -1, 427, 400, 466, -1,
+                                        427, 404, 400, -1, 468, 466, 455, -1,
+                                        468, 427, 466, -1, 469, 455, 459, -1,
+                                        469, 468, 455, -1, 470, 471, 459, -1,
+                                        472, 459, 471, -1, 473, 470, 459, -1,
+                                        460, 473, 459, -1, 472, 469, 459, -1,
+                                        474, 475, 471, -1, 476, 471, 475, -1,
+                                        470, 474, 471, -1, 476, 472, 471, -1,
+                                        477, 478, 475, -1, 479, 475, 478, -1,
+                                        474, 477, 475, -1, 479, 476, 475, -1,
+                                        480, 481, 478, -1, 482, 478, 481, -1,
+                                        477, 480, 478, -1, 482, 479, 478, -1,
+                                        483, 484, 481, -1, 485, 481, 484, -1,
+                                        480, 483, 481, -1, 485, 482, 481, -1,
+                                        486, 487, 484, -1, 488, 484, 487, -1,
+                                        483, 486, 484, -1, 488, 485, 484, -1,
+                                        489, 490, 487, -1, 491, 487, 490, -1,
+                                        486, 489, 487, -1, 491, 488, 487, -1,
+                                        492, 493, 490, -1, 494, 490, 493, -1,
+                                        489, 492, 490, -1, 494, 491, 490, -1,
+                                        495, 496, 493, -1, 412, 493, 496, -1,
+                                        492, 495, 493, -1, 412, 494, 493, -1,
+                                        497, 498, 496, -1, 413, 496, 498, -1,
+                                        495, 497, 496, -1, 413, 412, 496, -1,
+                                        499, 500, 498, -1, 410, 498, 500, -1,
+                                        497, 499, 498, -1, 410, 413, 498, -1,
+                                        501, 382, 500, -1, 409, 500, 382, -1,
+                                        499, 501, 500, -1, 411, 410, 500, -1,
+                                        409, 411, 500, -1, 361, 379, 382, -1,
+                                        501, 361, 382, -1, 361, 380, 379, -1,
+                                        502, 361, 501, -1, 343, 362, 361, -1,
+                                        502, 343, 361, -1, 503, 501, 499, -1,
+                                        503, 502, 501, -1, 504, 499, 497, -1,
+                                        504, 503, 499, -1, 505, 497, 495, -1,
+                                        505, 504, 497, -1, 506, 495, 492, -1,
+                                        506, 505, 495, -1, 507, 492, 489, -1,
+                                        507, 506, 492, -1, 508, 489, 486, -1,
+                                        508, 507, 489, -1, 509, 486, 483, -1,
+                                        509, 508, 486, -1, 510, 483, 480, -1,
+                                        511, 509, 483, -1, 510, 511, 483, -1,
+                                        512, 480, 477, -1, 512, 510, 480, -1,
+                                        513, 477, 474, -1, 513, 512, 477, -1,
+                                        514, 474, 470, -1, 515, 474, 514, -1,
+                                        516, 513, 474, -1, 515, 516, 474, -1,
+                                        517, 470, 473, -1, 518, 514, 470, -1,
+                                        517, 518, 470, -1, 461, 473, 460, -1,
+                                        461, 517, 473, -1, 519, 515, 514, -1,
+                                        518, 519, 514, -1, 359, 362, 343, -1,
+                                        323, 343, 502, -1, 323, 341, 343, -1,
+                                        454, 502, 503, -1, 454, 323, 502, -1,
+                                        453, 503, 504, -1, 453, 454, 503, -1,
+                                        452, 504, 505, -1, 452, 453, 504, -1,
+                                        451, 505, 506, -1, 451, 452, 505, -1,
+                                        450, 506, 507, -1, 450, 451, 506, -1,
+                                        449, 507, 508, -1, 449, 450, 507, -1,
+                                        448, 508, 509, -1, 448, 449, 508, -1,
+                                        447, 509, 511, -1, 447, 448, 509, -1,
+                                        446, 511, 510, -1, 446, 447, 511, -1,
+                                        445, 510, 512, -1, 445, 446, 510, -1,
+                                        442, 512, 513, -1, 442, 445, 512, -1,
+                                        520, 513, 516, -1, 521, 513, 520, -1,
+                                        521, 442, 513, -1, 522, 516, 515, -1,
+                                        523, 520, 516, -1, 522, 523, 516, -1,
+                                        519, 522, 515, -1, 524, 521, 520, -1,
+                                        525, 524, 520, -1, 523, 525, 520, -1,
+                                        309, 323, 454, -1, 443, 442, 521, -1,
+                                        524, 526, 521, -1, 527, 521, 526, -1,
+                                        443, 521, 528, -1, 527, 528, 521, -1,
+                                        529, 526, 524, -1, 529, 527, 526, -1,
+                                        525, 529, 524, -1, 530, 443, 528, -1,
+                                        527, 530, 528, -1, 531, 444, 443, -1,
+                                        530, 531, 443, -1, 426, 427, 468, -1,
+                                        439, 468, 469, -1, 425, 426, 468, -1,
+                                        439, 425, 468, -1, 436, 469, 472, -1,
+                                        436, 439, 469, -1, 435, 472, 476, -1,
+                                        532, 436, 472, -1, 438, 532, 472, -1,
+                                        435, 438, 472, -1, 432, 476, 479, -1,
+                                        434, 435, 476, -1, 432, 434, 476, -1,
+                                        433, 479, 482, -1, 433, 432, 479, -1,
+                                        533, 482, 485, -1, 533, 433, 482, -1,
+                                        430, 485, 488, -1, 430, 533, 485, -1,
+                                        428, 488, 491, -1, 428, 430, 488, -1,
+                                        429, 491, 494, -1, 429, 428, 491, -1,
+                                        415, 494, 412, -1, 415, 429, 494, -1,
+                                        437, 436, 532, -1, 437, 532, 438, -1,
+                                        431, 433, 533, -1, 431, 533, 430, -1,
+                                        408, 463, 467, -1, 378, 464, 463, -1,
+                                        378, 463, 408, -1, 461, 458, 465, -1,
+                                        378, 465, 464, -1, 378, 461, 465, -1,
+                                        319, 307, 441, -1, 122, 307, 319, -1,
+                                        321, 441, 444, -1, 319, 441, 321, -1,
+                                        321, 444, 531, -1, 339, 531, 530, -1,
+                                        321, 531, 339, -1, 336, 530, 527, -1,
+                                        339, 530, 336, -1, 336, 527, 529, -1,
+                                        338, 529, 525, -1, 336, 529, 338, -1,
+                                        356, 525, 523, -1, 338, 525, 356, -1,
+                                        354, 523, 522, -1, 356, 523, 354, -1,
+                                        358, 522, 519, -1, 354, 522, 358, -1,
+                                        376, 519, 518, -1, 358, 519, 376, -1,
+                                        376, 518, 517, -1, 374, 517, 461, -1,
+                                        376, 517, 374, -1, 374, 461, 378, -1 ]
+                                    normalIndex [ 0, 1, 2, -1, 3, 4, 5, -1,
+                                        6, 0, 2, -1, 7, 6, 2, -1,
+                                        8, 9, 10, -1, 11, 4, 3, -1,
+                                        8, 10, 12, -1, 0, 13, 1, -1,
+                                        3, 5, 14, -1, 15, 16, 17, -1,
+                                        3, 14, 18, -1, 19, 0, 6, -1,
+                                        19, 20, 0, -1, 21, 17, 22, -1,
+                                        15, 17, 21, -1, 7, 23, 6, -1,
+                                        24, 6, 23, -1, 25, 6, 24, -1,
+                                        26, 6, 25, -1, 19, 6, 26, -1,
+                                        27, 28, 23, -1, 29, 23, 28, -1,
+                                        30, 27, 23, -1, 7, 30, 23, -1,
+                                        24, 23, 29, -1, 31, 32, 28, -1,
+                                        33, 28, 32, -1, 34, 31, 28, -1,
+                                        27, 34, 28, -1, 29, 28, 33, -1,
+                                        35, 36, 32, -1, 37, 32, 36, -1,
+                                        31, 35, 32, -1, 33, 32, 37, -1,
+                                        35, 38, 36, -1, 39, 36, 38, -1,
+                                        37, 36, 39, -1, 40, 41, 38, -1,
+                                        42, 38, 41, -1, 35, 40, 38, -1,
+                                        39, 38, 42, -1, 43, 44, 41, -1,
+                                        45, 41, 44, -1, 40, 43, 41, -1,
+                                        42, 41, 45, -1, 46, 47, 44, -1,
+                                        48, 44, 47, -1, 43, 46, 44, -1,
+                                        49, 45, 44, -1, 48, 49, 44, -1,
+                                        50, 51, 47, -1, 52, 47, 51, -1,
+                                        46, 50, 47, -1, 52, 48, 47, -1,
+                                        53, 54, 51, -1, 55, 56, 57, -1,
+                                        50, 53, 51, -1, 58, 59, 56, -1,
+                                        55, 58, 56, -1, 53, 60, 54, -1,
+                                        61, 57, 62, -1, 61, 55, 57, -1,
+                                        63, 60, 53, -1, 64, 65, 60, -1,
+                                        66, 62, 67, -1, 63, 64, 60, -1,
+                                        68, 62, 66, -1, 61, 62, 68, -1,
+                                        69, 53, 50, -1, 69, 63, 53, -1,
+                                        70, 50, 46, -1, 70, 69, 50, -1,
+                                        71, 46, 43, -1, 71, 70, 46, -1,
+                                        72, 43, 40, -1, 72, 71, 43, -1,
+                                        73, 40, 35, -1, 73, 72, 40, -1,
+                                        74, 35, 31, -1, 74, 73, 35, -1,
+                                        75, 31, 34, -1, 76, 31, 75, -1,
+                                        77, 74, 31, -1, 78, 77, 31, -1,
+                                        79, 78, 31, -1, 80, 79, 31, -1,
+                                        76, 80, 31, -1, 81, 82, 83, -1,
+                                        84, 85, 82, -1, 84, 82, 81, -1,
+                                        86, 83, 87, -1, 81, 83, 86, -1,
+                                        86, 87, 9, -1, 86, 9, 8, -1,
+                                        84, 88, 85, -1, 89, 90, 91, -1,
+                                        92, 66, 67, -1, 93, 64, 63, -1,
+                                        93, 94, 64, -1, 95, 91, 96, -1,
+                                        97, 98, 91, -1, 89, 91, 98, -1,
+                                        95, 97, 91, -1, 99, 63, 69, -1,
+                                        99, 93, 63, -1, 100, 69, 70, -1,
+                                        100, 99, 69, -1, 101, 70, 71, -1,
+                                        101, 100, 70, -1, 102, 71, 72, -1,
+                                        102, 101, 71, -1, 103, 72, 73, -1,
+                                        103, 102, 72, -1, 104, 73, 74, -1,
+                                        104, 103, 73, -1, 105, 74, 77, -1,
+                                        105, 104, 74, -1, 106, 77, 78, -1,
+                                        107, 77, 106, -1, 108, 105, 77, -1,
+                                        107, 108, 77, -1, 109, 110, 111, -1,
+                                        112, 113, 110, -1, 112, 110, 109, -1,
+                                        109, 111, 114, -1, 115, 114, 88, -1,
+                                        109, 114, 115, -1, 115, 88, 84, -1,
+                                        112, 116, 113, -1, 95, 96, 117, -1,
+                                        118, 93, 99, -1, 119, 117, 120, -1,
+                                        119, 95, 117, -1, 121, 99, 100, -1,
+                                        122, 118, 99, -1, 123, 122, 99, -1,
+                                        121, 123, 99, -1, 124, 100, 101, -1,
+                                        124, 121, 100, -1, 125, 101, 102, -1,
+                                        125, 124, 101, -1, 126, 102, 103, -1,
+                                        126, 125, 102, -1, 127, 103, 104, -1,
+                                        127, 126, 103, -1, 128, 104, 105, -1,
+                                        128, 127, 104, -1, 129, 105, 108, -1,
+                                        130, 128, 105, -1, 131, 130, 105, -1,
+                                        129, 131, 105, -1, 107, 132, 108, -1,
+                                        133, 134, 135, -1, 129, 108, 136, -1,
+                                        133, 137, 134, -1, 138, 135, 116, -1,
+                                        133, 135, 138, -1, 138, 116, 112, -1,
+                                        139, 140, 137, -1, 139, 137, 133, -1,
+                                        141, 120, 142, -1, 141, 119, 120, -1,
+                                        143, 122, 123, -1, 144, 145, 122, -1,
+                                        146, 142, 147, -1, 143, 144, 122, -1,
+                                        141, 142, 146, -1, 148, 123, 121, -1,
+                                        148, 143, 123, -1, 149, 121, 124, -1,
+                                        149, 148, 121, -1, 150, 124, 125, -1,
+                                        151, 149, 124, -1, 150, 151, 124, -1,
+                                        152, 125, 126, -1, 152, 150, 125, -1,
+                                        153, 126, 127, -1, 153, 152, 126, -1,
+                                        154, 127, 128, -1, 154, 153, 127, -1,
+                                        155, 128, 130, -1, 155, 154, 128, -1,
+                                        156, 157, 158, -1, 155, 130, 159, -1,
+                                        156, 160, 157, -1, 161, 158, 140, -1,
+                                        156, 158, 161, -1, 161, 140, 139, -1,
+                                        162, 155, 159, -1, 163, 164, 160, -1,
+                                        156, 163, 160, -1, 165, 147, 166, -1,
+                                        146, 147, 165, -1, 167, 168, 169, -1,
+                                        170, 165, 166, -1, 171, 172, 173, -1,
+                                        174, 169, 175, -1, 176, 167, 169, -1,
+                                        174, 176, 169, -1, 177, 175, 178, -1,
+                                        177, 174, 175, -1, 177, 178, 179, -1,
+                                        180, 179, 181, -1, 180, 177, 179, -1,
+                                        182, 181, 183, -1, 182, 180, 181, -1,
+                                        184, 183, 185, -1, 184, 182, 183, -1,
+                                        186, 185, 187, -1, 186, 184, 185, -1,
+                                        188, 187, 189, -1, 188, 186, 187, -1,
+                                        188, 189, 190, -1, 191, 188, 190, -1,
+                                        192, 193, 194, -1, 195, 195, 195, -1,
+                                        29, 196, 197, -1, 195, 195, 195, -1,
+                                        24, 29, 197, -1, 198, 24, 197, -1,
+                                        199, 200, 201, -1, 199, 201, 201, -1,
+                                        29, 202, 196, -1, 29, 203, 202, -1,
+                                        204, 205, 206, -1, 195, 195, 195, -1,
+                                        33, 207, 203, -1, 208, 206, 209, -1,
+                                        29, 33, 203, -1, 210, 206, 208, -1,
+                                        211, 206, 210, -1, 204, 206, 211, -1,
+                                        37, 212, 207, -1, 213, 209, 214, -1,
+                                        33, 37, 207, -1, 208, 209, 213, -1,
+                                        37, 215, 212, -1, 216, 217, 218, -1,
+                                        213, 214, 219, -1, 220, 219, 214, -1,
+                                        39, 221, 215, -1, 222, 218, 223, -1,
+                                        37, 39, 215, -1, 216, 218, 222, -1,
+                                        42, 224, 221, -1, 225, 223, 226, -1,
+                                        39, 42, 221, -1, 225, 222, 223, -1,
+                                        42, 45, 224, -1, 227, 226, 228, -1,
+                                        225, 226, 227, -1, 229, 228, 230, -1,
+                                        227, 228, 229, -1, 198, 25, 24, -1,
+                                        231, 232, 200, -1, 233, 234, 232, -1,
+                                        233, 232, 231, -1, 231, 200, 199, -1,
+                                        235, 236, 234, -1, 235, 234, 233, -1,
+                                        237, 230, 238, -1, 229, 230, 237, -1,
+                                        239, 238, 59, -1, 240, 237, 238, -1,
+                                        241, 240, 238, -1, 241, 238, 239, -1,
+                                        242, 59, 58, -1, 239, 59, 242, -1,
+                                        243, 22, 236, -1, 21, 22, 243, -1,
+                                        243, 236, 235, -1, 244, 245, 246, -1,
+                                        247, 248, 249, -1, 250, 244, 246, -1,
+                                        251, 252, 253, -1, 254, 251, 253, -1,
+                                        255, 256, 257, -1, 247, 258, 248, -1,
+                                        259, 260, 245, -1, 247, 249, 261, -1,
+                                        244, 259, 245, -1, 259, 262, 260, -1,
+                                        263, 261, 264, -1, 263, 247, 261, -1,
+                                        265, 266, 262, -1, 267, 264, 268, -1,
+                                        259, 265, 262, -1, 267, 263, 264, -1,
+                                        269, 270, 266, -1, 271, 268, 272, -1,
+                                        265, 269, 266, -1, 271, 267, 268, -1,
+                                        273, 274, 270, -1, 275, 272, 276, -1,
+                                        269, 273, 270, -1, 275, 271, 272, -1,
+                                        277, 278, 274, -1, 279, 276, 280, -1,
+                                        273, 277, 274, -1, 279, 275, 276, -1,
+                                        281, 282, 278, -1, 283, 280, 284, -1,
+                                        277, 281, 278, -1, 283, 279, 280, -1,
+                                        285, 286, 282, -1, 283, 284, 287, -1,
+                                        281, 285, 282, -1, 285, 288, 286, -1,
+                                        289, 287, 290, -1, 289, 283, 287, -1,
+                                        291, 292, 288, -1, 293, 290, 294, -1,
+                                        285, 291, 288, -1, 293, 289, 290, -1,
+                                        295, 296, 292, -1, 293, 294, 297, -1,
+                                        291, 295, 292, -1, 295, 298, 296, -1,
+                                        299, 297, 300, -1, 299, 293, 297, -1,
+                                        301, 302, 298, -1, 303, 300, 304, -1,
+                                        295, 301, 298, -1, 303, 299, 300, -1,
+                                        305, 306, 302, -1, 307, 304, 308, -1,
+                                        309, 305, 302, -1, 301, 309, 302, -1,
+                                        307, 303, 304, -1, 170, 310, 165, -1,
+                                        171, 311, 172, -1, 312, 311, 171, -1,
+                                        313, 307, 308, -1, 314, 309, 301, -1,
+                                        315, 301, 295, -1, 316, 301, 315, -1,
+                                        314, 301, 316, -1, 317, 295, 291, -1,
+                                        315, 295, 317, -1, 318, 291, 285, -1,
+                                        317, 291, 318, -1, 319, 285, 281, -1,
+                                        318, 285, 319, -1, 320, 281, 277, -1,
+                                        319, 281, 320, -1, 321, 277, 273, -1,
+                                        320, 277, 321, -1, 322, 273, 269, -1,
+                                        321, 273, 322, -1, 323, 269, 265, -1,
+                                        322, 269, 323, -1, 324, 265, 259, -1,
+                                        323, 265, 324, -1, 325, 259, 244, -1,
+                                        324, 259, 325, -1, 250, 326, 244, -1,
+                                        327, 244, 326, -1, 325, 244, 327, -1,
+                                        328, 329, 252, -1, 330, 327, 326, -1,
+                                        331, 332, 329, -1, 328, 331, 329, -1,
+                                        251, 328, 252, -1, 333, 334, 335, -1,
+                                        336, 333, 335, -1, 333, 337, 334, -1,
+                                        338, 334, 337, -1, 339, 340, 337, -1,
+                                        341, 337, 340, -1, 333, 339, 337, -1,
+                                        342, 337, 341, -1, 343, 337, 342, -1,
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+                                    ccw TRUE
+                                    solid TRUE
+                                    convex TRUE
+                                    creaseAngle 0
+
+                                  }
+
+                                }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.obj b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad704421facfb847a7b340cbdf9cae75a009dd39
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.obj
@@ -0,0 +1,892 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.wrl b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..66510051a1fe35d106e630396310ab6dfff9d04c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_bottom.wrl
@@ -0,0 +1,938 @@
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+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.obj b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be064ddd0db226880ce43cb0200aceceac15ea56
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.obj
@@ -0,0 +1,892 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.wrl b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e86a87ee4bf7a3c97de6beb269668570835c7599
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_l_top.wrl
@@ -0,0 +1,938 @@
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+                                37, 33, 36, -1, 32, 35, 33, -1,
+                                37, 34, 33, -1, 38, 39, 36, -1,
+                                40, 36, 39, -1, 35, 38, 36, -1,
+                                40, 37, 36, -1, 41, 42, 39, -1,
+                                43, 39, 42, -1, 41, 39, 38, -1,
+                                44, 40, 39, -1, 45, 44, 39, -1,
+                                46, 45, 39, -1, 47, 46, 39, -1,
+                                48, 47, 39, -1, 49, 48, 39, -1,
+                                50, 49, 39, -1, 43, 50, 39, -1,
+                                41, 51, 42, -1, 52, 42, 51, -1,
+                                43, 42, 52, -1, 53, 54, 51, -1,
+                                55, 51, 54, -1, 41, 53, 51, -1,
+                                52, 51, 55, -1, 56, 57, 54, -1,
+                                58, 54, 57, -1, 53, 56, 54, -1,
+                                55, 54, 58, -1, 59, 60, 57, -1,
+                                61, 57, 60, -1, 56, 59, 57, -1,
+                                58, 57, 61, -1, 62, 63, 60, -1,
+                                64, 60, 63, -1, 65, 62, 60, -1,
+                                59, 65, 60, -1, 61, 60, 64, -1,
+                                66, 67, 63, -1, 68, 63, 67, -1,
+                                62, 66, 63, -1, 64, 63, 68, -1,
+                                69, 70, 67, -1, 71, 67, 70, -1,
+                                66, 69, 67, -1, 68, 67, 71, -1,
+                                72, 5, 70, -1, 73, 70, 5, -1,
+                                69, 72, 70, -1, 71, 70, 73, -1,
+                                72, 4, 5, -1, 73, 5, 6, -1,
+                                74, 38, 35, -1, 75, 41, 38, -1,
+                                76, 38, 74, -1, 77, 38, 76, -1,
+                                78, 38, 77, -1, 79, 38, 78, -1,
+                                80, 38, 79, -1, 81, 38, 80, -1,
+                                82, 38, 81, -1, 75, 38, 82, -1,
+                                83, 35, 32, -1, 83, 74, 35, -1,
+                                84, 32, 29, -1, 84, 83, 32, -1,
+                                85, 29, 25, -1, 85, 84, 29, -1,
+                                86, 25, 28, -1, 86, 85, 25, -1,
+                                87, 28, 22, -1, 87, 86, 28, -1,
+                                88, 22, 19, -1, 88, 87, 22, -1,
+                                89, 19, 16, -1, 89, 88, 19, -1,
+                                90, 16, 0, -1, 90, 89, 16, -1,
+                                91, 0, 4, -1, 91, 90, 0, -1,
+                                92, 4, 72, -1, 93, 91, 4, -1,
+                                94, 93, 4, -1, 95, 94, 4, -1,
+                                96, 95, 4, -1, 97, 96, 4, -1,
+                                98, 97, 4, -1, 99, 98, 4, -1,
+                                92, 99, 4, -1, 100, 72, 69, -1,
+                                92, 72, 100, -1, 101, 69, 66, -1,
+                                100, 69, 101, -1, 102, 66, 62, -1,
+                                101, 66, 102, -1, 103, 62, 65, -1,
+                                102, 62, 103, -1, 104, 65, 59, -1,
+                                103, 65, 104, -1, 105, 59, 56, -1,
+                                104, 59, 105, -1, 106, 56, 53, -1,
+                                105, 56, 106, -1, 107, 53, 41, -1,
+                                106, 53, 107, -1, 107, 41, 75, -1,
+                                7, 3, 15, -1, 108, 15, 18, -1,
+                                108, 7, 15, -1, 109, 18, 21, -1,
+                                109, 108, 18, -1, 110, 21, 24, -1,
+                                110, 109, 21, -1, 111, 24, 27, -1,
+                                111, 110, 24, -1, 112, 27, 31, -1,
+                                112, 111, 27, -1, 113, 31, 34, -1,
+                                113, 112, 31, -1, 114, 34, 37, -1,
+                                114, 113, 34, -1, 115, 37, 40, -1,
+                                115, 114, 37, -1, 44, 115, 40, -1,
+                                8, 7, 108, -1, 116, 108, 109, -1,
+                                116, 8, 108, -1, 117, 109, 110, -1,
+                                117, 116, 109, -1, 118, 110, 111, -1,
+                                118, 117, 110, -1, 119, 111, 112, -1,
+                                119, 118, 111, -1, 120, 112, 113, -1,
+                                120, 119, 112, -1, 121, 113, 114, -1,
+                                121, 120, 113, -1, 122, 114, 115, -1,
+                                122, 121, 114, -1, 123, 115, 44, -1,
+                                123, 122, 115, -1, 45, 123, 44, -1,
+                                9, 8, 116, -1, 124, 116, 117, -1,
+                                124, 9, 116, -1, 125, 117, 118, -1,
+                                125, 124, 117, -1, 126, 118, 119, -1,
+                                126, 125, 118, -1, 127, 119, 120, -1,
+                                127, 126, 119, -1, 128, 120, 121, -1,
+                                128, 127, 120, -1, 129, 121, 122, -1,
+                                129, 128, 121, -1, 130, 122, 123, -1,
+                                130, 129, 122, -1, 131, 123, 45, -1,
+                                131, 130, 123, -1, 46, 131, 45, -1,
+                                10, 9, 124, -1, 132, 124, 125, -1,
+                                132, 10, 124, -1, 133, 125, 126, -1,
+                                133, 132, 125, -1, 134, 126, 127, -1,
+                                134, 133, 126, -1, 135, 127, 128, -1,
+                                135, 134, 127, -1, 136, 128, 129, -1,
+                                136, 135, 128, -1, 137, 129, 130, -1,
+                                137, 136, 129, -1, 138, 130, 131, -1,
+                                138, 137, 130, -1, 139, 131, 46, -1,
+                                139, 138, 131, -1, 47, 139, 46, -1,
+                                11, 10, 132, -1, 140, 132, 133, -1,
+                                140, 11, 132, -1, 141, 133, 134, -1,
+                                141, 140, 133, -1, 142, 134, 135, -1,
+                                142, 141, 134, -1, 143, 135, 136, -1,
+                                143, 142, 135, -1, 144, 136, 137, -1,
+                                144, 143, 136, -1, 145, 137, 138, -1,
+                                145, 144, 137, -1, 146, 138, 139, -1,
+                                146, 145, 138, -1, 147, 139, 47, -1,
+                                147, 146, 139, -1, 48, 147, 47, -1,
+                                12, 11, 140, -1, 148, 140, 141, -1,
+                                148, 12, 140, -1, 149, 141, 142, -1,
+                                149, 148, 141, -1, 150, 142, 143, -1,
+                                150, 149, 142, -1, 151, 143, 144, -1,
+                                151, 150, 143, -1, 152, 144, 145, -1,
+                                152, 151, 144, -1, 153, 145, 146, -1,
+                                153, 152, 145, -1, 154, 146, 147, -1,
+                                154, 153, 146, -1, 155, 147, 48, -1,
+                                155, 154, 147, -1, 49, 155, 48, -1,
+                                13, 12, 148, -1, 156, 148, 149, -1,
+                                156, 13, 148, -1, 157, 149, 150, -1,
+                                157, 156, 149, -1, 158, 150, 151, -1,
+                                158, 157, 150, -1, 159, 151, 152, -1,
+                                159, 158, 151, -1, 160, 152, 153, -1,
+                                160, 159, 152, -1, 161, 153, 154, -1,
+                                161, 160, 153, -1, 162, 154, 155, -1,
+                                162, 161, 154, -1, 163, 155, 49, -1,
+                                163, 162, 155, -1, 50, 163, 49, -1,
+                                6, 13, 156, -1, 73, 156, 157, -1,
+                                73, 6, 156, -1, 71, 157, 158, -1,
+                                71, 73, 157, -1, 68, 158, 159, -1,
+                                68, 71, 158, -1, 64, 159, 160, -1,
+                                64, 68, 159, -1, 61, 160, 161, -1,
+                                61, 64, 160, -1, 58, 161, 162, -1,
+                                58, 61, 161, -1, 55, 162, 163, -1,
+                                55, 58, 162, -1, 52, 163, 50, -1,
+                                52, 55, 163, -1, 43, 52, 50, -1,
+                                76, 74, 83, -1, 164, 83, 84, -1,
+                                164, 76, 83, -1, 165, 84, 85, -1,
+                                165, 164, 84, -1, 166, 85, 86, -1,
+                                166, 165, 85, -1, 167, 86, 87, -1,
+                                167, 166, 86, -1, 168, 87, 88, -1,
+                                168, 167, 87, -1, 169, 88, 89, -1,
+                                169, 168, 88, -1, 170, 89, 90, -1,
+                                170, 169, 89, -1, 171, 90, 91, -1,
+                                171, 170, 90, -1, 93, 171, 91, -1,
+                                77, 76, 164, -1, 172, 164, 165, -1,
+                                172, 77, 164, -1, 173, 165, 166, -1,
+                                173, 172, 165, -1, 174, 166, 167, -1,
+                                174, 173, 166, -1, 175, 167, 168, -1,
+                                175, 174, 167, -1, 176, 168, 169, -1,
+                                176, 175, 168, -1, 177, 169, 170, -1,
+                                177, 176, 169, -1, 178, 170, 171, -1,
+                                178, 177, 170, -1, 179, 171, 93, -1,
+                                179, 178, 171, -1, 94, 179, 93, -1,
+                                78, 77, 172, -1, 180, 172, 173, -1,
+                                180, 78, 172, -1, 181, 173, 174, -1,
+                                181, 180, 173, -1, 182, 174, 175, -1,
+                                182, 181, 174, -1, 183, 175, 176, -1,
+                                183, 182, 175, -1, 184, 176, 177, -1,
+                                184, 183, 176, -1, 185, 177, 178, -1,
+                                185, 184, 177, -1, 186, 178, 179, -1,
+                                186, 185, 178, -1, 187, 179, 94, -1,
+                                187, 186, 179, -1, 95, 187, 94, -1,
+                                79, 78, 180, -1, 188, 180, 181, -1,
+                                188, 79, 180, -1, 189, 181, 182, -1,
+                                189, 188, 181, -1, 190, 182, 183, -1,
+                                190, 189, 182, -1, 191, 183, 184, -1,
+                                191, 190, 183, -1, 192, 184, 185, -1,
+                                192, 191, 184, -1, 193, 185, 186, -1,
+                                193, 192, 185, -1, 194, 186, 187, -1,
+                                194, 193, 186, -1, 195, 187, 95, -1,
+                                195, 194, 187, -1, 96, 195, 95, -1,
+                                80, 79, 188, -1, 196, 188, 189, -1,
+                                196, 80, 188, -1, 197, 189, 190, -1,
+                                197, 196, 189, -1, 198, 190, 191, -1,
+                                198, 197, 190, -1, 199, 191, 192, -1,
+                                199, 198, 191, -1, 200, 192, 193, -1,
+                                200, 199, 192, -1, 201, 193, 194, -1,
+                                201, 200, 193, -1, 202, 194, 195, -1,
+                                202, 201, 194, -1, 203, 195, 96, -1,
+                                203, 202, 195, -1, 97, 203, 96, -1,
+                                81, 80, 196, -1, 204, 196, 197, -1,
+                                204, 81, 196, -1, 205, 197, 198, -1,
+                                205, 204, 197, -1, 206, 198, 199, -1,
+                                206, 205, 198, -1, 207, 199, 200, -1,
+                                207, 206, 199, -1, 208, 200, 201, -1,
+                                208, 207, 200, -1, 209, 201, 202, -1,
+                                209, 208, 201, -1, 210, 202, 203, -1,
+                                210, 209, 202, -1, 211, 203, 97, -1,
+                                211, 210, 203, -1, 98, 211, 97, -1,
+                                82, 81, 204, -1, 212, 204, 205, -1,
+                                212, 82, 204, -1, 213, 205, 206, -1,
+                                213, 212, 205, -1, 214, 206, 207, -1,
+                                214, 213, 206, -1, 215, 207, 208, -1,
+                                215, 214, 207, -1, 216, 208, 209, -1,
+                                216, 215, 208, -1, 217, 209, 210, -1,
+                                217, 216, 209, -1, 218, 210, 211, -1,
+                                218, 217, 210, -1, 219, 211, 98, -1,
+                                219, 218, 211, -1, 99, 219, 98, -1,
+                                75, 82, 212, -1, 107, 212, 213, -1,
+                                107, 75, 212, -1, 106, 213, 214, -1,
+                                106, 107, 213, -1, 105, 214, 215, -1,
+                                105, 106, 214, -1, 104, 215, 216, -1,
+                                104, 105, 215, -1, 103, 216, 217, -1,
+                                103, 104, 216, -1, 102, 217, 218, -1,
+                                102, 103, 217, -1, 101, 218, 219, -1,
+                                101, 102, 218, -1, 100, 219, 99, -1,
+                                100, 101, 219, -1, 92, 100, 99, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 2, 3, -1,
+                                0, 0, 0, -1, 4, 5, 2, -1,
+                                0, 0, 0, -1, 6, 2, 1, -1,
+                                7, 2, 6, -1, 8, 2, 7, -1,
+                                9, 2, 8, -1, 10, 2, 9, -1,
+                                11, 2, 10, -1, 12, 2, 11, -1,
+                                4, 2, 12, -1, 0, 0, 0, -1,
+                                13, 3, 14, -1, 13, 1, 3, -1,
+                                0, 0, 0, -1, 15, 14, 16, -1,
+                                0, 0, 0, -1, 15, 13, 14, -1,
+                                0, 0, 0, -1, 17, 16, 18, -1,
+                                0, 0, 0, -1, 17, 15, 16, -1,
+                                0, 0, 0, -1, 19, 18, 20, -1,
+                                0, 0, 0, -1, 19, 17, 18, -1,
+                                0, 0, 0, -1, 21, 20, 22, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                21, 19, 20, -1, 0, 0, 0, -1,
+                                23, 22, 24, -1, 0, 0, 0, -1,
+                                23, 21, 22, -1, 0, 0, 0, -1,
+                                25, 24, 26, -1, 0, 0, 0, -1,
+                                25, 23, 24, -1, 0, 0, 0, -1,
+                                27, 26, 28, -1, 0, 0, 0, -1,
+                                27, 25, 26, -1, 0, 0, 0, -1,
+                                29, 28, 30, -1, 0, 0, 0, -1,
+                                29, 27, 28, -1, 0, 0, 0, -1,
+                                31, 30, 32, -1, 0, 0, 0, -1,
+                                33, 29, 30, -1, 34, 33, 30, -1,
+                                35, 34, 30, -1, 36, 35, 30, -1,
+                                37, 36, 30, -1, 38, 37, 30, -1,
+                                39, 38, 30, -1, 31, 39, 30, -1,
+                                0, 0, 0, -1, 40, 32, 41, -1,
+                                31, 32, 40, -1, 0, 0, 0, -1,
+                                42, 41, 43, -1, 0, 0, 0, -1,
+                                40, 41, 42, -1, 0, 0, 0, -1,
+                                44, 43, 45, -1, 0, 0, 0, -1,
+                                42, 43, 44, -1, 0, 0, 0, -1,
+                                46, 45, 47, -1, 0, 0, 0, -1,
+                                44, 45, 46, -1, 0, 0, 0, -1,
+                                48, 47, 49, -1, 0, 0, 0, -1,
+                                0, 0, 0, -1, 46, 47, 48, -1,
+                                0, 0, 0, -1, 50, 49, 51, -1,
+                                0, 0, 0, -1, 48, 49, 50, -1,
+                                0, 0, 0, -1, 52, 51, 53, -1,
+                                0, 0, 0, -1, 50, 51, 52, -1,
+                                0, 0, 0, -1, 54, 53, 5, -1,
+                                0, 0, 0, -1, 52, 53, 54, -1,
+                                0, 0, 0, -1, 54, 5, 4, -1,
+                                55, 56, 57, -1, 58, 59, 56, -1,
+                                60, 56, 55, -1, 61, 56, 60, -1,
+                                62, 56, 61, -1, 63, 56, 62, -1,
+                                64, 56, 63, -1, 65, 56, 64, -1,
+                                66, 56, 65, -1, 58, 56, 66, -1,
+                                67, 57, 68, -1, 67, 55, 57, -1,
+                                69, 68, 70, -1, 69, 67, 68, -1,
+                                71, 70, 72, -1, 71, 69, 70, -1,
+                                73, 72, 74, -1, 73, 71, 72, -1,
+                                75, 74, 76, -1, 75, 73, 74, -1,
+                                77, 76, 78, -1, 77, 75, 76, -1,
+                                79, 78, 80, -1, 79, 77, 78, -1,
+                                81, 80, 82, -1, 81, 79, 80, -1,
+                                83, 82, 84, -1, 83, 81, 82, -1,
+                                85, 84, 86, -1, 87, 83, 84, -1,
+                                88, 87, 84, -1, 89, 88, 84, -1,
+                                90, 89, 84, -1, 91, 90, 84, -1,
+                                92, 91, 84, -1, 93, 92, 84, -1,
+                                85, 93, 84, -1, 94, 86, 95, -1,
+                                85, 86, 94, -1, 96, 95, 97, -1,
+                                94, 95, 96, -1, 98, 97, 99, -1,
+                                96, 97, 98, -1, 100, 99, 101, -1,
+                                98, 99, 100, -1, 102, 101, 103, -1,
+                                100, 101, 102, -1, 104, 103, 105, -1,
+                                102, 103, 104, -1, 106, 105, 107, -1,
+                                104, 105, 106, -1, 108, 107, 59, -1,
+                                106, 107, 108, -1, 108, 59, 58, -1,
+                                6, 1, 13, -1, 109, 13, 15, -1,
+                                109, 6, 13, -1, 110, 15, 17, -1,
+                                110, 109, 15, -1, 111, 17, 19, -1,
+                                111, 110, 17, -1, 112, 19, 21, -1,
+                                112, 111, 19, -1, 113, 21, 23, -1,
+                                113, 112, 21, -1, 114, 23, 25, -1,
+                                114, 113, 23, -1, 115, 25, 27, -1,
+                                115, 114, 25, -1, 116, 27, 29, -1,
+                                116, 115, 27, -1, 33, 116, 29, -1,
+                                7, 6, 109, -1, 117, 109, 110, -1,
+                                117, 7, 109, -1, 118, 110, 111, -1,
+                                118, 117, 110, -1, 119, 111, 112, -1,
+                                119, 118, 111, -1, 120, 112, 113, -1,
+                                120, 119, 112, -1, 121, 113, 114, -1,
+                                121, 120, 113, -1, 122, 114, 115, -1,
+                                122, 121, 114, -1, 123, 115, 116, -1,
+                                123, 122, 115, -1, 124, 116, 33, -1,
+                                124, 123, 116, -1, 34, 124, 33, -1,
+                                8, 7, 117, -1, 125, 117, 118, -1,
+                                125, 8, 117, -1, 126, 118, 119, -1,
+                                126, 125, 118, -1, 127, 119, 120, -1,
+                                127, 126, 119, -1, 128, 120, 121, -1,
+                                128, 127, 120, -1, 129, 121, 122, -1,
+                                129, 128, 121, -1, 130, 122, 123, -1,
+                                130, 129, 122, -1, 131, 123, 124, -1,
+                                131, 130, 123, -1, 132, 124, 34, -1,
+                                132, 131, 124, -1, 35, 132, 34, -1,
+                                9, 8, 125, -1, 133, 125, 126, -1,
+                                133, 9, 125, -1, 134, 126, 127, -1,
+                                134, 133, 126, -1, 135, 127, 128, -1,
+                                135, 134, 127, -1, 136, 128, 129, -1,
+                                136, 135, 128, -1, 137, 129, 130, -1,
+                                137, 136, 129, -1, 138, 130, 131, -1,
+                                138, 137, 130, -1, 139, 131, 132, -1,
+                                139, 138, 131, -1, 140, 132, 35, -1,
+                                140, 139, 132, -1, 36, 140, 35, -1,
+                                10, 9, 133, -1, 141, 133, 134, -1,
+                                141, 10, 133, -1, 142, 134, 135, -1,
+                                142, 141, 134, -1, 143, 135, 136, -1,
+                                143, 142, 135, -1, 144, 136, 137, -1,
+                                144, 143, 136, -1, 145, 137, 138, -1,
+                                145, 144, 137, -1, 146, 138, 139, -1,
+                                146, 145, 138, -1, 147, 139, 140, -1,
+                                147, 146, 139, -1, 148, 140, 36, -1,
+                                148, 147, 140, -1, 37, 148, 36, -1,
+                                11, 10, 141, -1, 149, 141, 142, -1,
+                                149, 11, 141, -1, 150, 142, 143, -1,
+                                150, 149, 142, -1, 151, 143, 144, -1,
+                                151, 150, 143, -1, 152, 144, 145, -1,
+                                152, 151, 144, -1, 153, 145, 146, -1,
+                                153, 152, 145, -1, 154, 146, 147, -1,
+                                154, 153, 146, -1, 155, 147, 148, -1,
+                                155, 154, 147, -1, 156, 148, 37, -1,
+                                156, 155, 148, -1, 38, 156, 37, -1,
+                                12, 11, 149, -1, 157, 149, 150, -1,
+                                157, 12, 149, -1, 158, 150, 151, -1,
+                                158, 157, 150, -1, 159, 151, 152, -1,
+                                159, 158, 151, -1, 160, 152, 153, -1,
+                                160, 159, 152, -1, 161, 153, 154, -1,
+                                161, 160, 153, -1, 162, 154, 155, -1,
+                                162, 161, 154, -1, 163, 155, 156, -1,
+                                163, 162, 155, -1, 164, 156, 38, -1,
+                                164, 163, 156, -1, 39, 164, 38, -1,
+                                4, 12, 157, -1, 54, 157, 158, -1,
+                                54, 4, 157, -1, 52, 158, 159, -1,
+                                52, 54, 158, -1, 50, 159, 160, -1,
+                                50, 52, 159, -1, 48, 160, 161, -1,
+                                48, 50, 160, -1, 46, 161, 162, -1,
+                                46, 48, 161, -1, 44, 162, 163, -1,
+                                44, 46, 162, -1, 42, 163, 164, -1,
+                                42, 44, 163, -1, 40, 164, 39, -1,
+                                40, 42, 164, -1, 31, 40, 39, -1,
+                                60, 55, 67, -1, 165, 67, 69, -1,
+                                165, 60, 67, -1, 166, 69, 71, -1,
+                                166, 165, 69, -1, 167, 71, 73, -1,
+                                167, 166, 71, -1, 168, 73, 75, -1,
+                                168, 167, 73, -1, 169, 75, 77, -1,
+                                169, 168, 75, -1, 170, 77, 79, -1,
+                                170, 169, 77, -1, 171, 79, 81, -1,
+                                171, 170, 79, -1, 172, 81, 83, -1,
+                                172, 171, 81, -1, 87, 172, 83, -1,
+                                61, 60, 165, -1, 173, 165, 166, -1,
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+                        }
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+                    }
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+                }
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+            }
+
+        }
+
+    }
+
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.obj b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819af73e3483330790e7ce169058cffcc5cdd329
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.obj
@@ -0,0 +1,892 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.wrl b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..66510051a1fe35d106e630396310ab6dfff9d04c
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_bottom.wrl
@@ -0,0 +1,938 @@
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+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.obj b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c21b522dde4416a228a36f62f5603a1f4aa046
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.obj
@@ -0,0 +1,892 @@
+####
+#
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+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.wrl b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e86a87ee4bf7a3c97de6beb269668570835c7599
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/lid_r_top.wrl
@@ -0,0 +1,938 @@
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+                                  -0.65486097 -0.234668 0.71839303,
+                                  -0.841254 -0.16787501 0.51391703,
+                                  0.841254 -0.31860501 0.43678799,
+                                  0.65486097 -0.44536999 0.61057597,
+                                  0.41541499 -0.53605402 0.73489898,
+                                  0.142315 -0.58331102 0.79968399,
+                                  -0.142315 -0.58331102 0.79968399,
+                                  -0.41541499 -0.53605402 0.73489898,
+                                  -0.65486097 -0.44536999 0.61057597,
+                                  -0.841254 -0.31860501 0.43678799,
+                                  0.841254 -0.43808499 0.316818,
+                                  0.65486097 -0.61238998 0.442873,
+                                  0.41541499 -0.737082 0.53304899,
+                                  0.142315 -0.80206001 0.58003998,
+                                  -0.142315 -0.80206001 0.58003998,
+                                  -0.41541499 -0.737082 0.53304899,
+                                  -0.65486097 -0.61238998 0.442873,
+                                  -0.841254 -0.43808499 0.316818 ]
+
+                            }
+                            coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
+                                4, 2, 5, -1, 6, 5, 2, -1,
+                                4, 0, 2, -1, 7, 2, 3, -1,
+                                8, 2, 7, -1, 9, 2, 8, -1,
+                                10, 2, 9, -1, 11, 2, 10, -1,
+                                12, 2, 11, -1, 13, 2, 12, -1,
+                                6, 2, 13, -1, 0, 14, 1, -1,
+                                15, 1, 14, -1, 15, 3, 1, -1,
+                                16, 17, 14, -1, 18, 14, 17, -1,
+                                0, 16, 14, -1, 18, 15, 14, -1,
+                                19, 20, 17, -1, 21, 17, 20, -1,
+                                16, 19, 17, -1, 21, 18, 17, -1,
+                                22, 23, 20, -1, 24, 20, 23, -1,
+                                19, 22, 20, -1, 24, 21, 20, -1,
+                                25, 26, 23, -1, 27, 23, 26, -1,
+                                28, 25, 23, -1, 22, 28, 23, -1,
+                                27, 24, 23, -1, 29, 30, 26, -1,
+                                31, 26, 30, -1, 25, 29, 26, -1,
+                                31, 27, 26, -1, 32, 33, 30, -1,
+                                34, 30, 33, -1, 29, 32, 30, -1,
+                                34, 31, 30, -1, 35, 36, 33, -1,
+                                37, 33, 36, -1, 32, 35, 33, -1,
+                                37, 34, 33, -1, 38, 39, 36, -1,
+                                40, 36, 39, -1, 35, 38, 36, -1,
+                                40, 37, 36, -1, 41, 42, 39, -1,
+                                43, 39, 42, -1, 41, 39, 38, -1,
+                                44, 40, 39, -1, 45, 44, 39, -1,
+                                46, 45, 39, -1, 47, 46, 39, -1,
+                                48, 47, 39, -1, 49, 48, 39, -1,
+                                50, 49, 39, -1, 43, 50, 39, -1,
+                                41, 51, 42, -1, 52, 42, 51, -1,
+                                43, 42, 52, -1, 53, 54, 51, -1,
+                                55, 51, 54, -1, 41, 53, 51, -1,
+                                52, 51, 55, -1, 56, 57, 54, -1,
+                                58, 54, 57, -1, 53, 56, 54, -1,
+                                55, 54, 58, -1, 59, 60, 57, -1,
+                                61, 57, 60, -1, 56, 59, 57, -1,
+                                58, 57, 61, -1, 62, 63, 60, -1,
+                                64, 60, 63, -1, 65, 62, 60, -1,
+                                59, 65, 60, -1, 61, 60, 64, -1,
+                                66, 67, 63, -1, 68, 63, 67, -1,
+                                62, 66, 63, -1, 64, 63, 68, -1,
+                                69, 70, 67, -1, 71, 67, 70, -1,
+                                66, 69, 67, -1, 68, 67, 71, -1,
+                                72, 5, 70, -1, 73, 70, 5, -1,
+                                69, 72, 70, -1, 71, 70, 73, -1,
+                                72, 4, 5, -1, 73, 5, 6, -1,
+                                74, 38, 35, -1, 75, 41, 38, -1,
+                                76, 38, 74, -1, 77, 38, 76, -1,
+                                78, 38, 77, -1, 79, 38, 78, -1,
+                                80, 38, 79, -1, 81, 38, 80, -1,
+                                82, 38, 81, -1, 75, 38, 82, -1,
+                                83, 35, 32, -1, 83, 74, 35, -1,
+                                84, 32, 29, -1, 84, 83, 32, -1,
+                                85, 29, 25, -1, 85, 84, 29, -1,
+                                86, 25, 28, -1, 86, 85, 25, -1,
+                                87, 28, 22, -1, 87, 86, 28, -1,
+                                88, 22, 19, -1, 88, 87, 22, -1,
+                                89, 19, 16, -1, 89, 88, 19, -1,
+                                90, 16, 0, -1, 90, 89, 16, -1,
+                                91, 0, 4, -1, 91, 90, 0, -1,
+                                92, 4, 72, -1, 93, 91, 4, -1,
+                                94, 93, 4, -1, 95, 94, 4, -1,
+                                96, 95, 4, -1, 97, 96, 4, -1,
+                                98, 97, 4, -1, 99, 98, 4, -1,
+                                92, 99, 4, -1, 100, 72, 69, -1,
+                                92, 72, 100, -1, 101, 69, 66, -1,
+                                100, 69, 101, -1, 102, 66, 62, -1,
+                                101, 66, 102, -1, 103, 62, 65, -1,
+                                102, 62, 103, -1, 104, 65, 59, -1,
+                                103, 65, 104, -1, 105, 59, 56, -1,
+                                104, 59, 105, -1, 106, 56, 53, -1,
+                                105, 56, 106, -1, 107, 53, 41, -1,
+                                106, 53, 107, -1, 107, 41, 75, -1,
+                                7, 3, 15, -1, 108, 15, 18, -1,
+                                108, 7, 15, -1, 109, 18, 21, -1,
+                                109, 108, 18, -1, 110, 21, 24, -1,
+                                110, 109, 21, -1, 111, 24, 27, -1,
+                                111, 110, 24, -1, 112, 27, 31, -1,
+                                112, 111, 27, -1, 113, 31, 34, -1,
+                                113, 112, 31, -1, 114, 34, 37, -1,
+                                114, 113, 34, -1, 115, 37, 40, -1,
+                                115, 114, 37, -1, 44, 115, 40, -1,
+                                8, 7, 108, -1, 116, 108, 109, -1,
+                                116, 8, 108, -1, 117, 109, 110, -1,
+                                117, 116, 109, -1, 118, 110, 111, -1,
+                                118, 117, 110, -1, 119, 111, 112, -1,
+                                119, 118, 111, -1, 120, 112, 113, -1,
+                                120, 119, 112, -1, 121, 113, 114, -1,
+                                121, 120, 113, -1, 122, 114, 115, -1,
+                                122, 121, 114, -1, 123, 115, 44, -1,
+                                123, 122, 115, -1, 45, 123, 44, -1,
+                                9, 8, 116, -1, 124, 116, 117, -1,
+                                124, 9, 116, -1, 125, 117, 118, -1,
+                                125, 124, 117, -1, 126, 118, 119, -1,
+                                126, 125, 118, -1, 127, 119, 120, -1,
+                                127, 126, 119, -1, 128, 120, 121, -1,
+                                128, 127, 120, -1, 129, 121, 122, -1,
+                                129, 128, 121, -1, 130, 122, 123, -1,
+                                130, 129, 122, -1, 131, 123, 45, -1,
+                                131, 130, 123, -1, 46, 131, 45, -1,
+                                10, 9, 124, -1, 132, 124, 125, -1,
+                                132, 10, 124, -1, 133, 125, 126, -1,
+                                133, 132, 125, -1, 134, 126, 127, -1,
+                                134, 133, 126, -1, 135, 127, 128, -1,
+                                135, 134, 127, -1, 136, 128, 129, -1,
+                                136, 135, 128, -1, 137, 129, 130, -1,
+                                137, 136, 129, -1, 138, 130, 131, -1,
+                                138, 137, 130, -1, 139, 131, 46, -1,
+                                139, 138, 131, -1, 47, 139, 46, -1,
+                                11, 10, 132, -1, 140, 132, 133, -1,
+                                140, 11, 132, -1, 141, 133, 134, -1,
+                                141, 140, 133, -1, 142, 134, 135, -1,
+                                142, 141, 134, -1, 143, 135, 136, -1,
+                                143, 142, 135, -1, 144, 136, 137, -1,
+                                144, 143, 136, -1, 145, 137, 138, -1,
+                                145, 144, 137, -1, 146, 138, 139, -1,
+                                146, 145, 138, -1, 147, 139, 47, -1,
+                                147, 146, 139, -1, 48, 147, 47, -1,
+                                12, 11, 140, -1, 148, 140, 141, -1,
+                                148, 12, 140, -1, 149, 141, 142, -1,
+                                149, 148, 141, -1, 150, 142, 143, -1,
+                                150, 149, 142, -1, 151, 143, 144, -1,
+                                151, 150, 143, -1, 152, 144, 145, -1,
+                                152, 151, 144, -1, 153, 145, 146, -1,
+                                153, 152, 145, -1, 154, 146, 147, -1,
+                                154, 153, 146, -1, 155, 147, 48, -1,
+                                155, 154, 147, -1, 49, 155, 48, -1,
+                                13, 12, 148, -1, 156, 148, 149, -1,
+                                156, 13, 148, -1, 157, 149, 150, -1,
+                                157, 156, 149, -1, 158, 150, 151, -1,
+                                158, 157, 150, -1, 159, 151, 152, -1,
+                                159, 158, 151, -1, 160, 152, 153, -1,
+                                160, 159, 152, -1, 161, 153, 154, -1,
+                                161, 160, 153, -1, 162, 154, 155, -1,
+                                162, 161, 154, -1, 163, 155, 49, -1,
+                                163, 162, 155, -1, 50, 163, 49, -1,
+                                6, 13, 156, -1, 73, 156, 157, -1,
+                                73, 6, 156, -1, 71, 157, 158, -1,
+                                71, 73, 157, -1, 68, 158, 159, -1,
+                                68, 71, 158, -1, 64, 159, 160, -1,
+                                64, 68, 159, -1, 61, 160, 161, -1,
+                                61, 64, 160, -1, 58, 161, 162, -1,
+                                58, 61, 161, -1, 55, 162, 163, -1,
+                                55, 58, 162, -1, 52, 163, 50, -1,
+                                52, 55, 163, -1, 43, 52, 50, -1,
+                                76, 74, 83, -1, 164, 83, 84, -1,
+                                164, 76, 83, -1, 165, 84, 85, -1,
+                                165, 164, 84, -1, 166, 85, 86, -1,
+                                166, 165, 85, -1, 167, 86, 87, -1,
+                                167, 166, 86, -1, 168, 87, 88, -1,
+                                168, 167, 87, -1, 169, 88, 89, -1,
+                                169, 168, 88, -1, 170, 89, 90, -1,
+                                170, 169, 89, -1, 171, 90, 91, -1,
+                                171, 170, 90, -1, 93, 171, 91, -1,
+                                77, 76, 164, -1, 172, 164, 165, -1,
+                                172, 77, 164, -1, 173, 165, 166, -1,
+                                173, 172, 165, -1, 174, 166, 167, -1,
+                                174, 173, 166, -1, 175, 167, 168, -1,
+                                175, 174, 167, -1, 176, 168, 169, -1,
+                                176, 175, 168, -1, 177, 169, 170, -1,
+                                177, 176, 169, -1, 178, 170, 171, -1,
+                                178, 177, 170, -1, 179, 171, 93, -1,
+                                179, 178, 171, -1, 94, 179, 93, -1,
+                                78, 77, 172, -1, 180, 172, 173, -1,
+                                180, 78, 172, -1, 181, 173, 174, -1,
+                                181, 180, 173, -1, 182, 174, 175, -1,
+                                182, 181, 174, -1, 183, 175, 176, -1,
+                                183, 182, 175, -1, 184, 176, 177, -1,
+                                184, 183, 176, -1, 185, 177, 178, -1,
+                                185, 184, 177, -1, 186, 178, 179, -1,
+                                186, 185, 178, -1, 187, 179, 94, -1,
+                                187, 186, 179, -1, 95, 187, 94, -1,
+                                79, 78, 180, -1, 188, 180, 181, -1,
+                                188, 79, 180, -1, 189, 181, 182, -1,
+                                189, 188, 181, -1, 190, 182, 183, -1,
+                                190, 189, 182, -1, 191, 183, 184, -1,
+                                191, 190, 183, -1, 192, 184, 185, -1,
+                                192, 191, 184, -1, 193, 185, 186, -1,
+                                193, 192, 185, -1, 194, 186, 187, -1,
+                                194, 193, 186, -1, 195, 187, 95, -1,
+                                195, 194, 187, -1, 96, 195, 95, -1,
+                                80, 79, 188, -1, 196, 188, 189, -1,
+                                196, 80, 188, -1, 197, 189, 190, -1,
+                                197, 196, 189, -1, 198, 190, 191, -1,
+                                198, 197, 190, -1, 199, 191, 192, -1,
+                                199, 198, 191, -1, 200, 192, 193, -1,
+                                200, 199, 192, -1, 201, 193, 194, -1,
+                                201, 200, 193, -1, 202, 194, 195, -1,
+                                202, 201, 194, -1, 203, 195, 96, -1,
+                                203, 202, 195, -1, 97, 203, 96, -1,
+                                81, 80, 196, -1, 204, 196, 197, -1,
+                                204, 81, 196, -1, 205, 197, 198, -1,
+                                205, 204, 197, -1, 206, 198, 199, -1,
+                                206, 205, 198, -1, 207, 199, 200, -1,
+                                207, 206, 199, -1, 208, 200, 201, -1,
+                                208, 207, 200, -1, 209, 201, 202, -1,
+                                209, 208, 201, -1, 210, 202, 203, -1,
+                                210, 209, 202, -1, 211, 203, 97, -1,
+                                211, 210, 203, -1, 98, 211, 97, -1,
+                                82, 81, 204, -1, 212, 204, 205, -1,
+                                212, 82, 204, -1, 213, 205, 206, -1,
+                                213, 212, 205, -1, 214, 206, 207, -1,
+                                214, 213, 206, -1, 215, 207, 208, -1,
+                                215, 214, 207, -1, 216, 208, 209, -1,
+                                216, 215, 208, -1, 217, 209, 210, -1,
+                                217, 216, 209, -1, 218, 210, 211, -1,
+                                218, 217, 210, -1, 219, 211, 98, -1,
+                                219, 218, 211, -1, 99, 219, 98, -1,
+                                75, 82, 212, -1, 107, 212, 213, -1,
+                                107, 75, 212, -1, 106, 213, 214, -1,
+                                106, 107, 213, -1, 105, 214, 215, -1,
+                                105, 106, 214, -1, 104, 215, 216, -1,
+                                104, 105, 215, -1, 103, 216, 217, -1,
+                                103, 104, 216, -1, 102, 217, 218, -1,
+                                102, 103, 217, -1, 101, 218, 219, -1,
+                                101, 102, 218, -1, 100, 219, 99, -1,
+                                100, 101, 219, -1, 92, 100, 99, -1 ]
+                            normalIndex [ 0, 0, 0, -1, 1, 2, 3, -1,
+                                0, 0, 0, -1, 4, 5, 2, -1,
+                                0, 0, 0, -1, 6, 2, 1, -1,
+                                7, 2, 6, -1, 8, 2, 7, -1,
+                                9, 2, 8, -1, 10, 2, 9, -1,
+                                11, 2, 10, -1, 12, 2, 11, -1,
+                                4, 2, 12, -1, 0, 0, 0, -1,
+                                13, 3, 14, -1, 13, 1, 3, -1,
+                                0, 0, 0, -1, 15, 14, 16, -1,
+                                0, 0, 0, -1, 15, 13, 14, -1,
+                                0, 0, 0, -1, 17, 16, 18, -1,
+                                0, 0, 0, -1, 17, 15, 16, -1,
+                                0, 0, 0, -1, 19, 18, 20, -1,
+                                0, 0, 0, -1, 19, 17, 18, -1,
+                                0, 0, 0, -1, 21, 20, 22, -1,
+                                0, 0, 0, -1, 0, 0, 0, -1,
+                                21, 19, 20, -1, 0, 0, 0, -1,
+                                23, 22, 24, -1, 0, 0, 0, -1,
+                                23, 21, 22, -1, 0, 0, 0, -1,
+                                25, 24, 26, -1, 0, 0, 0, -1,
+                                25, 23, 24, -1, 0, 0, 0, -1,
+                                27, 26, 28, -1, 0, 0, 0, -1,
+                                27, 25, 26, -1, 0, 0, 0, -1,
+                                29, 28, 30, -1, 0, 0, 0, -1,
+                                29, 27, 28, -1, 0, 0, 0, -1,
+                                31, 30, 32, -1, 0, 0, 0, -1,
+                                33, 29, 30, -1, 34, 33, 30, -1,
+                                35, 34, 30, -1, 36, 35, 30, -1,
+                                37, 36, 30, -1, 38, 37, 30, -1,
+                                39, 38, 30, -1, 31, 39, 30, -1,
+                                0, 0, 0, -1, 40, 32, 41, -1,
+                                31, 32, 40, -1, 0, 0, 0, -1,
+                                42, 41, 43, -1, 0, 0, 0, -1,
+                                40, 41, 42, -1, 0, 0, 0, -1,
+                                44, 43, 45, -1, 0, 0, 0, -1,
+                                42, 43, 44, -1, 0, 0, 0, -1,
+                                46, 45, 47, -1, 0, 0, 0, -1,
+                                44, 45, 46, -1, 0, 0, 0, -1,
+                                48, 47, 49, -1, 0, 0, 0, -1,
+                                0, 0, 0, -1, 46, 47, 48, -1,
+                                0, 0, 0, -1, 50, 49, 51, -1,
+                                0, 0, 0, -1, 48, 49, 50, -1,
+                                0, 0, 0, -1, 52, 51, 53, -1,
+                                0, 0, 0, -1, 50, 51, 52, -1,
+                                0, 0, 0, -1, 54, 53, 5, -1,
+                                0, 0, 0, -1, 52, 53, 54, -1,
+                                0, 0, 0, -1, 54, 5, 4, -1,
+                                55, 56, 57, -1, 58, 59, 56, -1,
+                                60, 56, 55, -1, 61, 56, 60, -1,
+                                62, 56, 61, -1, 63, 56, 62, -1,
+                                64, 56, 63, -1, 65, 56, 64, -1,
+                                66, 56, 65, -1, 58, 56, 66, -1,
+                                67, 57, 68, -1, 67, 55, 57, -1,
+                                69, 68, 70, -1, 69, 67, 68, -1,
+                                71, 70, 72, -1, 71, 69, 70, -1,
+                                73, 72, 74, -1, 73, 71, 72, -1,
+                                75, 74, 76, -1, 75, 73, 74, -1,
+                                77, 76, 78, -1, 77, 75, 76, -1,
+                                79, 78, 80, -1, 79, 77, 78, -1,
+                                81, 80, 82, -1, 81, 79, 80, -1,
+                                83, 82, 84, -1, 83, 81, 82, -1,
+                                85, 84, 86, -1, 87, 83, 84, -1,
+                                88, 87, 84, -1, 89, 88, 84, -1,
+                                90, 89, 84, -1, 91, 90, 84, -1,
+                                92, 91, 84, -1, 93, 92, 84, -1,
+                                85, 93, 84, -1, 94, 86, 95, -1,
+                                85, 86, 94, -1, 96, 95, 97, -1,
+                                94, 95, 96, -1, 98, 97, 99, -1,
+                                96, 97, 98, -1, 100, 99, 101, -1,
+                                98, 99, 100, -1, 102, 101, 103, -1,
+                                100, 101, 102, -1, 104, 103, 105, -1,
+                                102, 103, 104, -1, 106, 105, 107, -1,
+                                104, 105, 106, -1, 108, 107, 59, -1,
+                                106, 107, 108, -1, 108, 59, 58, -1,
+                                6, 1, 13, -1, 109, 13, 15, -1,
+                                109, 6, 13, -1, 110, 15, 17, -1,
+                                110, 109, 15, -1, 111, 17, 19, -1,
+                                111, 110, 17, -1, 112, 19, 21, -1,
+                                112, 111, 19, -1, 113, 21, 23, -1,
+                                113, 112, 21, -1, 114, 23, 25, -1,
+                                114, 113, 23, -1, 115, 25, 27, -1,
+                                115, 114, 25, -1, 116, 27, 29, -1,
+                                116, 115, 27, -1, 33, 116, 29, -1,
+                                7, 6, 109, -1, 117, 109, 110, -1,
+                                117, 7, 109, -1, 118, 110, 111, -1,
+                                118, 117, 110, -1, 119, 111, 112, -1,
+                                119, 118, 111, -1, 120, 112, 113, -1,
+                                120, 119, 112, -1, 121, 113, 114, -1,
+                                121, 120, 113, -1, 122, 114, 115, -1,
+                                122, 121, 114, -1, 123, 115, 116, -1,
+                                123, 122, 115, -1, 124, 116, 33, -1,
+                                124, 123, 116, -1, 34, 124, 33, -1,
+                                8, 7, 117, -1, 125, 117, 118, -1,
+                                125, 8, 117, -1, 126, 118, 119, -1,
+                                126, 125, 118, -1, 127, 119, 120, -1,
+                                127, 126, 119, -1, 128, 120, 121, -1,
+                                128, 127, 120, -1, 129, 121, 122, -1,
+                                129, 128, 121, -1, 130, 122, 123, -1,
+                                130, 129, 122, -1, 131, 123, 124, -1,
+                                131, 130, 123, -1, 132, 124, 34, -1,
+                                132, 131, 124, -1, 35, 132, 34, -1,
+                                9, 8, 125, -1, 133, 125, 126, -1,
+                                133, 9, 125, -1, 134, 126, 127, -1,
+                                134, 133, 126, -1, 135, 127, 128, -1,
+                                135, 134, 127, -1, 136, 128, 129, -1,
+                                136, 135, 128, -1, 137, 129, 130, -1,
+                                137, 136, 129, -1, 138, 130, 131, -1,
+                                138, 137, 130, -1, 139, 131, 132, -1,
+                                139, 138, 131, -1, 140, 132, 35, -1,
+                                140, 139, 132, -1, 36, 140, 35, -1,
+                                10, 9, 133, -1, 141, 133, 134, -1,
+                                141, 10, 133, -1, 142, 134, 135, -1,
+                                142, 141, 134, -1, 143, 135, 136, -1,
+                                143, 142, 135, -1, 144, 136, 137, -1,
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+                        }
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+                    }
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+                }
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+            }
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+        }
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+    }
+
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.obj b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e86eda8d679849a416653ba59fbf830891897e4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.obj
@@ -0,0 +1,688 @@
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+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l1.wrl
@@ -0,0 +1,715 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
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+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation -0 -0 -0.99999994  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0.99999994 0  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          scale 0.001 0.001 0.001
+                          children [ 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.87840003 0.949 1
+
+                                    }
+
+                                  }
+                                  geometry 
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0a70a328c49ef3c2362a84afb7063c71919dd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.wrl
@@ -0,0 +1,686 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_r1.wrl
@@ -0,0 +1,715 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.obj b/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35f4558803581488c436609e803cbd22a91783b1
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@@ -0,0 +1,656 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0a70a328c49ef3c2362a84afb7063c71919dd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_r2.wrl
@@ -0,0 +1,686 @@
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+
+
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+                                        18, 18, 18, -1, 18, 18, 18, -1,
+                                        18, 18, 18, -1, 18, 18, 18, -1 ]
+                                    ccw TRUE
+                                    solid TRUE
+                                    convex TRUE
+                                    creaseAngle 0
+
+                                  }
+
+                                }
+
+                            } ]
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a3a87e8fb661eda2840649d8e1980490c684f09
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.obj
@@ -0,0 +1,944 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.wrl b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2b4e4185de743393cafb9a8279d44a9a2b012d7e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.wrl
@@ -0,0 +1,842 @@
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+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        } ]
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6a0db9fec06c88b2e812d6c992e8649ec58a4e9
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.obj
@@ -0,0 +1,1480 @@
+####
+#
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+####
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.wrl b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..0aba422cd4ad21fd413067ce730d1fefd6da3123
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_roll_link.wrl
@@ -0,0 +1,1385 @@
+#VRML V2.0 utf8
+
+
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+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        } ]
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00449cd7b6816930277813ba9aba64a5c3036104
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.obj
@@ -0,0 +1,552 @@
+####
+#
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+#
+####
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.wrl b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2c3b11265efa0e29d6e09ec1ceb35e25472c30ec
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/neck_yaw_link.wrl
@@ -0,0 +1,579 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
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+      children 
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+          rotation 0 1 0  3.1400001
+          scale 1 1 1
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+          center 0 0 0
+          children 
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
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+                    DEF _+4 Transform {
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+                      children [ 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
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+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.23 0.382 0.56
+
+                                }
+
+                              }
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb6dd3b29990bab6aea194e2b61843452f0be09
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.obj
@@ -0,0 +1,1392 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..045a1071af01bf1d4ae1377c4c8f8ed69d074e19
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_l.wrl
@@ -0,0 +1,1538 @@
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+f 342//342 347//347 348//348
+# 676 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..bd227e0d380f4f1ac28aa7737dfa6338b0627a79
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.wrl
@@ -0,0 +1,1547 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0 -0.99999994  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 1 0  3.1415
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          scale 0.001 0.001 0.001
+                          children [ 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.87840003 0.949 1
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
+                                    Coordinate {
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+
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d2fc83c25ec5a6216e6383003b04f2f91d06eb94
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm2_l.wrl
@@ -0,0 +1,1385 @@
+#VRML V2.0 utf8
+
+
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+                                    ccw TRUE
+                                    solid TRUE
+                                    convex TRUE
+                                    creaseAngle 0
+
+                                  }
+
+                                }
+
+                            } ]
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e122b1d844e91854f344c6ef51f5aa42dee784e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.obj
@@ -0,0 +1,1404 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..52764508522f7127320ec51e941ef0caa256ab53
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm2_r.wrl
@@ -0,0 +1,1385 @@
+#VRML V2.0 utf8
+
+
+Group {
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+                              children 
+                                DEF _+7 Shape {
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+                                  Appearance {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.obj b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda1d090c457423764972505abca658f3f2270a5
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l1.wrl
@@ -0,0 +1,715 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.obj b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ae5a9ab10050570ec8d81d72d1feb23a90baace
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.obj
@@ -0,0 +1,400 @@
+####
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+# 192 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f5793d77de795b5172a814a4bfa88665fb14c474
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_l2.wrl
@@ -0,0 +1,432 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0.99999994 0 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation -0 -0 -0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          scale 0.001 0.001 0.001
+                          children [ 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.87840003 0.949 1
+
+                                    }
+
+                                  }
+                                  geometry 
+                                  IndexedFaceSet {
+                                    coord 
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.obj b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29932f685ff3aafc3a18a430d47d3ec1ab55d314
--- /dev/null
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@@ -0,0 +1,688 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r1.wrl
@@ -0,0 +1,715 @@
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+                        }
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+                    }
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+                }
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+            }
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+        }
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+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.obj b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4eff475d27eb35d984565cc228def8d47774e41
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.obj
@@ -0,0 +1,400 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..f5793d77de795b5172a814a4bfa88665fb14c474
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/pinky_r2.wrl
@@ -0,0 +1,432 @@
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+                                }
+
+                            } ]
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform.obj b/data/RobotAPI/robots/Armar3/fullmodel/platform.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d0f29874495cd72d8bf1282633063d222ca72df
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform.obj
@@ -0,0 +1,1908 @@
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform.wrl b/data/RobotAPI/robots/Armar3/fullmodel/platform.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..499370924112d6800f77b28146dafab2086ff1ee
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform.wrl
@@ -0,0 +1,2090 @@
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+                                      -0.096302897 -0.97801799 0.18494999,
+                                      -0.096807703 -0.653871 0.75038701,
+                                      -0.097680703 -0.96895701 0.227116,
+                                      -0.12244 -0.98480099 0.123187,
+                                      -0.098837301 -0.95850599 0.267389,
+                                      -0.097288899 -0.95731503 -0.27217999,
+                                      -0.107351 -0.95666999 -0.270661,
+                                      -0.12232 -0.98478699 -0.123419,
+                                      -0.099238403 -0.97669601 -0.19030599,
+                                      -0.12936699 -0.99068201 -0.042589001,
+                                      -0.131179 -0.99099499 0.026838399,
+                                      -0.123252 -0.98864502 -0.0859612,
+                                      -0.130987 -0.99120802 0.018678,
+                                      2.21948e-016 -0.99956602 0.0294626,
+                                      2.2183999e-016 -0.99907702 -0.0429499,
+                                      2.16327e-016 -0.97425002 -0.225472,
+                                      2.13658e-016 -0.96223098 -0.27223501,
+                                      1 0 0 ]
+
+                                }
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+                                    7, 3, 1, -1, 6, 7, 1, -1,
+                                    0, 8, 5, -1, 9, 5, 8, -1,
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+                                    28, 25, 24, -1, 29, 30, 27, -1,
+                                    31, 27, 30, -1, 26, 29, 27, -1,
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+                                    87, 85, 68, -1, 86, 87, 68, -1,
+                                    88, 65, 62, -1, 88, 86, 65, -1,
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+                                    110, 107, 108, -1, 111, 107, 110, -1,
+                                    109, 107, 111, -1, 105, 112, 106, -1,
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+                                    114, 108, 106, -1, 105, 115, 112, -1,
+                                    116, 112, 115, -1, 116, 113, 112, -1,
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+                                    121, 117, 120, -1, 105, 119, 117, -1,
+                                    118, 117, 121, -1, 119, 122, 120, -1,
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+                                    119, 124, 122, -1, 125, 122, 124, -1,
+                                    123, 122, 125, -1, 126, 127, 124, -1,
+                                    128, 124, 127, -1, 119, 126, 124, -1,
+                                    125, 124, 128, -1, 126, 129, 127, -1,
+                                    130, 127, 129, -1, 128, 127, 130, -1,
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+                                    139, 138, 142, -1, 140, 143, 141, -1,
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+                                    147, 152, 150, -1, 153, 150, 152, -1,
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+                                    153, 152, 156, -1, 154, 157, 155, -1,
+                                    158, 155, 157, -1, 156, 155, 158, -1,
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+                                    158, 86, 88, -1, 158, 160, 86, -1,
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+                                    144, 93, 94, -1, 144, 146, 93, -1,
+                                    142, 94, 95, -1, 142, 144, 94, -1,
+                                    139, 95, 96, -1, 139, 142, 95, -1,
+                                    137, 96, 97, -1, 137, 139, 96, -1,
+                                    135, 97, 98, -1, 135, 137, 97, -1,
+                                    132, 98, 99, -1, 132, 135, 98, -1,
+                                    130, 99, 100, -1, 130, 132, 99, -1,
+                                    128, 100, 101, -1, 128, 130, 100, -1,
+                                    125, 101, 102, -1, 125, 128, 101, -1,
+                                    123, 102, 103, -1, 123, 125, 102, -1,
+                                    121, 103, 104, -1, 121, 123, 103, -1,
+                                    118, 104, 4, -1, 118, 121, 104, -1,
+                                    116, 4, 3, -1, 116, 118, 4, -1,
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+                                    185, 189, 13, -1, 19, 197, 15, -1,
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+                                    219, 220, 217, -1, 221, 217, 220, -1,
+                                    214, 219, 217, -1, 218, 217, 221, -1,
+                                    219, 222, 220, -1, 223, 220, 222, -1,
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+                                    230, 229, 233, -1, 231, 234, 232, -1,
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+                                    238, 237, 240, -1, 241, 242, 239, -1,
+                                    243, 239, 242, -1, 236, 241, 239, -1,
+                                    240, 239, 243, -1, 241, 244, 242, -1,
+                                    245, 242, 244, -1, 243, 242, 245, -1,
+                                    241, 246, 244, -1, 247, 244, 246, -1,
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+                                    247, 246, 249, -1, 178, 177, 248, -1,
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+                                    253, 236, 254, -1, 255, 231, 224, -1,
+                                    254, 231, 255, -1, 256, 224, 219, -1,
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+                                    256, 219, 257, -1, 258, 214, 200, -1,
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+                                    274, 273, 64, -1, 275, 67, 70, -1,
+                                    275, 274, 67, -1, 276, 70, 73, -1,
+                                    276, 275, 70, -1, 277, 73, 78, -1,
+                                    277, 276, 73, -1, 277, 78, 80, -1,
+                                    278, 277, 80, -1, 81, 278, 80, -1,
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+                                    247, 249, 262, -1, 245, 263, 264, -1,
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+                                    238, 240, 266, -1, 235, 267, 268, -1,
+                                    235, 238, 267, -1, 233, 268, 269, -1,
+                                    233, 235, 268, -1, 230, 269, 270, -1,
+                                    230, 233, 269, -1, 228, 270, 271, -1,
+                                    228, 230, 270, -1, 226, 271, 272, -1,
+                                    226, 228, 271, -1, 223, 272, 273, -1,
+                                    223, 226, 272, -1, 221, 273, 274, -1,
+                                    221, 223, 273, -1, 218, 274, 275, -1,
+                                    218, 221, 274, -1, 216, 275, 276, -1,
+                                    216, 218, 275, -1, 213, 276, 277, -1,
+                                    213, 216, 276, -1, 210, 277, 278, -1,
+                                    210, 213, 277, -1, 210, 278, 279, -1,
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+                                    280, 211, 279, -1, 280, 279, 81, -1,
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+                                    161, 281, 163, -1, 171, 163, 281, -1,
+                                    282, 283, 281, -1, 284, 281, 283, -1,
+                                    161, 282, 281, -1, 171, 281, 284, -1,
+                                    285, 286, 283, -1, 287, 283, 286, -1,
+                                    282, 285, 283, -1, 284, 283, 287, -1,
+                                    205, 203, 286, -1, 288, 286, 203, -1,
+                                    285, 205, 286, -1, 287, 286, 288, -1,
+                                    288, 203, 280, -1, 289, 205, 285, -1,
+                                    206, 205, 289, -1, 290, 285, 282, -1,
+                                    289, 285, 290, -1, 165, 282, 161, -1,
+                                    290, 282, 165, -1, 280, 81, 79, -1,
+                                    288, 79, 82, -1, 288, 280, 79, -1,
+                                    287, 82, 83, -1, 287, 288, 82, -1,
+                                    284, 83, 84, -1, 284, 287, 83, -1,
+                                    171, 284, 84, -1, 166, 109, 111, -1,
+                                    164, 166, 111, -1, 194, 164, 111, -1,
+                                    167, 170, 109, -1, 166, 167, 109, -1,
+                                    168, 169, 170, -1, 167, 168, 170, -1,
+                                    194, 165, 164, -1, 195, 290, 165, -1,
+                                    194, 195, 165, -1, 196, 289, 290, -1,
+                                    195, 196, 290, -1, 176, 206, 289, -1,
+                                    196, 176, 289, -1, 179, 204, 206, -1,
+                                    176, 179, 206, -1, 252, 258, 204, -1,
+                                    179, 252, 204, -1, 253, 257, 258, -1,
+                                    252, 253, 258, -1, 254, 256, 257, -1,
+                                    253, 254, 257, -1, 254, 255, 256, -1 ]
+                                normalIndex [ 0, 0, 0, -1, 1, 2, 3, -1,
+                                    4, 5, 6, -1, 7, 4, 6, -1,
+                                    0, 0, 0, -1, 8, 3, 9, -1,
+                                    10, 1, 3, -1, 8, 10, 3, -1,
+                                    0, 0, 0, -1, 11, 9, 12, -1,
+                                    11, 8, 9, -1, 0, 0, 0, -1,
+                                    13, 12, 14, -1, 13, 11, 12, -1,
+                                    0, 0, 0, -1, 15, 14, 16, -1,
+                                    15, 13, 14, -1, 0, 0, 0, -1,
+                                    17, 18, 19, -1, 20, 15, 16, -1,
+                                    0, 0, 0, -1, 21, 19, 22, -1,
+                                    0, 0, 0, -1, 23, 17, 19, -1,
+                                    21, 23, 19, -1, 0, 0, 0, -1,
+                                    24, 22, 25, -1, 0, 0, 0, -1,
+                                    24, 21, 22, -1, 0, 0, 0, -1,
+                                    26, 25, 27, -1, 0, 0, 0, -1,
+                                    26, 24, 25, -1, 0, 0, 0, -1,
+                                    28, 27, 29, -1, 0, 0, 0, -1,
+                                    28, 26, 27, -1, 0, 0, 0, -1,
+                                    30, 29, 31, -1, 0, 0, 0, -1,
+                                    30, 28, 29, -1, 0, 0, 0, -1,
+                                    32, 31, 33, -1, 0, 0, 0, -1,
+                                    32, 30, 31, -1, 0, 0, 0, -1,
+                                    34, 33, 35, -1, 0, 0, 0, -1,
+                                    34, 32, 33, -1, 0, 0, 0, -1,
+                                    36, 35, 37, -1, 0, 0, 0, -1,
+                                    36, 34, 35, -1, 0, 0, 0, -1,
+                                    38, 37, 39, -1, 0, 0, 0, -1,
+                                    38, 36, 37, -1, 0, 0, 0, -1,
+                                    40, 39, 37, -1, 0, 0, 0, -1,
+                                    40, 38, 39, -1, 0, 0, 0, -1,
+                                    41, 37, 35, -1, 0, 0, 0, -1,
+                                    41, 40, 37, -1, 0, 0, 0, -1,
+                                    42, 35, 33, -1, 0, 0, 0, -1,
+                                    42, 41, 35, -1, 0, 0, 0, -1,
+                                    43, 33, 31, -1, 0, 0, 0, -1,
+                                    43, 42, 33, -1, 0, 0, 0, -1,
+                                    44, 31, 29, -1, 0, 0, 0, -1,
+                                    44, 43, 31, -1, 0, 0, 0, -1,
+                                    45, 29, 27, -1, 0, 0, 0, -1,
+                                    45, 44, 29, -1, 0, 0, 0, -1,
+                                    46, 27, 25, -1, 0, 0, 0, -1,
+                                    46, 45, 27, -1, 0, 0, 0, -1,
+                                    47, 25, 22, -1, 0, 0, 0, -1,
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.obj
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index 0000000000000000000000000000000000000000..cf2d8cde5a489199802d8553bac197ee1b1821d7
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+# 3280 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.wrl b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..2658db65c3c72a08c29fccec795f7f483a04170d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.wrl
@@ -0,0 +1,6440 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          rotation 0 0 0.99999994  1.5700002
+          children 
+            DEF _+2 Group {
+              children 
+                DEF _+3 Transform {
+                  scale 0.001 0.001 0.001
+                  children [ 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Shape {
+                          appearance 
+                          Appearance {
+                            material 
+                            Material {
+                              diffuseColor 0.94999999 0.76999998 0.52999997
+
+                            }
+
+                          }
+                          geometry 
+                          IndexedFaceSet {
+                            coord 
+                            Coordinate {
+                              point [ 32.526001 115 -8.0179796,
+                                  41.433899 115 -9.4577599,
+                                  42.5 115 -5.20458e-015,
+                                  42.5 152 -5.20458e-015,
+                                  33.5 115 -4.10243e-015,
+                                  41.433899 115 9.4577599,
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+                                54, 55, 50, -1, 51, 50, 55, -1,
+                                6, 54, 50, -1, 56, 6, 50, -1,
+                                53, 56, 50, -1, 57, 58, 55, -1,
+                                59, 55, 58, -1, 54, 57, 55, -1,
+                                51, 55, 59, -1, 57, 60, 58, -1,
+                                61, 58, 60, -1, 59, 58, 61, -1,
+                                62, 60, 57, -1, 61, 60, 62, -1,
+                                63, 57, 54, -1, 62, 57, 63, -1,
+                                64, 54, 6, -1, 63, 54, 64, -1,
+                                65, 5, 6, -1, 56, 65, 6, -1,
+                                64, 6, 31, -1, 26, 5, 65, -1,
+                                66, 65, 56, -1, 26, 65, 66, -1,
+                                67, 56, 53, -1, 66, 56, 67, -1,
+                                68, 53, 21, -1, 67, 53, 68, -1,
+                                68, 21, 19, -1, 69, 70, 71, -1,
+                                72, 71, 70, -1, 73, 71, 74, -1,
+                                75, 74, 71, -1, 69, 71, 73, -1,
+                                75, 71, 72, -1, 69, 76, 70, -1,
+                                77, 70, 76, -1, 77, 72, 70, -1,
+                                69, 78, 76, -1, 79, 76, 78, -1,
+                                77, 76, 79, -1, 80, 81, 78, -1,
+                                82, 78, 81, -1, 69, 80, 78, -1,
+                                79, 78, 82, -1, 80, 83, 81, -1,
+                                84, 81, 83, -1, 82, 81, 84, -1,
+                                80, 85, 83, -1, 86, 83, 85, -1,
+                                84, 83, 86, -1, 87, 88, 85, -1,
+                                89, 85, 88, -1, 80, 87, 85, -1,
+                                86, 85, 89, -1, 87, 90, 88, -1,
+                                91, 88, 90, -1, 89, 88, 91, -1,
+                                87, 92, 90, -1, 93, 90, 92, -1,
+                                91, 90, 93, -1, 73, 94, 92, -1,
+                                95, 92, 94, -1, 87, 73, 92, -1,
+                                93, 92, 95, -1, 73, 74, 94, -1,
+                                96, 94, 74, -1, 95, 94, 96, -1,
+                                96, 74, 75, -1, 87, 97, 73, -1,
+                                98, 73, 97, -1, 99, 69, 73, -1,
+                                98, 99, 73, -1, 100, 101, 97, -1,
+                                102, 97, 101, -1, 87, 100, 97, -1,
+                                102, 98, 97, -1, 103, 104, 101, -1,
+                                105, 101, 104, -1, 100, 103, 101, -1,
+                                102, 101, 105, -1, 106, 107, 104, -1,
+                                108, 104, 107, -1, 103, 106, 104, -1,
+                                105, 104, 108, -1, 109, 110, 107, -1,
+                                111, 107, 110, -1, 106, 109, 107, -1,
+                                108, 107, 111, -1, 112, 110, 109, -1,
+                                111, 110, 112, -1, 113, 109, 106, -1,
+                                112, 109, 113, -1, 114, 106, 103, -1,
+                                113, 106, 114, -1, 115, 103, 100, -1,
+                                114, 103, 115, -1, 116, 100, 87, -1,
+                                115, 100, 116, -1, 117, 87, 80, -1,
+                                116, 87, 117, -1, 69, 118, 80, -1,
+                                119, 80, 118, -1, 117, 80, 119, -1,
+                                120, 121, 118, -1, 122, 118, 121, -1,
+                                69, 120, 118, -1, 122, 119, 118, -1,
+                                123, 124, 121, -1, 125, 121, 124, -1,
+                                120, 123, 121, -1, 125, 122, 121, -1,
+                                126, 127, 124, -1, 128, 124, 127, -1,
+                                123, 126, 124, -1, 128, 125, 124, -1,
+                                129, 130, 127, -1, 131, 127, 130, -1,
+                                126, 129, 127, -1, 131, 128, 127, -1,
+                                132, 130, 129, -1, 132, 131, 130, -1,
+                                133, 129, 126, -1, 133, 132, 129, -1,
+                                134, 126, 123, -1, 134, 133, 126, -1,
+                                135, 123, 120, -1, 135, 134, 123, -1,
+                                136, 120, 69, -1, 136, 135, 120, -1,
+                                99, 136, 69, -1, 137, 119, 122, -1,
+                                138, 117, 119, -1, 137, 138, 119, -1,
+                                139, 122, 125, -1, 140, 137, 122, -1,
+                                139, 140, 122, -1, 141, 125, 128, -1,
+                                141, 139, 125, -1, 135, 128, 131, -1,
+                                142, 128, 135, -1, 143, 141, 128, -1,
+                                142, 143, 128, -1, 134, 131, 132, -1,
+                                135, 131, 134, -1, 134, 132, 133, -1,
+                                142, 135, 136, -1, 144, 136, 99, -1,
+                                145, 142, 136, -1, 144, 145, 136, -1,
+                                146, 99, 98, -1, 146, 144, 99, -1,
+                                147, 98, 102, -1, 146, 98, 147, -1,
+                                148, 116, 117, -1, 138, 148, 117, -1,
+                                149, 115, 116, -1, 150, 149, 116, -1,
+                                148, 150, 116, -1, 111, 114, 115, -1,
+                                108, 111, 115, -1, 149, 108, 115, -1,
+                                112, 113, 114, -1, 111, 112, 114, -1,
+                                151, 105, 108, -1, 152, 151, 108, -1,
+                                149, 152, 108, -1, 153, 102, 105, -1,
+                                151, 153, 105, -1, 154, 147, 102, -1,
+                                153, 154, 102, -1, 30, 147, 154, -1,
+                                35, 146, 147, -1, 30, 35, 147, -1,
+                                32, 154, 153, -1, 32, 30, 154, -1,
+                                155, 153, 151, -1, 32, 153, 155, -1,
+                                156, 151, 152, -1, 155, 151, 156, -1,
+                                157, 152, 149, -1, 156, 152, 157, -1,
+                                158, 149, 150, -1, 157, 149, 158, -1,
+                                159, 150, 148, -1, 158, 150, 159, -1,
+                                160, 148, 138, -1, 159, 148, 160, -1,
+                                161, 138, 137, -1, 160, 138, 161, -1,
+                                52, 137, 140, -1, 161, 137, 52, -1,
+                                48, 140, 139, -1, 48, 52, 140, -1,
+                                46, 139, 141, -1, 46, 48, 139, -1,
+                                43, 141, 143, -1, 43, 46, 141, -1,
+                                162, 143, 142, -1, 162, 43, 143, -1,
+                                163, 142, 145, -1, 163, 162, 142, -1,
+                                164, 145, 144, -1, 164, 163, 145, -1,
+                                38, 144, 146, -1, 38, 164, 144, -1,
+                                35, 38, 146, -1, 51, 161, 52, -1,
+                                164, 43, 162, -1, 38, 43, 164, -1,
+                                164, 162, 163, -1, 59, 160, 161, -1,
+                                51, 59, 161, -1, 156, 159, 160, -1,
+                                62, 156, 160, -1, 61, 62, 160, -1,
+                                59, 61, 160, -1, 157, 158, 159, -1,
+                                156, 157, 159, -1, 63, 155, 156, -1,
+                                62, 63, 156, -1, 64, 32, 155, -1,
+                                63, 64, 155, -1, 64, 31, 32, -1,
+                                91, 75, 72, -1, 89, 91, 72, -1,
+                                77, 89, 72, -1, 93, 96, 75, -1,
+                                91, 93, 75, -1, 93, 95, 96, -1,
+                                77, 86, 89, -1, 79, 84, 86, -1,
+                                77, 79, 86, -1, 79, 82, 84, -1,
+                                23, 68, 19, -1, 23, 67, 68, -1,
+                                165, 66, 67, -1, 23, 165, 67, -1,
+                                27, 26, 66, -1, 165, 27, 66, -1,
+                                166, 27, 165, -1, 167, 25, 27, -1,
+                                166, 167, 27, -1, 168, 169, 165, -1,
+                                170, 165, 169, -1, 23, 168, 165, -1,
+                                170, 166, 165, -1, 171, 172, 169, -1,
+                                173, 169, 172, -1, 168, 171, 169, -1,
+                                170, 169, 173, -1, 171, 174, 172, -1,
+                                175, 172, 174, -1, 173, 172, 175, -1,
+                                176, 174, 171, -1, 175, 174, 176, -1,
+                                177, 171, 168, -1, 176, 171, 177, -1,
+                                178, 168, 23, -1, 177, 168, 178, -1,
+                                179, 23, 22, -1, 178, 23, 179, -1,
+                                180, 22, 24, -1, 179, 22, 180, -1,
+                                181, 182, 24, -1, 183, 24, 182, -1,
+                                25, 181, 24, -1, 183, 180, 24, -1,
+                                184, 185, 182, -1, 186, 182, 185, -1,
+                                181, 184, 182, -1, 186, 183, 182, -1,
+                                184, 187, 185, -1, 188, 185, 187, -1,
+                                188, 186, 185, -1, 189, 187, 184, -1,
+                                189, 188, 187, -1, 190, 184, 181, -1,
+                                190, 189, 184, -1, 191, 181, 25, -1,
+                                191, 190, 181, -1, 167, 191, 25, -1,
+                                192, 180, 183, -1, 193, 194, 180, -1,
+                                179, 180, 194, -1, 192, 193, 180, -1,
+                                195, 183, 186, -1, 196, 192, 183, -1,
+                                197, 196, 183, -1, 195, 197, 183, -1,
+                                191, 186, 188, -1, 167, 186, 191, -1,
+                                198, 186, 167, -1, 198, 195, 186, -1,
+                                190, 188, 189, -1, 191, 188, 190, -1,
+                                199, 167, 166, -1, 199, 198, 167, -1,
+                                200, 166, 201, -1, 170, 201, 166, -1,
+                                200, 199, 166, -1, 170, 202, 201, -1,
+                                203, 201, 202, -1, 204, 200, 201, -1,
+                                203, 204, 201, -1, 170, 205, 202, -1,
+                                206, 202, 205, -1, 206, 203, 202, -1,
+                                170, 207, 205, -1, 208, 205, 207, -1,
+                                206, 205, 208, -1, 173, 209, 207, -1,
+                                210, 207, 209, -1, 170, 173, 207, -1,
+                                208, 207, 210, -1, 179, 194, 209, -1,
+                                211, 209, 194, -1, 173, 179, 209, -1,
+                                210, 209, 211, -1, 212, 194, 193, -1,
+                                211, 194, 212, -1, 213, 193, 192, -1,
+                                212, 193, 213, -1, 214, 192, 196, -1,
+                                213, 192, 214, -1, 215, 196, 197, -1,
+                                215, 214, 196, -1, 216, 197, 195, -1,
+                                216, 215, 197, -1, 217, 195, 198, -1,
+                                217, 216, 195, -1, 218, 198, 199, -1,
+                                218, 217, 198, -1, 219, 199, 200, -1,
+                                219, 218, 199, -1, 204, 219, 200, -1,
+                                173, 178, 179, -1, 175, 177, 178, -1,
+                                173, 175, 178, -1, 175, 176, 177, -1,
+                                203, 214, 215, -1, 206, 214, 203, -1,
+                                206, 213, 214, -1, 204, 215, 216, -1,
+                                203, 215, 204, -1, 219, 216, 217, -1,
+                                204, 216, 219, -1, 219, 217, 218, -1,
+                                208, 212, 213, -1, 206, 208, 213, -1,
+                                210, 211, 212, -1, 208, 210, 212, -1 ]
+                            normalIndex [ 0, 0, 1, -1, 2, 2, 2, -1,
+                                1, 0, 1, -1, 3, 1, 1, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                4, 4, 0, -1, 2, 2, 2, -1,
+                                0, 4, 0, -1, 5, 5, 4, -1,
+                                2, 2, 2, -1, 4, 5, 4, -1,
+                                2, 2, 2, -1, 6, 6, 5, -1,
+                                2, 2, 2, -1, 5, 6, 5, -1,
+                                2, 2, 2, -1, 7, 7, 6, -1,
+                                2, 2, 2, -1, 6, 7, 6, -1,
+                                8, 8, 7, -1, 2, 2, 2, -1,
+                                7, 8, 7, -1, 9, 8, 8, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                9, 9, 8, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 3, 1, 3, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                11, 11, 1, -1, 2, 2, 2, -1,
+                                1, 11, 1, -1, 12, 1, 1, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                13, 13, 11, -1, 2, 2, 2, -1,
+                                11, 13, 11, -1, 2, 2, 2, -1,
+                                14, 14, 13, -1, 2, 2, 2, -1,
+                                13, 14, 13, -1, 2, 2, 2, -1,
+                                5, 5, 14, -1, 2, 2, 2, -1,
+                                14, 5, 14, -1, 15, 15, 5, -1,
+                                2, 2, 2, -1, 5, 15, 5, -1,
+                                2, 2, 2, -1, 16, 16, 15, -1,
+                                2, 2, 2, -1, 15, 16, 15, -1,
+                                2, 2, 2, -1, 17, 17, 16, -1,
+                                2, 2, 2, -1, 16, 17, 16, -1,
+                                2, 2, 2, -1, 8, 8, 17, -1,
+                                2, 2, 2, -1, 17, 8, 17, -1,
+                                18, 8, 8, -1, 18, 8, 18, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 12, 12, 1, -1,
+                                2, 2, 2, -1, 18, 18, 19, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                19, 19, 20, -1, 2, 2, 2, -1,
+                                18, 19, 19, -1, 2, 2, 2, -1,
+                                20, 20, 21, -1, 19, 20, 20, -1,
+                                21, 21, 22, -1, 20, 21, 21, -1,
+                                22, 22, 23, -1, 21, 22, 22, -1,
+                                23, 23, 12, -1, 22, 23, 23, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                23, 12, 12, -1, 3, 3, 24, -1,
+                                24, 24, 21, -1, 3, 24, 24, -1,
+                                21, 21, 25, -1, 24, 21, 21, -1,
+                                25, 25, 9, -1, 21, 25, 25, -1,
+                                25, 9, 9, -1, 10, 10, 10, -1,
+                                1, 1, 0, -1, 10, 10, 10, -1,
+                                3, 3, 1, -1, 10, 10, 10, -1,
+                                3, 1, 1, -1, 10, 10, 10, -1,
+                                0, 0, 4, -1, 0, 1, 0, -1,
+                                10, 10, 10, -1, 4, 4, 5, -1,
+                                0, 4, 4, -1, 10, 10, 10, -1,
+                                5, 5, 6, -1, 10, 10, 10, -1,
+                                4, 5, 5, -1, 10, 10, 10, -1,
+                                6, 6, 7, -1, 5, 6, 6, -1,
+                                10, 10, 10, -1, 7, 7, 8, -1,
+                                6, 7, 7, -1, 10, 10, 10, -1,
+                                8, 8, 9, -1, 10, 10, 10, -1,
+                                7, 8, 8, -1, 10, 10, 10, -1,
+                                9, 9, 25, -1, 8, 9, 9, -1,
+                                10, 10, 10, -1, 25, 25, 21, -1,
+                                9, 25, 25, -1, 10, 10, 10, -1,
+                                21, 21, 24, -1, 10, 10, 10, -1,
+                                25, 21, 21, -1, 10, 10, 10, -1,
+                                24, 24, 3, -1, 21, 24, 24, -1,
+                                24, 3, 3, -1, 10, 10, 10, -1,
+                                1, 1, 26, -1, 27, 27, 1, -1,
+                                1, 27, 1, -1, 10, 10, 10, -1,
+                                26, 26, 28, -1, 10, 10, 10, -1,
+                                26, 1, 26, -1, 10, 10, 10, -1,
+                                28, 28, 29, -1, 10, 10, 10, -1,
+                                26, 28, 28, -1, 10, 10, 10, -1,
+                                29, 29, 30, -1, 10, 10, 10, -1,
+                                28, 29, 29, -1, 10, 10, 10, -1,
+                                30, 30, 31, -1, 10, 10, 10, -1,
+                                29, 30, 30, -1, 31, 31, 32, -1,
+                                30, 31, 31, -1, 32, 32, 33, -1,
+                                31, 32, 32, -1, 33, 33, 34, -1,
+                                32, 33, 33, -1, 34, 34, 35, -1,
+                                33, 34, 34, -1, 35, 35, 36, -1,
+                                34, 35, 35, -1, 36, 36, 8, -1,
+                                35, 36, 36, -1, 10, 10, 10, -1,
+                                8, 8, 37, -1, 36, 8, 8, -1,
+                                10, 10, 10, -1, 37, 37, 38, -1,
+                                10, 10, 10, -1, 37, 8, 37, -1,
+                                10, 10, 10, -1, 38, 38, 39, -1,
+                                10, 10, 10, -1, 38, 37, 38, -1,
+                                10, 10, 10, -1, 39, 39, 40, -1,
+                                10, 10, 10, -1, 39, 38, 39, -1,
+                                10, 10, 10, -1, 40, 40, 41, -1,
+                                10, 10, 10, -1, 40, 39, 40, -1,
+                                41, 41, 42, -1, 41, 40, 41, -1,
+                                42, 42, 43, -1, 42, 41, 42, -1,
+                                43, 43, 44, -1, 43, 42, 43, -1,
+                                44, 44, 45, -1, 44, 43, 44, -1,
+                                45, 45, 27, -1, 45, 44, 45, -1,
+                                27, 45, 27, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 1, 1, 46, -1,
+                                47, 47, 1, -1, 1, 47, 1, -1,
+                                46, 46, 48, -1, 46, 1, 46, -1,
+                                48, 48, 24, -1, 46, 48, 48, -1,
+                                24, 24, 49, -1, 48, 24, 24, -1,
+                                49, 49, 50, -1, 24, 49, 49, -1,
+                                50, 50, 25, -1, 49, 50, 50, -1,
+                                25, 25, 51, -1, 50, 25, 25, -1,
+                                51, 51, 52, -1, 25, 51, 51, -1,
+                                52, 52, 8, -1, 51, 52, 52, -1,
+                                8, 8, 53, -1, 52, 8, 8, -1,
+                                53, 53, 54, -1, 53, 8, 53, -1,
+                                54, 54, 6, -1, 54, 53, 54, -1,
+                                6, 6, 55, -1, 6, 54, 6, -1,
+                                55, 55, 56, -1, 55, 6, 55, -1,
+                                56, 56, 4, -1, 56, 55, 56, -1,
+                                4, 4, 57, -1, 4, 56, 4, -1,
+                                57, 57, 47, -1, 57, 4, 57, -1,
+                                47, 57, 47, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                10, 10, 10, -1, 10, 10, 10, -1,
+                                1, 1, 12, -1, 11, 11, 1, -1,
+                                1, 11, 1, -1, 10, 10, 10, -1,
+                                12, 12, 23, -1, 10, 10, 10, -1,
+                                12, 1, 12, -1, 10, 10, 10, -1,
+                                23, 23, 22, -1, 10, 10, 10, -1,
+                                12, 23, 23, -1, 10, 10, 10, -1,
+                                22, 22, 21, -1, 23, 22, 22, -1,
+                                21, 21, 20, -1, 22, 21, 21, -1,
+                                20, 20, 19, -1, 21, 20, 20, -1,
+                                19, 19, 18, -1, 20, 19, 19, -1,
+                                18, 18, 8, -1, 19, 18, 18, -1,
+                                8, 8, 17, -1, 18, 8, 8, -1,
+                                10, 10, 10, -1, 17, 17, 16, -1,
+                                10, 10, 10, -1, 17, 8, 17, -1,
+                                10, 10, 10, -1, 16, 16, 15, -1,
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+                                55, 26, 25, -1, 52, 22, 26, -1,
+                                53, 26, 55, -1, 24, 25, 27, -1,
+                                55, 25, 24, -1, 28, 56, 27, -1,
+                                19, 27, 56, -1, 19, 24, 27, -1,
+                                57, 58, 56, -1, 14, 56, 58, -1,
+                                28, 57, 56, -1, 14, 19, 56, -1,
+                                59, 60, 58, -1, 61, 58, 60, -1,
+                                57, 59, 58, -1, 61, 14, 58, -1,
+                                62, 63, 60, -1, 64, 60, 63, -1,
+                                59, 62, 60, -1, 64, 61, 60, -1,
+                                62, 65, 63, -1, 66, 63, 65, -1,
+                                66, 64, 63, -1, 67, 65, 62, -1,
+                                67, 66, 65, -1, 68, 62, 59, -1,
+                                68, 67, 62, -1, 69, 59, 57, -1,
+                                69, 68, 59, -1, 70, 57, 28, -1,
+                                70, 69, 57, -1, 71, 28, 29, -1,
+                                71, 70, 28, -1, 9, 71, 29, -1,
+                                23, 22, 52, -1, 72, 52, 54, -1,
+                                23, 52, 72, -1, 73, 54, 35, -1,
+                                72, 54, 73, -1, 74, 35, 36, -1,
+                                73, 35, 74, -1, 75, 36, 31, -1,
+                                74, 36, 75, -1, 75, 31, 5, -1,
+                                55, 24, 23, -1, 71, 14, 61, -1,
+                                9, 14, 71, -1, 70, 61, 64, -1,
+                                71, 61, 70, -1, 69, 64, 66, -1,
+                                70, 64, 69, -1, 68, 66, 67, -1,
+                                69, 66, 68, -1, 6, 75, 5, -1,
+                                39, 74, 75, -1, 6, 39, 75, -1,
+                                39, 73, 74, -1, 55, 72, 73, -1,
+                                39, 55, 73, -1, 55, 23, 72, -1,
+                                39, 53, 55, -1, 42, 51, 53, -1,
+                                39, 42, 53, -1, 45, 50, 51, -1,
+                                42, 45, 51, -1, 47, 49, 50, -1,
+                                45, 47, 50, -1, 47, 48, 49, -1,
+                                76, 77, 78, -1, 79, 78, 77, -1,
+                                80, 78, 81, -1, 82, 81, 78, -1,
+                                76, 78, 80, -1, 79, 82, 78, -1,
+                                76, 83, 77, -1, 84, 77, 83, -1,
+                                84, 79, 77, -1, 85, 86, 83, -1,
+                                87, 83, 86, -1, 76, 85, 83, -1,
+                                84, 83, 87, -1, 85, 88, 86, -1,
+                                89, 86, 88, -1, 87, 86, 89, -1,
+                                90, 91, 88, -1, 92, 88, 91, -1,
+                                85, 90, 88, -1, 89, 88, 92, -1,
+                                90, 93, 91, -1, 94, 91, 93, -1,
+                                92, 91, 94, -1, 95, 96, 93, -1,
+                                97, 93, 96, -1, 90, 95, 93, -1,
+                                94, 93, 97, -1, 98, 99, 96, -1,
+                                100, 96, 99, -1, 95, 98, 96, -1,
+                                97, 96, 100, -1, 98, 101, 99, -1,
+                                102, 99, 101, -1, 102, 100, 99, -1,
+                                103, 104, 101, -1, 105, 101, 104, -1,
+                                98, 103, 101, -1, 105, 102, 101, -1,
+                                103, 106, 104, -1, 107, 104, 106, -1,
+                                107, 105, 104, -1, 108, 109, 106, -1,
+                                110, 106, 109, -1, 103, 108, 106, -1,
+                                110, 107, 106, -1, 108, 81, 109, -1,
+                                111, 109, 81, -1, 111, 110, 109, -1,
+                                108, 80, 81, -1, 82, 111, 81, -1,
+                                112, 80, 108, -1, 113, 76, 80, -1,
+                                113, 80, 112, -1, 103, 114, 108, -1,
+                                115, 108, 114, -1, 115, 112, 108, -1,
+                                116, 117, 114, -1, 118, 114, 117, -1,
+                                103, 116, 114, -1, 115, 114, 118, -1,
+                                119, 120, 117, -1, 121, 117, 120, -1,
+                                116, 119, 117, -1, 118, 117, 121, -1,
+                                122, 123, 120, -1, 124, 120, 123, -1,
+                                119, 122, 120, -1, 121, 120, 124, -1,
+                                122, 125, 123, -1, 126, 123, 125, -1,
+                                124, 123, 126, -1, 127, 125, 122, -1,
+                                126, 125, 127, -1, 128, 122, 119, -1,
+                                127, 122, 128, -1, 129, 119, 116, -1,
+                                128, 119, 129, -1, 130, 116, 103, -1,
+                                129, 116, 130, -1, 131, 103, 98, -1,
+                                130, 103, 131, -1, 132, 98, 95, -1,
+                                131, 98, 132, -1, 133, 95, 90, -1,
+                                132, 95, 133, -1, 85, 134, 90, -1,
+                                135, 90, 134, -1, 133, 90, 135, -1,
+                                136, 137, 134, -1, 138, 134, 137, -1,
+                                85, 136, 134, -1, 135, 134, 138, -1,
+                                139, 140, 137, -1, 141, 137, 140, -1,
+                                136, 139, 137, -1, 138, 137, 141, -1,
+                                142, 143, 140, -1, 144, 140, 143, -1,
+                                139, 142, 140, -1, 141, 140, 144, -1,
+                                142, 145, 143, -1, 146, 143, 145, -1,
+                                144, 143, 146, -1, 147, 145, 142, -1,
+                                146, 145, 147, -1, 148, 142, 139, -1,
+                                147, 142, 148, -1, 149, 139, 136, -1,
+                                148, 139, 149, -1, 150, 136, 85, -1,
+                                149, 136, 150, -1, 151, 85, 76, -1,
+                                150, 85, 151, -1, 151, 76, 113, -1,
+                                133, 100, 102, -1, 133, 135, 100, -1,
+                                97, 100, 135, -1, 132, 102, 105, -1,
+                                132, 133, 102, -1, 132, 105, 107, -1,
+                                118, 107, 110, -1, 118, 132, 107, -1,
+                                118, 110, 111, -1, 115, 111, 82, -1,
+                                115, 118, 111, -1, 115, 82, 79, -1,
+                                115, 79, 112, -1, 84, 112, 79, -1,
+                                84, 113, 112, -1, 138, 151, 113, -1,
+                                89, 138, 113, -1, 87, 89, 113, -1,
+                                84, 87, 113, -1, 141, 150, 151, -1,
+                                138, 141, 151, -1, 144, 149, 150, -1,
+                                141, 144, 150, -1, 146, 148, 149, -1,
+                                144, 146, 149, -1, 146, 147, 148, -1,
+                                94, 135, 138, -1, 92, 94, 138, -1,
+                                89, 92, 138, -1, 94, 97, 135, -1,
+                                118, 131, 132, -1, 121, 130, 131, -1,
+                                118, 121, 131, -1, 124, 129, 130, -1,
+                                121, 124, 130, -1, 126, 128, 129, -1,
+                                124, 126, 129, -1, 126, 127, 128, -1,
+                                152, 153, 154, -1, 155, 154, 153, -1,
+                                156, 152, 154, -1, 157, 156, 154, -1,
+                                158, 157, 154, -1, 155, 158, 154, -1,
+                                159, 160, 153, -1, 161, 153, 160, -1,
+                                152, 159, 153, -1, 161, 155, 153, -1,
+                                162, 163, 160, -1, 164, 160, 163, -1,
+                                159, 162, 160, -1, 161, 160, 164, -1,
+                                165, 163, 162, -1, 164, 163, 165, -1,
+                                166, 162, 159, -1, 165, 162, 166, -1,
+                                167, 159, 152, -1, 166, 159, 167, -1,
+                                168, 152, 156, -1, 167, 152, 168, -1,
+                                157, 169, 156, -1, 170, 156, 169, -1,
+                                168, 156, 170, -1, 171, 172, 169, -1,
+                                173, 169, 172, -1, 157, 171, 169, -1,
+                                173, 170, 169, -1, 174, 175, 172, -1,
+                                176, 172, 175, -1, 171, 174, 172, -1,
+                                176, 173, 172, -1, 177, 175, 174, -1,
+                                177, 176, 175, -1, 178, 174, 171, -1,
+                                178, 177, 174, -1, 179, 171, 157, -1,
+                                179, 178, 171, -1, 158, 179, 157, -1,
+                                180, 170, 173, -1, 180, 181, 170, -1,
+                                168, 170, 181, -1, 182, 173, 176, -1,
+                                182, 180, 173, -1, 182, 176, 177, -1,
+                                183, 177, 178, -1, 183, 182, 177, -1,
+                                183, 178, 179, -1, 184, 179, 158, -1,
+                                184, 183, 179, -1, 184, 158, 155, -1,
+                                184, 155, 185, -1, 161, 185, 155, -1,
+                                161, 186, 185, -1, 187, 185, 186, -1,
+                                188, 184, 185, -1, 187, 188, 185, -1,
+                                189, 190, 186, -1, 191, 186, 190, -1,
+                                165, 189, 186, -1, 164, 165, 186, -1,
+                                161, 164, 186, -1, 191, 187, 186, -1,
+                                192, 193, 190, -1, 194, 190, 193, -1,
+                                189, 192, 190, -1, 191, 190, 194, -1,
+                                195, 196, 193, -1, 197, 193, 196, -1,
+                                192, 195, 193, -1, 194, 193, 197, -1,
+                                195, 198, 196, -1, 199, 196, 198, -1,
+                                197, 196, 199, -1, 200, 198, 195, -1,
+                                199, 198, 200, -1, 201, 195, 192, -1,
+                                200, 195, 201, -1, 202, 192, 189, -1,
+                                201, 192, 202, -1, 167, 181, 189, -1,
+                                203, 189, 181, -1, 166, 167, 189, -1,
+                                165, 166, 189, -1, 202, 189, 203, -1,
+                                204, 181, 180, -1, 167, 168, 181, -1,
+                                203, 181, 204, -1, 205, 180, 182, -1,
+                                204, 180, 205, -1, 183, 206, 182, -1,
+                                207, 182, 206, -1, 207, 205, 182, -1,
+                                208, 209, 206, -1, 210, 206, 209, -1,
+                                183, 208, 206, -1, 210, 207, 206, -1,
+                                211, 212, 209, -1, 213, 209, 212, -1,
+                                208, 211, 209, -1, 213, 210, 209, -1,
+                                211, 214, 212, -1, 215, 212, 214, -1,
+                                215, 213, 212, -1, 216, 214, 211, -1,
+                                216, 215, 214, -1, 217, 211, 208, -1,
+                                217, 216, 211, -1, 218, 208, 183, -1,
+                                218, 217, 208, -1, 219, 183, 184, -1,
+                                219, 218, 183, -1, 188, 219, 184, -1,
+                                220, 205, 207, -1, 220, 221, 205, -1,
+                                204, 205, 221, -1, 222, 207, 210, -1,
+                                223, 220, 207, -1, 222, 223, 207, -1,
+                                219, 210, 213, -1, 188, 210, 219, -1,
+                                224, 210, 188, -1, 225, 222, 210, -1,
+                                224, 225, 210, -1, 218, 213, 215, -1,
+                                219, 213, 218, -1, 217, 215, 216, -1,
+                                218, 215, 217, -1, 226, 188, 187, -1,
+                                227, 224, 188, -1, 226, 227, 188, -1,
+                                226, 187, 228, -1, 191, 228, 187, -1,
+                                191, 229, 228, -1, 230, 228, 229, -1,
+                                231, 226, 228, -1, 230, 231, 228, -1,
+                                191, 232, 229, -1, 233, 229, 232, -1,
+                                233, 230, 229, -1, 194, 234, 232, -1,
+                                235, 232, 234, -1, 191, 194, 232, -1,
+                                233, 232, 235, -1, 194, 236, 234, -1,
+                                237, 234, 236, -1, 235, 234, 237, -1,
+                                204, 238, 236, -1, 239, 236, 238, -1,
+                                194, 204, 236, -1, 237, 236, 239, -1,
+                                204, 221, 238, -1, 240, 238, 221, -1,
+                                239, 238, 240, -1, 241, 221, 220, -1,
+                                240, 221, 241, -1, 242, 220, 223, -1,
+                                241, 220, 242, -1, 243, 223, 222, -1,
+                                243, 242, 223, -1, 244, 222, 225, -1,
+                                244, 243, 222, -1, 245, 225, 224, -1,
+                                245, 244, 225, -1, 246, 224, 227, -1,
+                                246, 245, 224, -1, 247, 227, 226, -1,
+                                247, 246, 227, -1, 231, 247, 226, -1,
+                                194, 203, 204, -1, 197, 202, 203, -1,
+                                194, 197, 203, -1, 199, 201, 202, -1,
+                                197, 199, 202, -1, 199, 200, 201, -1,
+                                230, 242, 243, -1, 233, 242, 230, -1,
+                                233, 241, 242, -1, 231, 243, 244, -1,
+                                230, 243, 231, -1, 247, 244, 245, -1,
+                                231, 244, 247, -1, 247, 245, 246, -1,
+                                235, 240, 241, -1, 233, 235, 241, -1,
+                                237, 239, 240, -1, 235, 237, 240, -1 ]
+                            normalIndex [ 0, 0, 1, -1, 2, 2, 2, -1,
+                                1, 0, 1, -1, 3, 1, 1, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                4, 4, 0, -1, 2, 2, 2, -1,
+                                0, 4, 0, -1, 2, 2, 2, -1,
+                                5, 5, 4, -1, 2, 2, 2, -1,
+                                4, 5, 4, -1, 6, 6, 5, -1,
+                                2, 2, 2, -1, 5, 6, 5, -1,
+                                2, 2, 2, -1, 7, 7, 6, -1,
+                                2, 2, 2, -1, 6, 7, 6, -1,
+                                8, 8, 7, -1, 2, 2, 2, -1,
+                                7, 8, 7, -1, 2, 2, 2, -1,
+                                9, 9, 8, -1, 2, 2, 2, -1,
+                                8, 9, 8, -1, 10, 11, 11, -1,
+                                10, 11, 10, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 3, 3, 1, -1,
+                                12, 12, 12, -1, 13, 13, 14, -1,
+                                15, 15, 13, -1, 13, 15, 13, -1,
+                                12, 12, 12, -1, 14, 14, 16, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 14, 13, 14, -1,
+                                12, 12, 12, -1, 16, 16, 17, -1,
+                                12, 12, 12, -1, 14, 16, 16, -1,
+                                12, 12, 12, -1, 17, 17, 18, -1,
+                                12, 12, 12, -1, 16, 17, 17, -1,
+                                12, 12, 12, -1, 18, 18, 19, -1,
+                                12, 12, 12, -1, 17, 18, 18, -1,
+                                12, 12, 12, -1, 19, 19, 20, -1,
+                                18, 19, 19, -1, 20, 20, 21, -1,
+                                19, 20, 20, -1, 21, 21, 22, -1,
+                                20, 21, 21, -1, 22, 22, 23, -1,
+                                21, 22, 22, -1, 23, 23, 24, -1,
+                                22, 23, 23, -1, 12, 12, 12, -1,
+                                24, 24, 25, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 23, 24, 24, -1,
+                                25, 25, 26, -1, 12, 12, 12, -1,
+                                24, 25, 25, -1, 27, 27, 28, -1,
+                                25, 26, 26, -1, 12, 12, 12, -1,
+                                28, 28, 29, -1, 28, 27, 28, -1,
+                                12, 12, 12, -1, 29, 29, 30, -1,
+                                12, 12, 12, -1, 29, 28, 29, -1,
+                                12, 12, 12, -1, 30, 30, 31, -1,
+                                12, 12, 12, -1, 30, 29, 30, -1,
+                                12, 12, 12, -1, 31, 31, 32, -1,
+                                12, 12, 12, -1, 31, 30, 31, -1,
+                                12, 12, 12, -1, 32, 32, 33, -1,
+                                32, 31, 32, -1, 33, 33, 34, -1,
+                                33, 32, 33, -1, 34, 34, 35, -1,
+                                34, 33, 34, -1, 35, 35, 36, -1,
+                                35, 34, 35, -1, 36, 36, 37, -1,
+                                36, 35, 36, -1, 37, 37, 15, -1,
+                                37, 36, 37, -1, 15, 37, 15, -1,
+                                10, 10, 38, -1, 38, 38, 39, -1,
+                                10, 38, 38, -1, 39, 39, 40, -1,
+                                38, 39, 39, -1, 40, 40, 41, -1,
+                                39, 40, 40, -1, 41, 41, 3, -1,
+                                40, 41, 41, -1, 41, 3, 3, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 1, 1, 3, -1,
+                                2, 2, 2, -1, 0, 0, 1, -1,
+                                2, 2, 2, -1, 1, 0, 1, -1,
+                                2, 2, 2, -1, 3, 3, 41, -1,
+                                3, 1, 3, -1, 2, 2, 2, -1,
+                                41, 41, 40, -1, 2, 2, 2, -1,
+                                3, 41, 41, -1, 2, 2, 2, -1,
+                                40, 40, 39, -1, 41, 40, 40, -1,
+                                2, 2, 2, -1, 39, 39, 38, -1,
+                                2, 2, 2, -1, 40, 39, 39, -1,
+                                2, 2, 2, -1, 38, 38, 10, -1,
+                                39, 38, 38, -1, 2, 2, 2, -1,
+                                10, 10, 11, -1, 2, 2, 2, -1,
+                                38, 10, 10, -1, 2, 2, 2, -1,
+                                9, 9, 8, -1, 2, 2, 2, -1,
+                                10, 11, 11, -1, 2, 2, 2, -1,
+                                8, 8, 7, -1, 8, 9, 8, -1,
+                                2, 2, 2, -1, 7, 7, 6, -1,
+                                2, 2, 2, -1, 7, 8, 7, -1,
+                                2, 2, 2, -1, 6, 6, 5, -1,
+                                6, 7, 6, -1, 2, 2, 2, -1,
+                                5, 5, 4, -1, 2, 2, 2, -1,
+                                5, 6, 5, -1, 2, 2, 2, -1,
+                                4, 4, 0, -1, 4, 5, 4, -1,
+                                2, 2, 2, -1, 0, 4, 0, -1,
+                                13, 13, 15, -1, 14, 14, 13, -1,
+                                14, 13, 13, -1, 2, 2, 2, -1,
+                                15, 15, 37, -1, 15, 13, 15, -1,
+                                2, 2, 2, -1, 37, 37, 36, -1,
+                                2, 2, 2, -1, 15, 37, 37, -1,
+                                2, 2, 2, -1, 36, 36, 35, -1,
+                                2, 2, 2, -1, 37, 36, 36, -1,
+                                2, 2, 2, -1, 35, 35, 34, -1,
+                                2, 2, 2, -1, 36, 35, 35, -1,
+                                2, 2, 2, -1, 34, 34, 33, -1,
+                                35, 34, 34, -1, 33, 33, 32, -1,
+                                34, 33, 33, -1, 32, 32, 31, -1,
+                                33, 32, 32, -1, 31, 31, 30, -1,
+                                32, 31, 31, -1, 30, 30, 29, -1,
+                                31, 30, 30, -1, 29, 29, 28, -1,
+                                30, 29, 29, -1, 28, 28, 27, -1,
+                                29, 28, 28, -1, 26, 26, 25, -1,
+                                28, 27, 27, -1, 2, 2, 2, -1,
+                                25, 25, 24, -1, 26, 25, 25, -1,
+                                2, 2, 2, -1, 24, 24, 23, -1,
+                                2, 2, 2, -1, 25, 24, 24, -1,
+                                2, 2, 2, -1, 23, 23, 22, -1,
+                                2, 2, 2, -1, 24, 23, 23, -1,
+                                2, 2, 2, -1, 22, 22, 21, -1,
+                                2, 2, 2, -1, 23, 22, 22, -1,
+                                2, 2, 2, -1, 21, 21, 20, -1,
+                                22, 21, 21, -1, 20, 20, 19, -1,
+                                21, 20, 20, -1, 19, 19, 18, -1,
+                                20, 19, 19, -1, 18, 18, 17, -1,
+                                19, 18, 18, -1, 17, 17, 16, -1,
+                                18, 17, 17, -1, 16, 16, 14, -1,
+                                17, 16, 16, -1, 16, 14, 14, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
+                                12, 12, 12, -1, 12, 12, 12, -1,
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+                                2, 2, 2, -1, 2, 2, 2, -1,
+                                2, 2, 2, -1, 2, 2, 2, -1 ]
+                            ccw TRUE
+                            solid TRUE
+                            convex TRUE
+                            creaseAngle 0
+
+                          }
+
+                        }
+
+                    } ]
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..296c3b09324c3fc67edaabbc7f6b2203bfd085b8
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.obj
@@ -0,0 +1,5854 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+#
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.wrl b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e9e5d2b4bbef05e866003eab0671e3eab226527a
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_roll_link.wrl
@@ -0,0 +1,7174 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          scale 1 1 1
+          children 
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+              children 
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+                  rotation 0 0 1  0
+                  scale 1 1 1
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+                  center 0 0 0
+                  children 
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+                      translation 0 0 0
+                      rotation 0 1 0  3.1415
+                      scale 1 1 1
+                      scaleOrientation 0 0 1  0
+                      center 0 0 0
+                      children 
+                        DEF _+5 Transform {
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+                          rotation -0 -0 -0.99999994  1.5700002
+                          scale 1 1 1
+                          scaleOrientation 0 0 1  0
+                          center 0 0 0
+                          children 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Transform {
+                                  scale 0.001 0.001 0.001
+                                  children [ 
+                                    DEF _+8 Group {
+                                      children 
+                                        DEF _+9 Shape {
+                                          appearance 
+                                          Appearance {
+                                            material 
+                                            Material {
+                                              diffuseColor 0.85000002 0.89999998 0.47
+
+                                            }
+
+                                          }
+                                          geometry 
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+                                            }
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.wrl
@@ -0,0 +1,715 @@
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+                                        18, 18, 18, -1, 18, 18, 18, -1,
+                                        18, 18, 18, -1, 18, 18, 18, -1 ]
+                                    ccw TRUE
+                                    solid TRUE
+                                    convex TRUE
+                                    creaseAngle 0
+
+                                  }
+
+                                }
+
+                            } ]
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.obj b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f739048e8fbde3a5e93d838d12db4e5de3eb86af
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.obj
@@ -0,0 +1,400 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd00e8a1a7db844fb60ccbfca55d93ce554c44
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l2.wrl
@@ -0,0 +1,432 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.obj b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0eaf235f8276011e0a5ce65a903d6ee2cce7f038
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.obj
@@ -0,0 +1,688 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..027a318d78138552c271a9fbff5a84971d122ca0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r1.wrl
@@ -0,0 +1,715 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.obj b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8618c917c87c4b4ce6f7c262ec4b5577d29846c3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.obj
@@ -0,0 +1,400 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd00e8a1a7db844fb60ccbfca55d93ce554c44
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.wrl
@@ -0,0 +1,432 @@
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+                        }
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+                    }
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+                }
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+            }
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+        }
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+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.obj b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356cbceda77b24080ee6d09224742561d1e9f605
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.obj
@@ -0,0 +1,400 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.wrl b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..7d0c33c3790ca31880c7058a3d5bc6ea14022211
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_l_rot.wrl
@@ -0,0 +1,400 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
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+      children 
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+          children 
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+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
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+                    DEF _+4 Transform {
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+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 0.386933 0.50074798 0.62
+
+                                }
+
+                              }
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+                                    0, 0, 0, -1, 0, 0, 0, -1,
+                                    0, 0, 0, -1, 0, 0, 0, -1 ]
+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.obj b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1fff476efc05c46c2419ccf45ca88b5a8d7d6d3
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.obj
@@ -0,0 +1,400 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object shoulder2_r_rot.obj
+#
+# Vertices: 94
+# Faces: 196
+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.wrl b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..580797780887e8e960039b307b7502b4521ca91d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder2_r_rot.wrl
@@ -0,0 +1,409 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
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+          rotation -0 -0 -0.99999994  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 1 0  3.1400001
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0 0 0.99999994  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Transform {
+                          scale 0.001 0.001 0.001
+                          children 
+                            DEF _+6 Group {
+                              children 
+                                DEF _+7 Shape {
+                                  appearance 
+                                  Appearance {
+                                    material 
+                                    Material {
+                                      diffuseColor 0.386933 0.50074798 0.62
+
+                                    }
+
+                                  }
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+                                    creaseAngle 0
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+                                  }
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+                        }
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+                    }
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+                }
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+            }
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+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0437b146cdba399de174b88c1a260ea929bc748b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.obj
@@ -0,0 +1,1108 @@
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+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..6e67f635322b95bc64262366b47760dc67f57ad0
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_l.wrl
@@ -0,0 +1,1264 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e58f3cf3e85c9ea8c268d214da6afe9a77150a3
--- /dev/null
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@@ -0,0 +1,892 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..89bfcf3fa4658c7382ca3e1dc0f6a180d7891ee4
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/shoulder_r.wrl
@@ -0,0 +1,1084 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c54e92fcd555edba95c4d615d63568c9f98816c5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l1.wrl
@@ -0,0 +1,706 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.obj b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.obj
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index 0000000000000000000000000000000000000000..234d4710753b510cc9f591ddded3659d4b246d5f
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e2c633ef5fccb4547c075e07b8b86d9a1d3d3b15
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_l2.wrl
@@ -0,0 +1,677 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.obj b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9925d501eb88ffdd557f52cfc8e312a580f7c5fd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.obj
@@ -0,0 +1,688 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.wrl b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..c54e92fcd555edba95c4d615d63568c9f98816c5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r1.wrl
@@ -0,0 +1,706 @@
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+                }
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+        }
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+    }
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.obj b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77e041622f5284faf81a69216b3bc22b0a13d95
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+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.obj
@@ -0,0 +1,656 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.wrl b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..e2c633ef5fccb4547c075e07b8b86d9a1d3d3b15
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/thumb_r2.wrl
@@ -0,0 +1,677 @@
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+
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/torso.obj b/data/RobotAPI/robots/Armar3/fullmodel/torso.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ec07efb0eb11badcf76288a61b559a83210e2fe
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/torso.obj
@@ -0,0 +1,7080 @@
+####
+#
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+#
+####
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/torso.wrl b/data/RobotAPI/robots/Armar3/fullmodel/torso.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..a973ae8844cee53fe995a189715c500b2e2c748e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/torso.wrl
@@ -0,0 +1,1533 @@
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+        ]
+      }
+      appearance Appearance
+      {
+        material Material
+        {
+	       ambientIntensity 0.2
+	       diffuseColor 0.9 0.9 0.9
+	       specularColor .1 .1 .1
+	       shininess .5
+        }
+      }
+    }
+  ]
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ef5104cd0702236062b87414ccbb019b576249b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.obj
@@ -0,0 +1,188 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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+#
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..d5aeb59a2f6e8ff6281da18470d91c7afa1646b5
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_l.wrl
@@ -0,0 +1,275 @@
+#VRML V2.0 utf8
+
+
+Group {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db121c591790aaa03bfcdd243da755bd6aec833b
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.obj
@@ -0,0 +1,188 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..947701fe43fb88352fbffdd558c473c51f93035d
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/underarm_r.wrl
@@ -0,0 +1,266 @@
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+
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new file mode 100644
index 0000000000000000000000000000000000000000..4fd2f421ea78f03f96567fae86dd19bd72b4779a
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..911f68266c856022d8ad2a546151b83d13a40bc2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_l.wrl
@@ -0,0 +1,1217 @@
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+                                    ccw TRUE
+                                    solid TRUE
+                                    convex TRUE
+                                    creaseAngle 0
+
+                                  }
+
+                                }
+
+                            } ]
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f5b88aa2d4caa14eca56515ee9aea50bf0e37d7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.obj
@@ -0,0 +1,1128 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..80cf05e0759d2c0ea56669af61d0ae075368cf1f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/upperarm_r.wrl
@@ -0,0 +1,1234 @@
+#VRML V2.0 utf8
+
+
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08574d1cb94d0d3fd956f5fbeca9f4e9197c3be
--- /dev/null
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..8b09fefad294bd83cef93df6b7647c946a050907
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.wrl
@@ -0,0 +1,565 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0 0.99999994 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Group {
+              children 
+                DEF _+3 Group {
+                  children 
+                    DEF _+4 Transform {
+                      scale 0.001 0.001 0.001
+                      children [ 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Shape {
+                              appearance 
+                              Appearance {
+                                material 
+                                Material {
+                                  diffuseColor 1 0 0
+
+                                }
+
+                              }
+                              geometry 
+                              IndexedFaceSet {
+                                coord 
+                                Coordinate {
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+                                }
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+                                Normal {
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+                                }
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+                                ccw TRUE
+                                solid TRUE
+                                convex TRUE
+                                creaseAngle 0
+
+                              }
+
+                            }
+
+                        },
+                          
+                        DEF _+7 Group {
+                          children 
+                            DEF _+8 Shape {
+                              appearance 
+                              Appearance {
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af842ed094e32785ffd870f8d3e299f290118bfa
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@@ -0,0 +1,464 @@
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+
+# End of File
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..4abd2eb51e2452271c755f5b5d9d043c48c8e5cd
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_r.wrl
@@ -0,0 +1,583 @@
+#VRML V2.0 utf8
+
+
+Group {
+  children 
+    DEF _+0 Group {
+      children 
+        DEF _+1 Transform {
+          translation 0 0 0
+          rotation 0.99999994 0 0  1.5700002
+          scale 1 1 1
+          scaleOrientation 0 0 1  0
+          center 0 0 0
+          children 
+            DEF _+2 Transform {
+              translation 0 0 0
+              rotation 0 0 0.99999994  1.5700002
+              scale 1 1 1
+              scaleOrientation 0 0 1  0
+              center 0 0 0
+              children 
+                DEF _+3 Transform {
+                  translation 0 0 0
+                  rotation 0.99999994 0 0  1.5700002
+                  scale 1 1 1
+                  scaleOrientation 0 0 1  0
+                  center 0 0 0
+                  children 
+                    DEF _+4 Group {
+                      children 
+                        DEF _+5 Group {
+                          children 
+                            DEF _+6 Transform {
+                              scale 0.001 0.001 0.001
+                              children [ 
+                                DEF _+7 Group {
+                                  children 
+                                    DEF _+8 Shape {
+                                      appearance 
+                                      Appearance {
+                                        material 
+                                        Material {
+                                          diffuseColor 1 0 0
+
+                                        }
+
+                                      }
+                                      geometry 
+                                      IndexedFaceSet {
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+                    }
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+                }
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+            }
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+        }
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+    }
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df67cf29790280448e27f3aaf1a566ad1f5fce31
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.obj
@@ -0,0 +1,392 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.wrl b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..20f11afe80aca424fe04e5d9d49364efa65dbe4e
--- /dev/null
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@@ -0,0 +1,488 @@
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+                                            16, 16, 16, -1, 16, 16, 16, -1,
+                                            16, 16, 16, -1, 16, 16, 16, -1 ]
+                                        ccw TRUE
+                                        solid TRUE
+                                        convex TRUE
+                                        creaseAngle 0
+
+                                      }
+
+                                    }
+
+                                } ]
+
+                            }
+
+                        }
+
+                    }
+
+                }
+
+            }
+
+        }
+
+    }
+
+}
diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ac43b165085f668a34f5e960e29449cfb13116
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.obj
@@ -0,0 +1,392 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.wrl b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..05d23f6a3c2fdcd60ba4bbc832014ce16bdce1e2
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_r.wrl
@@ -0,0 +1,488 @@
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+
+
+Group {
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+              children 
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diff --git a/data/RobotAPI/robots/Camera/models/camera.obj b/data/RobotAPI/robots/Camera/models/camera.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fda07625d6f37a8bdac00e8a37fc0f925bc3218e
--- /dev/null
+++ b/data/RobotAPI/robots/Camera/models/camera.obj
@@ -0,0 +1,2880 @@
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+# 1800 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/CameraOnTripod/models/camera.obj b/data/RobotAPI/robots/CameraOnTripod/models/camera.obj
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diff --git a/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b4e3870829fe617312054c4a57d639d95c2c01
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/BTSegment_joint_visu.obj
@@ -0,0 +1,3860 @@
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diff --git a/data/RobotAPI/robots/MMM/models/BTy_joint_visu.obj b/data/RobotAPI/robots/MMM/models/BTy_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fef6fcf74422ab362419c38a3265bc1767e1c0b
--- /dev/null
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@@ -0,0 +1,2808 @@
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+
+# End of File
diff --git a/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223d5dc4578fd25bd216871fdf5ca93a33b3c0b2
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAsegment_joint_visu.obj
@@ -0,0 +1,6996 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object LAsegment_joint_visu.obj
+#
+# Vertices: 1762
+# Faces: 3456
+#
+####
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diff --git a/data/RobotAPI/robots/MMM/models/LAy_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d05538530d9109fbda1c5672285fe46f7a10b764
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LAy_joint_visu.obj
@@ -0,0 +1,2064 @@
+####
+#
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+
+# End of File
diff --git a/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2003580f8c4835ecbb8bc2d9386b23e87e9e15bc
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LEsegment_joint_visu.obj
@@ -0,0 +1,4100 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object LEsegment_joint_visu.obj
+#
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+# Faces: 2016
+#
+####
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diff --git a/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LHsegment_joint_visu.obj
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index 0000000000000000000000000000000000000000..970ebb56fa2625a5fa72f373a85566595c9f9e12
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@@ -0,0 +1,954 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1104636f806e9ac5b33fa91b98e3caaccc9a67c6
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LKsegment_joint_visu.obj
@@ -0,0 +1,11352 @@
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index 0000000000000000000000000000000000000000..cf01d98a3cee3e2bb0d39ae974552bb75f616d42
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index 0000000000000000000000000000000000000000..a9a9a772db415958e902eadef98641d705aa718e
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diff --git a/data/RobotAPI/robots/MMM/models/LWy_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LWy_joint_visu.obj
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index 0000000000000000000000000000000000000000..e4ea4448ad8b06896b42f81d61df400c968b3319
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+# 6080 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bcc989e2d6df2acef3eb48918cc0af9001bdfc
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftEyeSegmentY_joint_visu.obj
@@ -0,0 +1,3792 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object LeftEyeSegmentY_joint_visu.obj
+#
+# Vertices: 1280
+# Faces: 1216
+#
+####
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint11y_joint_visu.obj
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index 0000000000000000000000000000000000000000..3053b472c40c9120dcac20953d5893d8393ade4d
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b815e151848168136e5c652330b1d9e323ff39dd
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint12y_joint_visu.obj
@@ -0,0 +1,2964 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcadcec60ed5143ff58f188290bc388b31ec588
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint13y_joint_visu.obj
@@ -0,0 +1,404 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bde4e0770d04607ac27e5663470dd179affef064
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint21y_joint_visu.obj
@@ -0,0 +1,2900 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e43277fd715bdacc3e0b0be889bf5a11008687b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint22y_joint_visu.obj
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df40321cccd46e2cb950bf34c3073a20062bf100
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint23y_joint_visu.obj
@@ -0,0 +1,404 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..706a333d0ab287b75328c5476e2d0c47438d4d36
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint31y_joint_visu.obj
@@ -0,0 +1,2900 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint32y_joint_visu.obj
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index 0000000000000000000000000000000000000000..6643f565400ca836adf3e550b4fc3d206dcf9697
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4319d6e1c93559d0da46e872f795776611351f1b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint33y_joint_visu.obj
@@ -0,0 +1,404 @@
+####
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4146379d00ccb9b5b2f1b8d3437691a9ea58d1
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint40y_joint_visu.obj
@@ -0,0 +1,2512 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ad16fb6345c9dfa601203f6cae3c95ba96492d6
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint41y_joint_visu.obj
@@ -0,0 +1,2900 @@
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+v 0.002405 0.004106 0.007226 0.654902 0.501961 0.313725
+vn 0.000007 -0.000049 -0.000002
+v 0.001999 -0.004378 0.009303 0.654902 0.501961 0.313725
+# 738 vertices, 0 vertices normals
+
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint42y_joint_visu.obj
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index 0000000000000000000000000000000000000000..f6921541fcd4f96c90495bbf4c843348b9cfb4ab
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+# 1408 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint43y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432eb219cec331ec17c32d058fb609e83d6d073d
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint50y_joint_visu.obj
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476abc4b110ec76deb47eb72c3c628674fa76867
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint51y_joint_visu.obj
@@ -0,0 +1,2900 @@
+####
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+#
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..540bf620474c7969ccc7eb5a5f853535b50aed9b
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint52y_joint_visu.obj
@@ -0,0 +1,2900 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e94acc2e40dcd3da6b9c1aa54aab44436685e13
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/LeftFingerJoint53y_joint_visu.obj
@@ -0,0 +1,404 @@
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diff --git a/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/LeftHandSegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8cc6ee2cb6048df267db1367a8f487c273206f7
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diff --git a/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4e3ac8faf14aa7e9e8db0ede80c6ae24b7d734
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RAsegment_joint_visu.obj
@@ -0,0 +1,6996 @@
+####
+#
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+#
+####
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diff --git a/data/RobotAPI/robots/MMM/models/RAy_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RAy_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a46a77e56a64df3f20bb7cb2a38f6eb09ac70e57
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RAy_joint_visu.obj
@@ -0,0 +1,2064 @@
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diff --git a/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/REsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaebc7109a17a4c69057c62c43a324ffb8046f9b
--- /dev/null
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@@ -0,0 +1,4100 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RFx_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RFx_joint_visu.obj
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index 0000000000000000000000000000000000000000..248d73a5feacb08e62f46c91e290a3109c33a94b
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@@ -0,0 +1,1392 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RHsegment_joint_visu.obj
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diff --git a/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RKsegment_joint_visu.obj
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index 0000000000000000000000000000000000000000..3d0bacd687cdb4c1abcc7725318cce59353252f0
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diff --git a/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4a7c25431b1253649d5e6b1b0c0007bb73fa607
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RMrot_joint_visu.obj
@@ -0,0 +1,3792 @@
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index 0000000000000000000000000000000000000000..0ef0fbfa09e7268c4b18ba5a0ac83be6b56a207c
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diff --git a/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761fbdce1afd0b2021d94de0cafcbb74b1f3ad89
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RSsegment_joint_visu.obj
@@ -0,0 +1,2132 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RWsegment_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a20b7e62343c1376d59d555647b90a9f4b5b7f0
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+vn 0.000014 -0.000000 -0.000009
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diff --git a/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcab87ce6b90ceccaf4136e50d9d564f6a90675
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightEyeSegmentY_joint_visu.obj
@@ -0,0 +1,3792 @@
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index 0000000000000000000000000000000000000000..294a44c40632cad227167ff8001622bcdb2dfa39
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad6fdf6e17476f92b4420bebde23b82592e51f5
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint12y_joint_visu.obj
@@ -0,0 +1,2964 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8701452854ca1bd6158dcddfa0645fb0fb6f9171
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint13y_joint_visu.obj
@@ -0,0 +1,404 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint21y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8139abd2d5f41cc38227eb89dd08d5c53bdb51cc
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint22y_joint_visu.obj
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index 0000000000000000000000000000000000000000..0b2d615ece3425bfddbc62580285132c6e84dd9c
--- /dev/null
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f96193558f4e9953be52d34fff8532ff1a4a2f4
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint23y_joint_visu.obj
@@ -0,0 +1,404 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..9e10872799e64300e35cbc17499edd73aaf8ba2b
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66409806caa5d41a5d3789fedf051572dbe3cced
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint32y_joint_visu.obj
@@ -0,0 +1,2900 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint33y_joint_visu.obj
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index 0000000000000000000000000000000000000000..5977c73ae8ef646b48f8ac19cd79a7c78d4c64b3
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1a27c08c6fdd0bf9b03775bd7b5b23254732470
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint40y_joint_visu.obj
@@ -0,0 +1,2512 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint41y_joint_visu.obj
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index 0000000000000000000000000000000000000000..732ebb88704142c527f1e9f8763db27e6e27e0ef
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+# 1408 faces, 0 coords texture
+
+# End of File
diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b61a2f4c195a2f0d79dd4e2c9a9963a6351d0b5
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint42y_joint_visu.obj
@@ -0,0 +1,2900 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..836b930d07627baf33b394f6223f95102f313fe3
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint43y_joint_visu.obj
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc34576d4eba2358588eea9cacf49d5967b54993
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint50y_joint_visu.obj
@@ -0,0 +1,2512 @@
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint51y_joint_visu.obj
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index 0000000000000000000000000000000000000000..4f04d0b4ba01c8580c03475b6d416cc1a3e2b4dc
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint52y_joint_visu.obj
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index 0000000000000000000000000000000000000000..84e7394116d666a3c42502084fbe3a830a8b6d1d
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diff --git a/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.obj b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37decf174f41c3aa8a68715272bd0f1083172b4a
--- /dev/null
+++ b/data/RobotAPI/robots/MMM/models/RightFingerJoint53y_joint_visu.obj
@@ -0,0 +1,404 @@
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+v 0.003952 -0.000196 0.008360 0.654902 0.501961 0.313725
+vn -5.951937 -0.660965 1.350072
+v -0.003957 -0.000196 0.008361 0.654902 0.501961 0.313725
+vn 2.892124 2.535405 -0.569433
+v 0.004349 0.004007 0.003008 0.654902 0.501961 0.313725
+vn -2.892309 2.535653 -0.568791
+v -0.004356 0.004007 0.003009 0.654902 0.501961 0.313725
+vn -3.588828 -4.159329 -0.503293
+v -0.003067 -0.003859 0.004028 0.654902 0.501961 0.313725
+vn 3.586444 -4.165775 -0.521114
+v 0.003047 -0.003859 0.004027 0.654902 0.501961 0.313725
+vn 0.000002 6.283185 0.000001
+v -0.000004 0.004007 0.003008 0.654902 0.501961 0.313725
+vn 0.000685 -6.063069 -0.611802
+v -0.000007 -0.004467 0.003983 0.654902 0.501961 0.313725
+vn 6.044018 -0.741482 -1.078022
+v 0.004006 -0.000298 0.003616 0.654902 0.501961 0.313725
+vn -6.047793 -0.728456 -1.072527
+v -0.004016 -0.000298 0.003617 0.654902 0.501961 0.313725
+vn 3.592422 -1.530333 -3.859784
+v 0.003146 -0.002238 0.002196 0.654902 0.501961 0.313725
+vn -3.266243 -2.495604 3.707491
+v -0.003145 -0.001427 0.009573 0.654902 0.501961 0.313725
+vn 5.856881 -1.756250 0.293869
+v 0.003849 -0.002225 0.005977 0.654902 0.501961 0.313725
+vn 0.000003 -1.810456 -5.936634
+v -0.000007 -0.002381 0.001702 0.654902 0.501961 0.313725
+vn 0.000154 -3.283726 5.267435
+v -0.000000 -0.001446 0.010043 0.654902 0.501961 0.313725
+vn 3.274240 -2.474778 3.702342
+v 0.003151 -0.001427 0.009572 0.654902 0.501961 0.313725
+vn -3.596503 -1.514831 -3.854986
+v -0.003166 -0.002238 0.002196 0.654902 0.501961 0.313725
+vn -5.854991 -1.756272 0.323009
+v -0.003856 -0.002225 0.005977 0.654902 0.501961 0.313725
+vn -5.393390 -2.056047 1.540585
+v -0.003738 -0.001815 0.008009 0.654902 0.501961 0.313725
+vn 5.405290 -2.038257 1.521201
+v 0.003739 -0.001815 0.008008 0.654902 0.501961 0.313725
+vn -5.801020 -1.611725 -1.021123
+v -0.003750 -0.002272 0.003853 0.654902 0.501961 0.313725
+vn 5.793966 -1.627854 -1.038746
+v 0.003734 -0.002272 0.003852 0.654902 0.501961 0.313725
+vn 3.578598 -0.402914 4.137176
+v 0.003143 0.001850 0.010653 0.654902 0.501961 0.313725
+vn -3.710346 -1.285483 -3.752979
+v -0.003602 0.001836 0.001298 0.654902 0.501961 0.313725
+vn -6.261023 -0.370680 0.241313
+v -0.004181 0.001833 0.006010 0.654902 0.501961 0.313725
+vn 3.709408 -1.287640 -3.752681
+v 0.003594 0.001836 0.001298 0.654902 0.501961 0.313725
+vn -3.574595 -0.411913 4.134611
+v -0.003149 0.001818 0.010654 0.654902 0.501961 0.313725
+vn 6.261116 -0.370680 0.238314
+v 0.004174 0.001833 0.006009 0.654902 0.501961 0.313725
+vn -0.000609 -1.448812 -6.107077
+v -0.000004 0.001831 0.000807 0.654902 0.501961 0.313725
+vn 0.010761 -1.056333 6.146237
+v -0.000003 0.001825 0.011168 0.654902 0.501961 0.313725
+vn 6.058683 -0.092532 1.490794
+v 0.003900 0.001841 0.008644 0.654902 0.501961 0.313725
+vn -6.058121 -0.096206 1.492133
+v -0.003907 0.001841 0.008645 0.654902 0.501961 0.313725
+vn 6.134433 -0.651314 -0.870370
+v 0.004151 0.001834 0.003359 0.654902 0.501961 0.313725
+vn -6.135308 -0.648080 -0.868491
+v -0.004159 0.001834 0.003360 0.654902 0.501961 0.313725
+vn 0.618205 1.951241 -2.679493
+v 0.002172 0.004007 0.000266 0.654902 0.501961 0.313725
+vn 0.579612 -4.509484 4.201409
+v 0.001515 -0.002453 0.009127 0.654902 0.501961 0.313725
+vn 0.000002 6.283185 0.000001
+v 0.002173 0.004007 0.006015 0.654902 0.501961 0.313725
+vn 0.660130 2.600194 2.981916
+v 0.001460 0.003924 0.011285 0.654902 0.501961 0.313725
+vn 0.798585 -4.135638 -3.631171
+v 0.001500 -0.003893 0.002452 0.654902 0.501961 0.313725
+vn 1.099310 -5.831351 1.396480
+v 0.001632 -0.004179 0.005946 0.654902 0.501961 0.313725
+vn 0.945662 -2.080685 5.747350
+v 0.001722 -0.000106 0.010571 0.654902 0.501961 0.313725
+vn 0.924764 -1.398345 -6.033875
+v 0.001769 -0.000309 0.001395 0.654902 0.501961 0.313725
+vn 0.862475 -5.445421 2.914933
+v 0.001588 -0.003389 0.007709 0.654902 0.501961 0.313725
+vn 0.156796 6.258886 0.324053
+v 0.001911 0.004007 0.008980 0.654902 0.501961 0.313725
+vn 1.136561 -6.021901 -0.536051
+v 0.001578 -0.004289 0.004015 0.654902 0.501961 0.313725
+vn 0.141789 6.273248 -0.150968
+v 0.002172 0.004007 0.003008 0.654902 0.501961 0.313725
+vn 0.785429 -3.240751 5.253382
+v 0.001645 -0.001412 0.009925 0.654902 0.501961 0.313725
+vn 0.945295 -1.773523 -5.887642
+v 0.001638 -0.002312 0.001824 0.654902 0.501961 0.313725
+vn 1.045771 -0.972876 6.036854
+v 0.001630 0.001838 0.011061 0.654902 0.501961 0.313725
+vn 0.817330 -1.570723 -6.008886
+v 0.001877 0.001833 0.000904 0.654902 0.501961 0.313725
+vn -0.777363 2.575202 3.162207
+v -0.001466 0.003795 0.011286 0.654902 0.501961 0.313725
+vn -0.797167 -4.135352 -3.630379
+v -0.001522 -0.003893 0.002452 0.654902 0.501961 0.313725
+vn -1.098431 -5.830483 1.402106
+v -0.001639 -0.004179 0.005946 0.654902 0.501961 0.313725
+vn -0.618765 1.951257 -2.679368
+v -0.002180 0.004007 0.000266 0.654902 0.501961 0.313725
+vn -0.580325 -4.509726 4.201465
+v -0.001507 -0.002453 0.009127 0.654902 0.501961 0.313725
+vn 0.000002 6.283185 0.000001
+v -0.002180 0.004007 0.006016 0.654902 0.501961 0.313725
+vn -0.924940 -1.395949 -6.034527
+v -0.001779 -0.000309 0.001396 0.654902 0.501961 0.313725
+vn -0.943861 -2.090744 5.745114
+v -0.001726 -0.000106 0.010571 0.654902 0.501961 0.313725
+vn -0.177460 6.229301 0.524593
+v -0.001917 0.004007 0.008980 0.654902 0.501961 0.313725
+vn -0.862931 -5.443533 2.918641
+v -0.001586 -0.003389 0.007709 0.654902 0.501961 0.313725
+vn -0.141822 6.273248 -0.150937
+v -0.002180 0.004007 0.003009 0.654902 0.501961 0.313725
+vn -1.134444 -6.022742 -0.531404
+v -0.001595 -0.004289 0.004016 0.654902 0.501961 0.313725
+vn -0.944414 -1.770570 -5.888819
+v -0.001656 -0.002312 0.001824 0.654902 0.501961 0.313725
+vn -0.785369 -3.244074 5.251434
+v -0.001642 -0.001412 0.009926 0.654902 0.501961 0.313725
+vn -0.818458 -1.570345 -6.008847
+v -0.001886 0.001833 0.000904 0.654902 0.501961 0.313725
+vn -1.038397 -0.993547 6.036229
+v -0.001636 0.001821 0.011061 0.654902 0.501961 0.313725
+# 98 vertices, 0 vertices normals
+
+f 58//58 2//2 35//35
+f 93//93 86//86 3//3
+f 53//53 49//49 4//4
+f 77//77 71//71 1//1
+f 97//97 56//56 3//3
+f 81//81 55//55 6//6
+f 63//63 60//60 10//10
+f 88//88 11//11 29//29
+f 50//50 12//12 30//30
+f 75//75 72//72 9//9
+f 67//67 14//14 39//39
+f 84//84 16//16 40//40
+f 82//82 61//61 14//14
+f 62//62 13//13 83//83
+f 76//76 69//69 17//17
+f 85//85 18//18 32//32
+f 43//43 20//20 41//41
+f 66//66 56//56 22//22
+f 49//49 22//22 89//89
+f 79//79 48//48 19//19
+f 52//52 45//45 23//23
+f 57//57 24//24 34//34
+f 80//80 46//46 25//25
+f 47//47 26//26 90//90
+f 55//55 63//63 28//28
+f 91//91 29//29 7//7
+f 51//51 30//30 8//8
+f 75//75 27//27 5//5
+f 70//70 76//76 31//31
+f 87//87 92//92 32//32
+f 48//48 52//52 33//33
+f 64//64 34//34 21//21
+f 65//65 35//35 10//10
+f 88//88 93//93 36//36
+f 50//50 53//53 37//37
+f 72//72 77//77 38//38
+f 69//69 78//78 39//39
+f 94//94 40//40 18//18
+f 54//54 41//41 23//23
+f 57//57 66//66 42//42
+f 42//42 22//22 49//49
+f 24//24 50//50 51//51
+f 1//1 43//43 54//54
+f 4//4 49//49 95//95
+f 5//5 48//48 79//79
+f 27//27 9//9 45//45
+f 71//71 16//16 46//46
+f 87//87 15//15 47//47
+f 34//34 51//51 44//44
+f 5//5 27//27 52//52
+f 24//24 42//42 53//53
+f 38//38 54//54 45//45
+f 20//20 58//58 65//65
+f 89//89 22//22 56//56
+f 73//73 19//19 55//55
+f 33//33 23//23 60//60
+f 74//74 25//25 61//61
+f 26//26 62//62 98//98
+f 36//36 3//3 56//56
+f 11//11 57//57 64//64
+f 19//19 33//33 63//63
+f 29//29 64//64 59//59
+f 41//41 65//65 60//60
+f 11//11 36//36 66//66
+f 40//40 16//16 71//71
+f 62//62 81//81 70//70
+f 32//32 18//18 72//72
+f 2//2 67//67 78//78
+f 82//82 67//67 2//2
+f 28//28 10//10 69//69
+f 47//47 79//79 73//73
+f 43//43 80//80 74//74
+f 32//32 75//75 68//68
+f 6//6 28//28 76//76
+f 18//18 40//40 77//77
+f 10//10 35//35 78//78
+f 68//68 79//79 47//47
+f 1//1 71//71 80//80
+f 26//26 73//73 81//81
+f 74//74 82//82 58//58
+f 14//14 86//86 93//93
+f 97//97 86//86 14//14
+f 17//17 88//88 91//91
+f 4//4 84//84 94//94
+f 98//98 83//83 7//7
+f 12//12 85//85 92//92
+f 95//95 89//89 25//25
+f 96//96 90//90 21//21
+f 31//31 91//91 83//83
+f 8//8 30//30 92//92
+f 39//39 93//93 88//88
+f 37//37 94//94 85//85
+f 84//84 95//95 46//46
+f 8//8 87//87 96//96
+f 89//89 97//97 61//61
+f 90//90 98//98 59//59
+f 65//65 58//58 35//35
+f 36//36 93//93 3//3
+f 37//37 53//53 4//4
+f 38//38 77//77 1//1
+f 86//86 97//97 3//3
+f 70//70 81//81 6//6
+f 28//28 63//63 10//10
+f 91//91 88//88 29//29
+f 51//51 50//50 30//30
+f 27//27 75//75 9//9
+f 78//78 67//67 39//39
+f 94//94 84//84 40//40
+f 67//67 82//82 14//14
+f 98//98 62//62 83//83
+f 31//31 76//76 17//17
+f 92//92 85//85 32//32
+f 54//54 43//43 41//41
+f 42//42 66//66 22//22
+f 95//95 49//49 89//89
+f 73//73 79//79 19//19
+f 33//33 52//52 23//23
+f 64//64 57//57 34//34
+f 74//74 80//80 25//25
+f 96//96 47//47 90//90
+f 6//6 55//55 28//28
+f 83//83 91//91 7//7
+f 44//44 51//51 8//8
+f 68//68 75//75 5//5
+f 13//13 70//70 31//31
+f 15//15 87//87 32//32
+f 19//19 48//48 33//33
+f 59//59 64//64 21//21
+f 60//60 65//65 10//10
+f 11//11 88//88 36//36
+f 12//12 50//50 37//37
+f 9//9 72//72 38//38
+f 17//17 69//69 39//39
+f 85//85 94//94 18//18
+f 45//45 54//54 23//23
+f 24//24 57//57 42//42
+f 53//53 42//42 49//49
+f 34//34 24//24 51//51
+f 38//38 1//1 54//54
+f 84//84 4//4 95//95
+f 68//68 5//5 79//79
+f 52//52 27//27 45//45
+f 80//80 71//71 46//46
+f 96//96 87//87 47//47
+f 21//21 34//34 44//44
+f 48//48 5//5 52//52
+f 50//50 24//24 53//53
+f 9//9 38//38 45//45
+f 41//41 20//20 65//65
+f 97//97 89//89 56//56
+f 81//81 73//73 55//55
+f 63//63 33//33 60//60
+f 82//82 74//74 61//61
+f 90//90 26//26 98//98
+f 66//66 36//36 56//56
+f 29//29 11//11 64//64
+f 55//55 19//19 63//63
+f 7//7 29//29 59//59
+f 23//23 41//41 60//60
+f 57//57 11//11 66//66
+f 77//77 40//40 71//71
+f 13//13 62//62 70//70
+f 75//75 32//32 72//72
+f 35//35 2//2 78//78
+f 58//58 82//82 2//2
+f 76//76 28//28 69//69
+f 26//26 47//47 73//73
+f 20//20 43//43 74//74
+f 15//15 32//32 68//68
+f 70//70 6//6 76//76
+f 72//72 18//18 77//77
+f 69//69 10//10 78//78
+f 15//15 68//68 47//47
+f 43//43 1//1 80//80
+f 62//62 26//26 81//81
+f 20//20 74//74 58//58
+f 39//39 14//14 93//93
+f 61//61 97//97 14//14
+f 31//31 17//17 91//91
+f 37//37 4//4 94//94
+f 59//59 98//98 7//7
+f 30//30 12//12 92//92
+f 46//46 95//95 25//25
+f 44//44 96//96 21//21
+f 13//13 31//31 83//83
+f 87//87 8//8 92//92
+f 17//17 39//39 88//88
+f 12//12 37//37 85//85
+f 16//16 84//84 46//46
+f 44//44 8//8 96//96
+f 25//25 89//89 61//61
+f 21//21 90//90 59//59
+# 192 faces, 0 coords texture
+
+# End of File
diff --git a/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg b/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg
index b023833a9d18ac3f4c1d92911b29ad1f8699a22c..55d034d9c687c16ad2f34f458f85ca66da54cdff 100644
--- a/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg
+++ b/scenarios/ArMemObjectMemory/config/RobotToArVizApp.cfg
@@ -18,7 +18,7 @@
 # ArmarX.ApplicationName = ""
 
 
-# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache
 #  - Case sensitivity:   yes
@@ -109,6 +109,14 @@
 # ArmarX.RemoteHandlesDeletionTimeout = 3000
 
 
+# ArmarX.RobotToArViz.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.RobotToArViz.ArVizStorageName = ArVizStorage
+
+
 # ArmarX.RobotToArViz.ArVizTopicName:  Name of the ArViz topic
 #  Attributes:
 #  - Default:            ArVizTopic
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index c442efa5337fd4febba4afa6eaba25ac0e520575..8630c8a9f76cce5bb9b6d61005bed907786e8b3c 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -203,7 +203,7 @@ namespace armarx
 
                 // Insert or create the layer
                 bool found = false;
-                for (auto& layer : currentState)
+                for (viz::data::TimestampedLayerUpdate& layer : currentState)
                 {
                     if (layer.update.component == update.component
                         && layer.update.name == update.name)
@@ -298,9 +298,9 @@ namespace armarx
 
         std::unique_lock<std::mutex> lock(historyMutex);
 
-        for (auto& interaction : interactions)
+        for (viz::data::InteractionFeedback const& interaction : interactions)
         {
-            for (auto& entry : interactionBuffer)
+            for (viz::data::InteractionFeedback& entry : interactionBuffer)
             {
                 if (entry.component == interaction.component
                         && entry.layer == interaction.layer
@@ -327,7 +327,7 @@ namespace armarx
         }
 
         result.updates.reserve(currentState.size());
-        for (auto& layer : currentState)
+        for (viz::data::TimestampedLayerUpdate& layer : currentState)
         {
             if (layer.revision > revision)
             {
@@ -605,7 +605,7 @@ armarx::viz::data::RecordingSeq armarx::ArVizStorage::getAllRecordings(const Ice
 
     for (std::filesystem::directory_entry const& entry : std::filesystem::directory_iterator(historyPath))
     {
-        ARMARX_INFO << "Checking: " << entry.path();
+        ARMARX_DEBUG << "Checking: " << entry.path();
 
         if (!entry.is_directory())
         {
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.h b/source/RobotAPI/components/ArViz/ArVizStorage.h
index f01a68fba62bd7f9fb961dcb182480774ec848de..c484b6d21c28f8ba25ebf7c8f1ff1e40f816c8d7 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.h
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.h
@@ -43,8 +43,8 @@ namespace armarx
      * clients and provides them for visualizing components such as the
      * ArViz gui plugin.
      *
-     * In addition, the ArViz storage can be used to record and restore
-     * visualization episodes and restore.
+     * In addition, the ArViz storage can be used to record and replay
+     * visualization episodes.
      *
      *
      * @class ArVizStorage
diff --git a/source/RobotAPI/components/ArViz/Client/elements/Mesh.h b/source/RobotAPI/components/ArViz/Client/elements/Mesh.h
index a75475aee537d035edc6f34dd0ea3dbe0370a01e..b2530de115a276e2080ac05ab98c587a3cab4855 100644
--- a/source/RobotAPI/components/ArViz/Client/elements/Mesh.h
+++ b/source/RobotAPI/components/ArViz/Client/elements/Mesh.h
@@ -1,17 +1,15 @@
 #pragma once
 
-#include <functional>
-#include <numeric>  // for std::accumulate
-#include <vector>
+#include "ElementOps.h"
 
-#include <Eigen/Core>
+#include <RobotAPI/interface/ArViz/Elements.h>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <Eigen/Core>
 
-#include <RobotAPI/interface/ArViz/Elements.h>
+#include <functional>
+#include <numeric>  // for std::accumulate
+#include <vector>
 
-#include "ElementOps.h"
 
 namespace CGAL
 {
diff --git a/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp b/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
index 0daa2db1c31eeef0ef6dcc1254693a93d82b8e21..5f6b068fccb635c596f2534068e4516fec63693d 100644
--- a/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
+++ b/source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp
@@ -218,7 +218,7 @@ namespace armarx::viz::coin
 
         node->removeAllChildren();
 
-        auto& object = *loaded.object;
+        VirtualRobot::ManipulationObject& object = *loaded.object;
 
         SoSeparator* nodeSep = new SoSeparator;
 
@@ -228,7 +228,7 @@ namespace armarx::viz::coin
         nodeMat->setOverride(false);
         nodeSep->addChild(nodeMat);
 
-        auto nodeVisu = object.getVisualization<VirtualRobot::CoinVisualization>(visuType);
+        VirtualRobot::CoinVisualizationPtr nodeVisu = object.getVisualization<VirtualRobot::CoinVisualization>(visuType);
         if (nodeVisu)
         {
             SoNode* sepRobNode = nodeVisu->getCoinVisualization();
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp
index 9f5144595cad0732ba17cfb6ec3cc71ad3597545..629941eccbd35840f92df938bfc5b0f60732b55f 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizInteractExample.cpp
@@ -31,6 +31,7 @@
 
 namespace armarx
 {
+
     struct SingleSlider
     {
         SingleSlider(std::string const& name, viz::Color color)
@@ -202,6 +203,216 @@ namespace armarx
     };
 
 
+    // ---------------
+
+    // What abstractions are needed?
+    // MovableElement
+    // SpawnerElement
+
+    //template <typename ElementT>
+    template <typename ElementT>
+    struct Transformable
+    {
+        Transformable(std::string const& name)
+            : element(name)
+        {
+        }
+
+        Transformable& pose(Eigen::Matrix4f const& pose)
+        {
+            element.pose(pose);
+            initialPose = pose;
+            return *this;
+        }
+
+        Transformable& position(Eigen::Vector3f const& position)
+        {
+            element.position(position);
+            initialPose.block<3, 1>(0, 3) = position;
+            return *this;
+        }
+
+        Transformable& orientation(Eigen::Matrix3f const& rotationMatrix)
+        {
+            element.orientation(rotationMatrix);
+            initialPose.block<3, 3>(0, 0) = rotationMatrix;
+            return *this;
+        }
+
+        Transformable& orientation(Eigen::Quaternionf const& quaternion)
+        {
+            element.orientation(quaternion);
+            initialPose.block<3, 3>(0, 0) = quaternion.toRotationMatrix();
+            return *this;
+        }
+
+        Transformable& enable(viz::InteractionDescription const& interaction)
+        {
+            element.enable(interaction);
+            // A movable element is always hidden during the interaction
+            element.data_->interaction.enableFlags |= viz::data::InteractionEnableFlags::TRANSFORM_HIDE;
+            return *this;
+        }
+
+        // The pose after the current transformation has been applied
+        Eigen::Matrix4f getCurrentPose() const
+        {
+            return transformation * initialPose;
+        }
+
+        // Returns true, if the element has been changed and the layer needs to be comitted again
+        bool handle(viz::InteractionFeedback const& interaction)
+        {
+            if (interaction.element() == element.data_->id)
+            {
+                switch (interaction.type())
+                {
+                case viz::InteractionFeedbackType::Transform:
+                {
+                    // Keep track of the transformation
+                    transformation = interaction.transformation();
+                } break;
+                case viz::InteractionFeedbackType::Deselect:
+                {
+                    // If an object is deselected, we apply the transformation
+                    initialPose = transformation * initialPose;
+                    transformation = Eigen::Matrix4f::Identity();
+                    element.pose(initialPose);
+                    return true;
+                } break;
+                default:
+                {
+                    // Ignore the other events
+                }
+                }
+            }
+            return false;
+        }
+
+
+        Eigen::Matrix4f initialPose = Eigen::Matrix4f::Identity();
+        Eigen::Matrix4f transformation = Eigen::Matrix4f::Identity();
+
+        ElementT element;
+    };
+
+
+    struct SlidersState2
+    {
+        SlidersState2(Eigen::Vector3f origin)
+            : origin(origin)
+            , x("BoxX")
+            , y("BoxY")
+            , z("BoxZ")
+            , sphere("Sphere")
+        {
+            float boxSize = 50.0f;
+
+            // We use the Transformable<T>::position to set the position
+            // This keeps track of the internal state
+            x.position(origin + Eigen::Vector3f(0.5f * ARROW_LENGTH, 0.0f, 0.0f));
+            // A movable object is always hidden during the transformation
+            // The hideDuringTransform() flag is automatically set here
+            x.enable(viz::interaction().translation(viz::AXES_X));
+
+            // Other attributes of the element can be set directly on the member
+            x.element.color(viz::Color::red())
+                    .size(boxSize);
+
+            y.position(origin + Eigen::Vector3f(0.0f, 0.5f * ARROW_LENGTH, 0.0f));
+            y.enable(viz::interaction().translation(viz::AXES_Y));
+
+            y.element.color(viz::Color::green())
+                    .size(boxSize);
+
+            z.position(origin + Eigen::Vector3f(0.0f, 0.0f, 0.5f * ARROW_LENGTH));
+            z.enable(viz::interaction().translation(viz::AXES_Z));
+            z.element.color(viz::Color::blue())
+                    .size(boxSize);
+
+            sphere.position(origin + 0.5f * ARROW_LENGTH * Eigen::Vector3f(1.0f, 1.0f, 1.0f))
+                  .color(viz::Color::orange())
+                  .radius(30.0f);
+        }
+
+        static constexpr const float ARROW_LENGTH = 1000.0f;
+
+        void visualize(viz::Client& arviz)
+        {
+            layerInteract = arviz.layer("Sliders2");
+
+            float arrowWidth = 10.0f;
+
+            viz::Arrow arrowX = viz::Arrow("ArrowX")
+                                .color(viz::Color::red())
+                                .fromTo(origin, origin + Eigen::Vector3f(ARROW_LENGTH, 0.0f, 0.0f))
+                                .width(arrowWidth);
+            layerInteract.add(arrowX);
+
+            viz::Arrow arrowY = viz::Arrow("ArrowY")
+                                .color(viz::Color::green())
+                                .fromTo(origin, origin + Eigen::Vector3f(0.0f, ARROW_LENGTH, 0.0f))
+                                .width(arrowWidth);
+            layerInteract.add(arrowY);
+
+            viz::Arrow arrowZ = viz::Arrow("ArrowZ")
+                                .color(viz::Color::blue())
+                                .fromTo(origin, origin + Eigen::Vector3f(0.0f, 0.0f, ARROW_LENGTH))
+                                .width(arrowWidth);
+            layerInteract.add(arrowZ);
+
+
+            layerInteract.add(x.element);
+            layerInteract.add(y.element);
+            layerInteract.add(z.element);
+
+            layerResult = arviz.layer("SlidersResult2");
+            layerResult.add(sphere);
+        }
+
+        void handle(viz::InteractionFeedback const& interaction,
+                    viz::StagedCommit* stage)
+        {
+            // Let the Transformable<T> handle all internal events
+            bool needsLayerUpdate = false;
+            needsLayerUpdate |= x.handle(interaction);
+            needsLayerUpdate |= y.handle(interaction);
+            needsLayerUpdate |= z.handle(interaction);
+            if (needsLayerUpdate)
+            {
+                // The handle() functions indicated that the layer needs to be updated
+                stage->add(layerInteract);
+            }
+
+            // We handle the transform event ourselves to add custom behavior
+            // Here, we move the sphere based on the position of the sliders
+            if (interaction.type() == viz::InteractionFeedbackType::Transform)
+            {
+                // We can query getCurrentPose() to determine the poses of the sliders
+                // with the transformation applied to them
+                Eigen::Vector3f spherePosition(
+                            x.getCurrentPose().col(3).x(),
+                            y.getCurrentPose().col(3).y(),
+                            z.getCurrentPose().col(3).z());
+                sphere.position(spherePosition);
+
+                stage->add(layerResult);
+            }
+        }
+
+        Eigen::Vector3f origin;
+        Transformable<viz::Box> x;
+        Transformable<viz::Box> y;
+        Transformable<viz::Box> z;
+
+        viz::Sphere sphere;
+
+        viz::Layer layerInteract;
+        viz::Layer layerResult;
+    };
+    // ---------------
+
+
     enum class SpawnerType
     {
         Box,
@@ -587,12 +798,17 @@ namespace armarx
 
 
             SlidersState sliders(origin1 + Eigen::Vector3f(500.0f, 500.0f, 0.0f));
+            SlidersState2 sliders2(origin3 + Eigen::Vector3f(500.0f, 500.0f, 0.0f));
             SpawnersState spawners(origin2);
 
             sliders.visualize(arviz);
             stage.add(sliders.layerInteract);
             stage.add(sliders.layerResult);
 
+            sliders2.visualize(arviz);
+            stage.add(sliders2.layerInteract);
+            stage.add(sliders2.layerResult);
+
             spawners.visualize(arviz);
             stage.add(spawners.layerSpawners);
             stage.add(spawners.layerObjects);
@@ -609,6 +825,7 @@ namespace armarx
                 stage.reset();
 
                 stage.requestInteraction(sliders.layerInteract);
+                stage.requestInteraction(sliders2.layerInteract);
                 stage.requestInteraction(spawners.layerSpawners);
                 stage.requestInteraction(spawners.layerObjects);
 
@@ -619,6 +836,10 @@ namespace armarx
                     {
                         sliders.handle(interaction, &stage);
                     }
+                    if (interaction.layer() == "Sliders2")
+                    {
+                        sliders2.handle(interaction, &stage);
+                    }
                     if (interaction.layer() == "Spawners" || interaction.layer() == "SpawnedObjects")
                     {
                         spawners.handle(interaction, &stage);
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
index 2edd13823da1470efe6e9db79d5e252589e38532..e65fa6a4f4d0242b686656493ef93dba95cc5b36 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp
@@ -25,7 +25,6 @@
 
 #include <VirtualRobot/math/Helpers.h>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
@@ -188,16 +187,18 @@ namespace armarx::detail::DebugDrawerHelper
     void FrameView::drawPoses(const std::string& prefix, const std::vector<Eigen::Matrix4f>& poses)
     {
         ARMARX_TRACE;
-        for (const auto& [idx, pose] : MakeIndexedContainer(poses))
+        for (std::size_t idx = 0; idx < poses.size(); ++idx)
         {
+            Eigen::Matrix4f const& pose = poses[idx];
             drawPose(prefix + std::to_string(idx), pose);
         }
     }
     void FrameView::drawPoses(const std::string& prefix, const std::vector<Eigen::Matrix4f>& poses, float scale)
     {
         ARMARX_TRACE;
-        for (const auto& [idx, pose] : MakeIndexedContainer(poses))
+        for (std::size_t idx = 0; idx < poses.size(); ++idx)
         {
+            Eigen::Matrix4f const& pose = poses[idx];
             drawPose(prefix + std::to_string(idx), pose, scale);
         }
     }
diff --git a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
index 6359111c24ef51d35360ff8def6853f9fdae55ae..10a8b7ae1b665966787ea6a056ab3f1056f8abeb 100644
--- a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
+++ b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
@@ -22,7 +22,13 @@
 
 #include "ObjectPoseClientExample.h"
 
+#include <SimoxUtility/math/pose.h>
+
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
 
 
 namespace armarx
@@ -32,6 +38,12 @@ namespace armarx
     {
         armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
 
+        defs->optional(p.predictionsPerObject, "predictions.NumberPerObject",
+                       "How many predictions with increasing time offsets to make per object.");
+
+        defs->optional(p.millisecondPredictionIncrement, "predictions.TimeIncrement",
+                       "The size of the prediction time offset increment in milliseconds.");
+
         return defs;
     }
 
@@ -81,6 +93,7 @@ namespace armarx
                 sendDebugObserverBatch();
             }
 
+            viz::StagedCommit stage = arviz.stage();
             {
                 // Visualize the objects.
                 viz::Layer layer = arviz.layer("Objects");
@@ -91,10 +104,74 @@ namespace armarx
                               .fileByObjectFinder(objectPose.objectID)
                               .alpha(objectPose.confidence));
                 }
-                arviz.commit({layer});
+                stage.add(layer);
             }
+            stage.add(visualizePredictions(client, objectPoses));
+            arviz.commit(stage);
 
             cycle.waitForCycleDuration();
         }
     }
-}
+
+
+    viz::Layer
+    ObjectPoseClientExample::visualizePredictions(const objpose::ObjectPoseClient& client,
+                                                  const objpose::ObjectPoseSeq& objectPoses)
+    {
+        viz::Layer layer = arviz.layer("PredictionArray");
+
+        objpose::ObjectPosePredictionRequestSeq requests;
+        for (const objpose::ObjectPose& objectPose : objectPoses)
+        {
+            for (int i = 0; i < p.predictionsPerObject; ++i)
+            {
+                objpose::ObjectPosePredictionRequest request;
+                toIce(request.objectID, objectPose.objectID);
+                request.settings.predictionEngineID = "Linear Position Regression";
+                toIce(request.timestamp,
+                      DateTime::Now() +
+                          Duration::MilliSeconds((i + 1) * p.millisecondPredictionIncrement));
+                toIce(request.timeWindow, Duration::Seconds(10));
+                requests.push_back(request);
+            }
+        }
+
+        objpose::ObjectPosePredictionResultSeq results;
+        try
+        {
+            results = client.objectPoseStorage->predictObjectPoses(requests);
+        }
+        catch (const Ice::LocalException& e)
+        {
+            ARMARX_INFO << "Failed to get predictions for object poses: " << e.what();
+        }
+
+        for (size_t i = 0; i < results.size(); ++i)
+        {
+            const objpose::ObjectPosePredictionResult& result = results.at(i);
+            if (result.success)
+            {
+                auto predictedPose = armarx::fromIce<objpose::ObjectPose>(result.prediction);
+                Eigen::Vector3f predictedPosition =
+                    simox::math::position(predictedPose.objectPoseGlobal);
+                int alpha =
+                    (p.predictionsPerObject - (static_cast<int>(i) % p.predictionsPerObject)) *
+                    255 / p.predictionsPerObject; // NOLINT
+                layer.add(
+                    viz::Arrow(predictedPose.objectID.str() + " Linear Prediction " +
+                               std::to_string(i % p.predictionsPerObject))
+                        .fromTo(simox::math::position(
+                                    objectPoses.at(i / p.predictionsPerObject).objectPoseGlobal),
+                                predictedPosition)
+                        .color(viz::Color::green(255, alpha))); // NOLINT
+            }
+            else
+            {
+                ARMARX_INFO << "Prediction for object '" << result.prediction.objectID
+                            << "' failed: " << result.errorMessage;
+            }
+        }
+
+        return layer;
+    }
+} // namespace armarx
diff --git a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.h b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.h
index c49e28f3518755cc492ffa31b67710b005abf7a3..8cc667b26bad490c8fb314a6ef759e52f850430d 100644
--- a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.h
+++ b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.h
@@ -75,10 +75,20 @@ namespace armarx
 
         void objectProcessingTaskRun();
 
+        viz::Layer visualizePredictions(const objpose::ObjectPoseClient& client,
+                                        const objpose::ObjectPoseSeq& objectPoses);
+
 
     private:
 
         armarx::SimpleRunningTask<>::pointer_type objectProcessingTask;
 
+        struct Properties
+        {
+            int predictionsPerObject = 5; // NOLINT
+            int millisecondPredictionIncrement = 200; // NOLINT
+        };
+        Properties p;
+
     };
 }
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 05bb57827346342762bf482f906d6a6e10b83d5a..c072f6fce5ef567fafb8c804e479747a895e80c6 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -181,11 +181,16 @@ namespace armarx
         {
             commitExamplesWithUntypedData();
         }
+        if (true)
+        {
+            queryPredictionEngines();
+        }
 
         CycleUtil c(static_cast<int>(1000 / p.commitFrequency));
         while (!task->isStopped())
         {
             commitSingleSnapshot(exampleEntityID);
+
             c.waitForCycleDuration();
         }
     }
@@ -728,6 +733,27 @@ namespace armarx
     }
 
 
+    void ExampleMemoryClient::queryPredictionEngines()
+    {
+        const std::map<armem::MemoryID, std::vector<armem::PredictionEngine>> predictionEngines =
+                memoryReader.getAvailablePredictionEngines();
+
+        std::stringstream ss;
+        ss << "Prediction engines available in the server:" << std::endl;
+        for (const auto& [id, engines] : predictionEngines)
+        {
+            ss << " - " << id << ": ";
+            for (const armem::PredictionEngine& engine : engines)
+            {
+                ss << engine.engineID << ", ";
+            }
+            ss << std::endl;
+        }
+
+        ARMARX_INFO << ss.str();
+    }
+
+
     void ExampleMemoryClient::processExampleEntityUpdate(
         const armem::MemoryID& subscriptionID, const std::vector<armem::MemoryID>& snapshotIDs)
     {
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index dcbcad65cb019296032664ee1c12fc14aee1d56e..b7be203d48161b80490ea59125737fae0a33cb17 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -102,9 +102,10 @@ namespace armarx
         void commitExamplesWithLinks();
 
         void commitExampleImages();
-
         void commitExamplesWithUntypedData();
 
+        void queryPredictionEngines();
+
 
     private:
 
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index dc7309cf18c368d85994cc06a2944b856d9832f4..d55a0407db9488bae4ca80cc401dcf8cc540f0b7 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -23,13 +23,15 @@
 #include "ExampleMemory.h"
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <SimoxUtility/algorithm/string.h>
 
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
 #include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 
 #include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
 
@@ -70,6 +72,9 @@ namespace armarx
         workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::ToAronType());
         workingMemory().addCoreSegment("LinkedData", armem::example::LinkedData::ToAronType());
 
+        // We support the "Latest" prediction engine for the entire memory.
+        workingMemory().addPredictionEngine({"Latest"});
+
         // For illustration purposes, we add more segments (without types).
         bool trim = true;
         p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
@@ -162,7 +167,7 @@ namespace armarx
         ExecuteActionOutputSeq output;
         for (const auto& [id, path] : input)
         {
-            armem::MemoryID memoryID = armem::fromIce<armem::MemoryID>(id);
+            const armem::MemoryID memoryID = armarx::fromIce<armem::MemoryID>(id);
             if (path == ActionPath{"hi"})
             {
                 ARMARX_INFO << "Hello, " << memoryID.str() << "!";
@@ -193,7 +198,8 @@ namespace armarx
                     update.instancesData = { instance->data() };
 
                     armem::Commit newCommit;
-                    this->commit(armem::toIce<armem::data::Commit>(newCommit));
+                    newCommit.add(update);
+                    this->commit(armarx::toIce<armem::data::Commit>(newCommit));
 
                     tab.rebuild = true;
                     ARMARX_INFO << "Duplicated " << memoryID;
@@ -209,6 +215,69 @@ namespace armarx
         return output;
     }
 
+    // PREDICTING
+
+    armem::prediction::data::PredictionResultSeq
+    ExampleMemory::predict(const armem::prediction::data::PredictionRequestSeq& requests)
+    {
+        armem::prediction::data::PredictionResultSeq result;
+        for (const auto& request : requests)
+        {
+            result.push_back(predictSingle(request));
+        }
+        return result;
+    }
+
+    armem::prediction::data::PredictionResult
+    ExampleMemory::predictSingle(const armem::prediction::data::PredictionRequest& request)
+    {
+        armem::PredictionResult result;
+
+        std::string engine = request.settings.predictionEngineID;
+        if (engine.empty() || engine == "Latest")
+        {
+            auto boID = fromIce<armem::MemoryID>(request.snapshotID);
+            armem::client::QueryBuilder builder;
+            builder.latestEntitySnapshot(boID);
+            auto queryResult =
+                query(armarx::toIce<armem::query::data::Input>(builder.buildQueryInput()));
+            if (queryResult.success)
+            {
+                auto readMemory = fromIce<armem::wm::Memory>(queryResult.memory);
+                auto* latest = readMemory.findLatestSnapshot(boID);
+                if (latest != nullptr)
+                {
+                    auto instance = latest->hasInstance(boID)
+                                        ? latest->getInstance(boID)
+                                        : latest->getInstance(latest->getInstanceIndices().at(0));
+                    result.success = true;
+                    result.snapshotID = boID;
+                    result.prediction = instance.data();
+                }
+                else
+                {
+                    result.success = false;
+                    result.errorMessage =
+                        "Could not find entity referenced by MemoryID '" + boID.str() + "'.";
+                }
+            }
+            else
+            {
+                result.success = false;
+                result.errorMessage =
+                    "Could not find entity referenced by MemoryID '" + boID.str() + "'.";
+            }
+        }
+        else
+        {
+            result.success = false;
+            result.errorMessage =
+                "This memory does not support the prediction engine '" + engine + "'.";
+        }
+
+        return result.toIce();
+    }
+
     // REMOTE GUI
 
     void ExampleMemory::createRemoteGuiTab()
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 62ea177f496296082cac90aecc6e9e6f35d450a8..76e437bcb6f6db0e31c023eed4386831267c5fc2 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -71,6 +71,11 @@ namespace armarx
         armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& input) override;
         armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& input) override;
 
+        // PredictingMemoryInterface interface
+    public:
+        armem::prediction::data::PredictionResultSeq
+        predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
+
 
     protected:
 
@@ -84,6 +89,9 @@ namespace armarx
 
     private:
 
+        armem::prediction::data::PredictionResult
+        predictSingle(const armem::prediction::data::PredictionRequest& request);
+
         armarx::DebugObserverInterfacePrx debugObserver;
 
         struct Properties
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
index 362a2d2f338fe4e007a34756d006338ebd4611dc..bffeec398b2f5b1b913670f766a5e08d9a623563 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/test/ExampleMemoryTest.cpp
@@ -41,7 +41,7 @@ BOOST_AUTO_TEST_CASE(test_ExampleData_type)
 {
     armarx::aron::type::ObjectPtr type = ExampleData::ToAronType();
 
-    BOOST_CHECK_EQUAL(type->childrenSize(), 20);
+    BOOST_CHECK_EQUAL(type->childrenSize(), 21);
 
     armem::wm::Memory memory;
     armem::wm::CoreSegment& core = memory.addCoreSegment("ExampleData", type);
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 15de8583b000cd27b844e6770e076e41ee5bfa9a..fe2a7471594c303e21ed0638bb1fa6f5e1635fa5 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -22,7 +22,14 @@
 
 #include "ObjectMemory.h"
 
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
 
 
 namespace armarx::armem::server::obj
@@ -54,6 +61,9 @@ namespace armarx::armem::server::obj
         // defs->component(kinematicUnitObserver);  // Optional dependency.
         defs->defineOptionalProperty<std::string>("cmp.KinematicUnitObserverName", "KinematicUnitObserver",
                 "Name of the kinematic unit observer.");
+        defs->optional(predictionTimeWindow, "prediction.TimeWindow",
+                       "Duration of time window into the past to use for predictions"
+                       " when requested via the PredictingMemoryInterface (in seconds).");
 
         return defs;
     }
@@ -165,7 +175,7 @@ namespace armarx::armem::server::obj
         GetActionsOutputSeq outputs;
         for (const auto& input : inputs)
         {
-            auto memoryID = fromIce<armem::MemoryID>(input.id);
+            auto memoryID = armarx::fromIce<armem::MemoryID>(input.id);
             if (armem::contains(armem::MemoryID("Object", "Class"), memoryID)
                 and memoryID.hasEntityName() and not memoryID.hasGap())
             {
@@ -188,7 +198,7 @@ namespace armarx::armem::server::obj
         
         for (const auto& input : inputs)
         {
-            auto memoryID = fromIce<armem::MemoryID>(input.id);
+            auto memoryID = armarx::fromIce<armem::MemoryID>(input.id);
             if (input.actionPath == ActionPath{"vis"})
             {
                 if (armem::contains(armem::MemoryID("Object", "Class"), memoryID)
@@ -215,6 +225,76 @@ namespace armarx::armem::server::obj
         return outputs;
     }
 
+    armem::prediction::data::PredictionResultSeq
+    ObjectMemory::predict(const armem::prediction::data::PredictionRequestSeq& requests)
+    {
+        std::vector<armem::prediction::data::PredictionResult> results;
+        for (const auto& request : requests)
+        {
+            auto boRequest = armarx::fromIce<armem::PredictionRequest>(request);
+            armem::PredictionResult result;
+            result.snapshotID = boRequest.snapshotID;
+            if (armem::contains(workingMemory().id().withCoreSegmentName("Instance"),
+                                boRequest.snapshotID) &&
+                !boRequest.snapshotID.hasGap() && boRequest.snapshotID.hasInstanceIndex())
+            {
+                objpose::ObjectPosePredictionRequest objPoseRequest;
+                toIce(objPoseRequest.timeWindow, Duration::SecondsDouble(predictionTimeWindow));
+                objPoseRequest.objectID = toIce(ObjectID(request.snapshotID.entityName));
+                objPoseRequest.settings = request.settings;
+                toIce(objPoseRequest.timestamp, boRequest.snapshotID.timestamp);
+                objpose::ObjectPosePredictionResult objPoseResult =
+                    predictObjectPoses({objPoseRequest}).at(0);
+                result.success = objPoseResult.success;
+                result.errorMessage = objPoseResult.errorMessage;
+
+                if (objPoseResult.success)
+                {
+                    armem::client::QueryBuilder builder;
+                    builder.singleEntitySnapshot(boRequest.snapshotID);
+                    auto queryResult = armarx::fromIce<armem::client::QueryResult>(
+                        query(builder.buildQueryInputIce()));
+                    std::string instanceError =
+                        "Could not find instance '" + boRequest.snapshotID.str() + "' in memory";
+                    if (!queryResult.success)
+                    {
+                        result.success = false;
+                        result.errorMessage << instanceError << ":\n" << queryResult.errorMessage;
+                    }
+                    else
+                    {
+                        auto* aronInstance = queryResult.memory.findInstance(boRequest.snapshotID);
+                        if (aronInstance == nullptr)
+                        {
+                            result.success = false;
+                            result.errorMessage << instanceError;
+                        }
+                        else
+                        {
+                            auto instance =
+                                armem::arondto::ObjectInstance::FromAron(aronInstance->data());
+                            objpose::toAron(
+                                instance.pose,
+                                armarx::fromIce<objpose::ObjectPose>(objPoseResult.prediction));
+                            result.prediction = instance.toAron();
+                        }
+                    }
+                }
+            }
+            else
+            {
+                result.success = false;
+                result.errorMessage << "No predictions are supported for MemoryID "
+                                    << boRequest.snapshotID
+                                    << ". Have you given an instance index if requesting"
+                                    << " an object pose prediction?";
+            }
+            results.push_back(result.toIce());
+        }
+
+        return results;
+    }
+
     void ObjectMemory::createRemoteGuiTab()
     {
         using namespace armarx::RemoteGui::Client;
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 82f39db591bd56537fa280e0dd10a56fa9806ca3..1a939eebff7c94f887b4d68f5d363c5f986e5194 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -96,11 +96,20 @@ namespace armarx::armem::server::obj
         // Without this, ObjectMemory draws the original
         // methods from ObjectMemoryInterface and complains
         // that an overload is being hidden.
-        using ReadWritePluginUser::getActions;
         using ReadWritePluginUser::executeActions;
+        using ReadWritePluginUser::getActions;
+        using ReadWritePluginUser::getAvailableEngines;
+        using ReadWritePluginUser::predict;
 
-        armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs) override;
-        armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& inputs) override;
+        // Actions
+        armem::actions::GetActionsOutputSeq
+        getActions(const armem::actions::GetActionsInputSeq& inputs) override;
+        armem::actions::ExecuteActionOutputSeq
+        executeActions(const armem::actions::ExecuteActionInputSeq& inputs) override;
+
+        // Predictions
+        armem::prediction::data::PredictionResultSeq
+        predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
 
         // Remote GUI
         void createRemoteGuiTab();
@@ -113,6 +122,8 @@ namespace armarx::armem::server::obj
         RobotStateComponentInterfacePrx robotStateComponent;
         KinematicUnitObserverInterfacePrx kinematicUnitObserver;
 
+        double predictionTimeWindow = 2;
+
         clazz::Segment classSegment;
 
         attachments::Segment attachmentSegment;
diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
index 16f222d827a91c7eba560695487f756b3e7de2f7..c544ea8dd4b54eb15cebd9fb10e36a00e0623234 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.h
@@ -27,7 +27,6 @@
 #include <ArmarXCore/core/util/algorithm.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 #include <RobotAPI/libraries/core/PIDController.h>
-#include <ArmarXCore/core/rapidxml/wrapper/DefaultRapidXmlReader.h>
 // #define DEBUG_POS_CTRL
 #ifdef DEBUG_POS_CTRL
 #include <boost/circular_buffer.hpp>
@@ -203,20 +202,6 @@ namespace armarx
     {
     public:
         RampedAccelerationVelocityControllerConfiguration() = default;
-        static RampedAccelerationVelocityControllerConfigurationPtr CreateFromXml(DefaultRapidXmlReaderNode node)
-        {
-            RampedAccelerationVelocityControllerConfigurationPtr config(new RampedAccelerationVelocityControllerConfiguration());
-            FillFromXml(*config, node);
-            return config;
-        }
-        static void FillFromXml(RampedAccelerationVelocityControllerConfiguration& config, DefaultRapidXmlReaderNode node)
-        {
-            config.maxVelocityRad = node.first_node("maxVelocityRad").value_as_float();
-            config.maxDecelerationRad = node.first_node("maxDecelerationRad").value_as_float();
-            config.jerk = node.first_node("jerk").value_as_float();
-            config.maxDt = node.first_node("maxDt").value_as_float();
-            config.directSetVLimit = node.first_node("directSetVLimit").value_as_float();
-        }
 
         float maxVelocityRad;
         float maxDecelerationRad;
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
index 3cbe59bdfd36963431399159f48886f6ed24942a..ff1afaf689c23ebd13e118965ff0848ebf1300c7 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianNaturalPositionController.cpp
@@ -1,4 +1,3 @@
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
 
 #include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
@@ -356,8 +355,9 @@ namespace armarx
 
             //write targets
             ARMARX_CHECK_EQUAL(static_cast<std::size_t>(goal.size()), _rtVelTargets.size());
-            for (const auto& [idx, ptr] : MakeIndexedContainer(_rtVelTargets))
+            for (std::size_t idx = 0; idx < _rtVelTargets.size(); ++idx)
             {
+                float* ptr = _rtVelTargets[idx];
                 *ptr = goal(idx);
             }
         }
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
index 0ae54afc683c28b67a68856f86cdc8a2a3eb9e91..2b53ca18ef577c4ea609134e9d30351ca85100bc 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.cpp
@@ -1,4 +1,3 @@
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
 
 #include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
@@ -150,8 +149,9 @@ namespace armarx
         {
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-            for (const auto& [idx, ptr] : MakeIndexedContainer(_rtVelSensors))
+            for (std::size_t idx = 0; idx < _rtVelSensors.size(); ++idx)
             {
+                const float* ptr = _rtVelSensors[idx];
                 _rtJointVelocityFeedbackBuffer(idx) = *ptr;
             }
             _rtWpController->setCurrentJointVelocity(_rtJointVelocityFeedbackBuffer);
@@ -272,8 +272,9 @@ namespace armarx
             const Eigen::VectorXf& goal = _rtWpController->calculate(timeSinceLastIteration.toSecondsDouble());
             //write targets
             ARMARX_CHECK_EQUAL(static_cast<std::size_t>(goal.size()), _rtVelTargets.size());
-            for (const auto& [idx, ptr] : MakeIndexedContainer(_rtVelTargets))
+            for (std::size_t idx = 0; idx < _rtVelTargets.size(); ++idx)
             {
+                float* ptr = _rtVelTargets[idx];
                 *ptr = goal(idx);
             }
         }
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
index b18689724a120d17a3eff61158d9e57cfd2ee7a9..d393f02ea5f90ff5ed41eab507fb6bf94cc7415a 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
@@ -23,6 +23,7 @@
 #pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.h>
+#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
 
 #include <ArmarXCore/core/ManagedIceObject.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h> // for ARMARX_CHECK
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index 5cf5fed082abdcb79f4f1de97ec9982c90f10d92..c1b9e88ca02c778cb61328ead80e9922e4161cf5 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -27,7 +27,6 @@
 
 #include <ArmarXCore/core/ArmarXManager.h>
 #include <ArmarXCore/core/util/FileSystemPathBuilder.h>
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
 
 #include "../util/ControlThreadOutputBuffer.h"
@@ -893,8 +892,10 @@ Logging::_postFinishDeviceInitialization()
             ValueMetaData data;
             const auto names = val->getDataFieldNames();
             data.fields.resize(names.size());
-            for (const auto& [fieldIdx, fieldName] : MakeIndexedContainer(names))
+
+            for (std::size_t fieldIdx = 0; fieldIdx < names.size(); ++fieldIdx)
             {
+                std::string const& fieldName = names[fieldIdx];
                 data.fields.at(fieldIdx).name = namePre + '.' + fieldName;
                 data.fields.at(fieldIdx).type = &(val->getDataFieldType(fieldIdx));
             }
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
index b9649773942d2c539cad4f1b38b03dc4a78d3f40..ccb1d28518ea3e30c3cb6cde8347cd1c3fdf8978 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h
@@ -169,13 +169,18 @@ namespace armarx::introspection
         std::map<std::string, VariantBasePtr> result;
         for (const auto& e : GetEntries().values())
         {
-            for (auto& elem : e.toVariants(timestamp, ptr))
+            auto newMap = e.toVariants(timestamp, ptr);
+            for (auto& elem : newMap)
             {
                 if (result.count(elem.first))
                 {
                     throw std::invalid_argument {"mergeMaps: newMap would override values from oldMap"};
                 }
             }
+            for (auto& elem : newMap)
+            {
+                result[elem.first] = elem.second;
+            }
             //mergeMaps(result, , MergeMapsMode::OverrideNoValues);
         }
         return result;
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
index ff79f501c35016154272c659db18233caf39a9d6..ff461269fd3c68bf57c6c69d77116c62dc807d5c 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.cpp
@@ -36,6 +36,12 @@ namespace armarx
     }
 
 
+    QIcon ArMemMemoryViewerWidgetController::GetWidgetIcon()
+    {
+        return QIcon(":icons/memory-128.png");
+    }
+
+
     ArMemMemoryViewerWidgetController::ArMemMemoryViewerWidgetController()
     {
         widget.setupUi(getWidget());
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
index dc6789843bc3d079051591c6af992f26835084d0..ca4db2ac23e5756bd96726ef830c103327dd1d5e 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/ArMemMemoryViewerWidgetController.h
@@ -73,7 +73,7 @@ namespace armarx
     public:
 
         static QString GetWidgetName();
-
+        static QIcon GetWidgetIcon();
 
         explicit ArMemMemoryViewerWidgetController();
         virtual ~ArMemMemoryViewerWidgetController() override;
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/CMakeLists.txt b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/CMakeLists.txt
index c449d1100f0ed75d7ccabe34e7ab6446b2996a1a..8b46376363d31ce9b1818f95b1fccc73194fdc86 100644
--- a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(LIB_NAME "ArMemMemoryViewerGuiPlugin")
+set(LIB_NAME ArMemMemoryViewerGuiPlugin)
 armarx_set_target("${LIB_NAME}")
 
 # most qt components will be linked against in the call armarx_gui_library
@@ -26,8 +26,10 @@ set(COMPONENT_LIBS
     RobotAPI::armem_gui
 )
 
+qt5_add_resources(GUI_RCS icons.qrc)
+
 if(ArmarXGui_FOUND)
-    armarx_gui_plugin("${LIB_NAME}" "${SOURCES}" "" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+    armarx_gui_plugin("${LIB_NAME}" "${SOURCES}" "" "${GUI_UIS}" "${GUI_RCS}" "${COMPONENT_LIBS}")
 
     #find_package(MyLib QUIET)
     #armarx_build_if(MyLib_FOUND "MyLib not available")
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons.qrc b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons.qrc
new file mode 100644
index 0000000000000000000000000000000000000000..71239b0e21cfafe8e45db1fb599f243aefe3b04f
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons.qrc
@@ -0,0 +1,7 @@
+<RCC>
+    <qresource prefix="/">
+        <file>icons/memory-64.png</file>
+        <file>icons/memory-128.png</file>
+        <file>icons/memory-256.png</file>
+    </qresource>
+</RCC>
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-128.png b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-128.png
new file mode 100644
index 0000000000000000000000000000000000000000..930ef5066af85016d0e830e61a573e4577c99f5c
Binary files /dev/null and b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-128.png differ
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-256.png b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-256.png
new file mode 100644
index 0000000000000000000000000000000000000000..777319a1468c4a1987e618e5b7ac3be4605343aa
Binary files /dev/null and b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-256.png differ
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-64.png b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-64.png
new file mode 100644
index 0000000000000000000000000000000000000000..67d1e00324107fbf04d23e0cc41941a1279c95ca
Binary files /dev/null and b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-64.png differ
diff --git a/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory.svg b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory.svg
new file mode 100644
index 0000000000000000000000000000000000000000..c72f8838d719b0817a6eed536eb8ba452d3223b8
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory.svg
@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   version="1.1"
+   id="svg854"
+   xml:space="preserve"
+   width="192"
+   height="128"
+   viewBox="0 0 192 128"
+   sodipodi:docname="memory.svg"
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   inkscape:export-filename="/home/rkartmann/code/armarx/RobotAPI/source/RobotAPI/gui-plugins/ArMemMemoryViewer/icons/memory-128.png"
+   inkscape:export-xdpi="96"
+   inkscape:export-ydpi="96"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"><defs
+     id="defs858"><clipPath
+       clipPathUnits="userSpaceOnUse"
+       id="clipPath868"><path
+         d="M 0,2.2888e-5 H 84.96 V 84.960023 H 0 Z"
+         clip-rule="evenodd"
+         id="path866" /></clipPath><clipPath
+       id="p.0"><path
+         d="M 0,0 H 64 V 64 H 0 Z"
+         clip-rule="nonzero"
+         id="path2" /></clipPath><clipPath
+       clipPathUnits="userSpaceOnUse"
+       id="clipPath32362"><rect
+         style="fill:#ffff00;fill-opacity:1;stroke:none;stroke-width:0.380907"
+         id="rect32364"
+         width="144.00002"
+         height="93.222496"
+         x="-2.3536728e-14"
+         y="-84.959999"
+         transform="scale(1,-1)" /></clipPath></defs><sodipodi:namedview
+     id="namedview856"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="false"
+     showgrid="false"
+     width="129px"
+     borderlayer="true"
+     inkscape:zoom="2.6915184"
+     inkscape:cx="49.725291"
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+     inkscape:window-width="1848"
+     inkscape:window-height="1016"
+     inkscape:window-x="72"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
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+     inkscape:snap-page="true" /><g
+     id="g860"
+     inkscape:groupmode="layer"
+     inkscape:label="brain"
+     transform="matrix(1.3333333,0,0,-1.3333333,0,113.28)"><rect
+       style="fill:#073763;fill-opacity:1;stroke:none;stroke-width:0.522041"
+       id="rect13881"
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+       height="96"
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diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
index 144dacf08d6f3f2fdbb33aab1e73d1d67052b1b1..1973976129415be09d640896b3bd2ec68736e60e 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp
@@ -147,7 +147,7 @@ void KinematicUnitWidgetController::onInitComponent()
 
 void KinematicUnitWidgetController::onConnectComponent()
 {
-    ARMARX_INFO << "kinematic unit gui :: onConnectComponent()";
+    // ARMARX_INFO << "Kinematic Unit Gui :: onConnectComponent()";
     reportedJointAngles.clear();
     reportedJointVelocities.clear();
     reportedJointControlModes.clear();
@@ -156,10 +156,11 @@ void KinematicUnitWidgetController::onConnectComponent()
     reportedJointStatuses.clear();
     reportedJointTemperatures.clear();
 
-
     jointAnglesUpdateFrequency = new filters::MedianFilter(100);
     kinematicUnitInterfacePrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
     topicName = kinematicUnitInterfacePrx->getReportTopicName();
+    usingTopic(topicName);
+
     lastJointAngleUpdateTimestamp = TimeUtil::GetTime().toSecondsDouble();
     robotVisu->removeAllChildren();
 
@@ -168,10 +169,9 @@ void KinematicUnitWidgetController::onConnectComponent()
     std::string rfile;
     Ice::StringSeq includePaths;
 
-    // get robot filename
+    // Get robot filename
     try
     {
-
         Ice::StringSeq packages = kinematicUnitInterfacePrx->getArmarXPackages();
         packages.push_back(Application::GetProjectName());
         ARMARX_VERBOSE << "ArmarX packages " << packages;
@@ -200,7 +200,7 @@ void KinematicUnitWidgetController::onConnectComponent()
     }
     catch (...)
     {
-        ARMARX_ERROR << "Unable to retrieve robot filename";
+        ARMARX_ERROR << "Unable to retrieve robot filename.";
     }
 
     try
@@ -208,6 +208,10 @@ void KinematicUnitWidgetController::onConnectComponent()
         ARMARX_INFO << "Loading robot from file " << rfile;
         robot = loadRobotFile(rfile);
     }
+    catch (const std::exception& e)
+    {
+        ARMARX_ERROR << "Failed to init robot: " << e.what();
+    }
     catch (...)
     {
         ARMARX_ERROR << "Failed to init robot";
@@ -216,35 +220,34 @@ void KinematicUnitWidgetController::onConnectComponent()
     if (!robot || !robot->hasRobotNodeSet(robotNodeSetName))
     {
         getObjectScheduler()->terminate();
-
         if (getWidget()->parentWidget())
         {
             getWidget()->parentWidget()->close();
         }
-
-        std::cout << "returning" << std::endl;
         return;
     }
 
-    // check robot name and disable setZero Button if necessary
+    // Check robot name and disable setZero Button if necessary
     if (not simox::alg::starts_with(robot->getName(), "Armar3"))
     {
-        ARMARX_IMPORTANT << "Disable the SetZero button because the robot name is " << robot->getName();
+        ARMARX_IMPORTANT << "Disable the SetZero button because the robot name is '" << robot->getName() << "'.";
         ui.pushButtonKinematicUnitPos1->setDisabled(true);
     }
 
     kinematicUnitFile = rfile;
     robotNodeSet = robot->getRobotNodeSet(robotNodeSetName);
 
-
-    initGUIComboBox(robotNodeSet); // init the pull down menu (QT: ComboBox)
-    initGUIJointListTable(robotNodeSet);
-
     kinematicUnitVisualization = getCoinVisualization(robot);
     kinematicUnitNode = kinematicUnitVisualization->getCoinVisualization();
     robotVisu->addChild(kinematicUnitNode);
 
-    // init control mode map
+    // Fetch the current joint angles.
+    synchronizeRobotJointAngles();
+
+    initGUIComboBox(robotNodeSet);  // init the pull down menu (QT: ComboBox)
+    initGUIJointListTable(robotNodeSet);
+
+    // Init control mode map
     try
     {
         reportedJointControlModes = kinematicUnitInterfacePrx->getControlModes();
@@ -255,7 +258,6 @@ void KinematicUnitWidgetController::onConnectComponent()
 
     initializeUi();
 
-    usingTopic(topicName);
     QMetaObject::invokeMethod(this, "resetSlider");
     enableMainWidgetAsync(true);
     updateTimerId = startTimer(1000); // slow timer that only ensures that skipped updates are shown at all
@@ -355,13 +357,11 @@ void KinematicUnitWidgetController::saveSettings(QSettings* settings)
     settings->setValue("enableValueValidator", enableValueValidator);
     settings->setValue("viewerEnabled", viewerEnabled);
     assert(historyTime % 1000 == 0);
-    settings->setValue("historyTime", (int)(historyTime / 1000));
+    settings->setValue("historyTime", static_cast<int>(historyTime / 1000));
     settings->setValue("currentValueMax", currentValueMax);
 }
 
 
-
-
 void KinematicUnitWidgetController::showVisuLayers(bool show)
 {
     if (debugDrawer)
@@ -410,7 +410,9 @@ void KinematicUnitWidgetController::updateGuiElements()
     // modelUpdateCB();
 }
 
-void KinematicUnitWidgetController::updateKinematicUnitListInDialog() {}
+void KinematicUnitWidgetController::updateKinematicUnitListInDialog()
+{
+}
 
 void KinematicUnitWidgetController::modelUpdateCB()
 {
@@ -418,7 +420,6 @@ void KinematicUnitWidgetController::modelUpdateCB()
 
 SoNode* KinematicUnitWidgetController::getScene()
 {
-
     if (viewerEnabled)
     {
         ARMARX_INFO << "Returning scene ";
@@ -500,7 +501,7 @@ void KinematicUnitWidgetController::kinematicUnitZeroPosition()
     {
     }
 
-    //set slider to 0 if position control mode is used
+    // Set slider to 0 if position control mode is used.
     if (selectedControlMode == ePositionControl)
     {
         ui.horizontalSliderKinematicUnitPos->setSliderPosition(SLIDER_ZERO_POSITION);
@@ -615,9 +616,9 @@ void KinematicUnitWidgetController::setControlModePosition()
 
     if (currentNode)
     {
-        QString unit = currentNode->isRotationalJoint() ?
-                       (ui.checkBoxUseDegree->isChecked() ? "deg" : "rad") :
-                       "mm";
+        QString unit = currentNode->isRotationalJoint()
+                ? (ui.checkBoxUseDegree->isChecked() ? "deg" : "rad")
+                : "mm";
         ui.labelUnit->setText(unit);
         const bool isDeg = ui.checkBoxUseDegree->isChecked();
         const bool isRot = currentNode->isRotationalJoint();
@@ -638,8 +639,18 @@ void KinematicUnitWidgetController::setControlModePosition()
             return;
         }
 
+        {
+            // currentNode->getJointValue() can we wrong after we re-connected to the robot unit.
+            // E.g., it can be 0 although the torso joint was at -365 before the unit disconnected.
+            // Therefore, we first have to fetch the actual joint values and use that one.
+            // However, this should actually not be necessary, as the robot model should be updated
+            // via the topics.
+            synchronizeRobotJointAngles();
+        }
+
         float pos = currentNode->getJointValue() * conversionFactor;
-        ARMARX_INFO << "setting position control for current Node Name: " << currentNode->getName() << " with current value: " << pos;
+        ARMARX_INFO << "Setting position control for current node "
+                    << "(name '" << currentNode->getName() << "' with current value " << pos << ")";
 
         // Setting the slider position to pos will set the position to the slider tick closest to pos
         // This will initially send a position target with a small delta to the joint.
@@ -695,10 +706,7 @@ void KinematicUnitWidgetController::setControlModeVelocity()
         ui.horizontalSliderKinematicUnitPos->setMinimum(lo);
         ui.horizontalSliderKinematicUnitPos->blockSignals(false);
         resetSlider();
-
-
     }
-
 }
 
 void KinematicUnitWidgetController::setControlModeTorque()
@@ -736,10 +744,7 @@ void KinematicUnitWidgetController::setControlModeTorque()
 
         ui.horizontalSliderKinematicUnitPos->blockSignals(false);
         resetSlider();
-
     }
-
-
 }
 
 VirtualRobot::RobotPtr KinematicUnitWidgetController::loadRobotFile(std::string fileName)
@@ -1720,3 +1725,9 @@ void KinematicUnitWidgetController::on_pushButtonFromJson_clicked()
         ARMARX_ERROR << "failed to switch mode or set angles";
     }
 }
+
+void KinematicUnitWidgetController::synchronizeRobotJointAngles()
+{
+    const NameValueMap currentJointAngles = kinematicUnitInterfacePrx->getJointAngles();
+    robot->setJointValues(currentJointAngles);
+}
diff --git a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
index 8287176d247aebc0fbebac9b5a6b91d20df22c25..d0a98a0a1a57efb6958b103b81732e022afbedf4 100644
--- a/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.h
@@ -231,7 +231,6 @@ namespace armarx
 
         // ice proxies
         KinematicUnitInterfacePrx kinematicUnitInterfacePrx;// send commands to kinematic unit
-        KinematicUnitListenerPrx kinematicUnitListenerPrx; // receive reports from kinematic unit
 
         bool verbose;
 
@@ -269,9 +268,13 @@ namespace armarx
         void highlightCriticalValues();
 
     protected slots:
+
         void showVisuLayers(bool show);
         void copyToClipboard();
         void on_pushButtonFromJson_clicked();
+
+        void synchronizeRobotJointAngles();
+
     private:
 
         std::recursive_mutex mutexNodeSet;
diff --git a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
index 273a2d631d091f03652c326f7b55b5312996153d..5e117d1e62dfaa3c0dd00b996d0aaff662e6b5fd 100644
--- a/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/RobotUnitPlugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp
@@ -31,7 +31,6 @@
 #include <QSortFilterProxyModel>
 #include <QAction>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 #include <ArmarXCore/core/util/FileSystemPathBuilder.h>
@@ -523,8 +522,10 @@ void armarx::RobotUnitPluginWidgetController::on_lineEditLoggingFilter_textChang
         }
     }
     widget.treeWidgetLoggingNames->blockSignals(true);
-    for (auto item : MakeReversedRange(loggingData.allItems))
+    // Iterate in reverse order
+    for (auto iter = loggingData.allItems.rbegin(); iter != loggingData.allItems.rend(); ++iter)
     {
+        QTreeWidgetItem* item = *iter;
         loggingData.updateCheckStateUpward(item, false);
     }
     widget.treeWidgetLoggingNames->blockSignals(false);
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 431ce92cade5f9d8fc92d8ac7bd80fd402e84c51..e9942f7ec8875466f32951983775783f8f659679 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -22,8 +22,6 @@
 
 #include <string>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
-
 #include "SkillManagerMonitorWidgetController.h"
 
 #include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
index e9effb321210d3c3201adaa40368a359785a1524..0da02a754f257e348be003a839f3dadae6d9d2a8 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetConverter.cpp
@@ -22,8 +22,6 @@
 
 #include <string>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
-
 #include "AronTreeWidgetConverter.h"
 
 // debug
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
index b3a8682081312bc1f3dbc7f036db10dbe40fb5f9..37a59c62ab72eef562f46dbf4f04d0d24b0b3977 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetCreator.cpp
@@ -22,8 +22,6 @@
 
 #include <string>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
-
 #include "AronTreeWidgetCreator.h"
 
 // debug
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
index a2a2240d354758a257a022fa07e211b1d993495b..20108945952003a98bc2949c5cf151f0244bb9c8 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
@@ -22,8 +22,6 @@
 
 #include <string>
 
-#include <ArmarXCore/util/CPPUtility/Iterator.h>
-
 #include "AronTreeWidgetModalCreator.h"
 
 #include <SimoxUtility/algorithm/string.h>
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index be1193d665db683b844d28d60662e8e3088eec70..41a52f9f8a0a2d981583ae1a5c4e85a07f0ff750 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -110,6 +110,7 @@ set(SLICE_FILES
     armem/io.ice
     armem/commit.ice
     armem/memory.ice
+    armem/prediction.ice
     armem/query.ice
 
     armem/client.ice
@@ -120,7 +121,7 @@ set(SLICE_FILES
     armem/server/StoringMemoryInterface.ice
     armem/server/LoadingMemoryInterface.ice
     armem/server/MemoryInterface.ice
-    armem/server/MemoryPredictorInterface.ice
+    armem/server/PredictingMemoryInterface.ice
     armem/server/ReadingMemoryInterface.ice
     armem/server/WritingMemoryInterface.ice
 
diff --git a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
index 2d6b220a2050001960fcc4b564d54b3526f4ed44..73d27e0788c89f7d31b0c4f21c546ff276420fd6 100644
--- a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
+++ b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <RobotAPI/interface/armem/server/ActionsInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
 
@@ -16,13 +17,14 @@ module armarx
                 /**
                  * A memory server can implement the reading and/or writing
                  * memory interface. They should be handled individually.
-                 * Additionally, it can implement an actions interface,
-                 * which is currently the case for all reading and writing memories.
+                 * Additionally, it can implement prediction or actions interfaces,
+                 * which is currently the case for all working memories.
                  */
                 struct MemoryServerInterfaces
                 {
                     server::ReadingMemoryInterface* reading;
                     server::WritingMemoryInterface* writing;
+                    server::PredictingMemoryInterface* prediction;
                     server::actions::ActionsInterface* actions;
                 };
                 dictionary<string, MemoryServerInterfaces> MemoryServerInterfacesMap;
diff --git a/source/RobotAPI/interface/armem/prediction.ice b/source/RobotAPI/interface/armem/prediction.ice
new file mode 100644
index 0000000000000000000000000000000000000000..a2aae725e3ef5a399ccfacf819d07eb56693f8e4
--- /dev/null
+++ b/source/RobotAPI/interface/armem/prediction.ice
@@ -0,0 +1,51 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/memory.ice>
+#include <RobotAPI/interface/aron.ice>
+
+module armarx
+{
+    module armem
+    {
+        module prediction
+        {
+            module data
+            {
+                // Holds properties of a prediction engine identified by its engineID.
+                struct PredictionEngine
+                {
+                    string engineID;
+                }
+                sequence<PredictionEngine> PredictionEngineSeq;
+                dictionary<armem::data::MemoryID, PredictionEngineSeq> EngineSupportMap;
+
+                // Settings to use for a given prediction (e.g. which engine to use)
+                struct PredictionSettings
+                {
+                    string predictionEngineID = "";
+                };
+
+                // A single request for a prediction from a memory.
+                // The timestamp to request the prediction for is in the MemoryID.
+                struct PredictionRequest
+                {
+                    armem::data::MemoryID snapshotID;
+                    PredictionSettings settings;
+                }
+                sequence<PredictionRequest> PredictionRequestSeq;
+
+                // The result of a single prediction.
+                // If successful, it contains the predicted data.
+                struct PredictionResult
+                {
+                    bool success = false;
+                    string errorMessage;
+
+                    armem::data::MemoryID snapshotID;
+                    aron::data::dto::Dict prediction;
+                }
+                sequence<PredictionResult> PredictionResultSeq;
+            };
+        };
+    };
+};
diff --git a/source/RobotAPI/interface/armem/server.ice b/source/RobotAPI/interface/armem/server.ice
index 4d9b0bce81301a18163bbe831c814577d8ab4f3b..5c7a32c4734ede6124ba8c4e028ce3dcd98bb556 100644
--- a/source/RobotAPI/interface/armem/server.ice
+++ b/source/RobotAPI/interface/armem/server.ice
@@ -3,3 +3,4 @@
 #include <RobotAPI/interface/armem/server/MemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
diff --git a/source/RobotAPI/interface/armem/server/MemoryInterface.ice b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
index 05b2ea8c54207f6bcfa7a2d708f8fd7e59df416b..2c6c1e14c5e2ff31ee61006cae3b9ebd6788c534 100644
--- a/source/RobotAPI/interface/armem/server/MemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/MemoryInterface.ice
@@ -5,6 +5,8 @@
 
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.ice>
+
 #include <RobotAPI/interface/armem/server/ActionsInterface.ice>
 
 #include <RobotAPI/interface/armem/client/MemoryListenerInterface.ice>
@@ -27,6 +29,7 @@ module armarx
             interface MemoryInterface extends
                     WorkingMemoryInterface,
                     LongTermMemoryInterface,
+                    PredictingMemoryInterface,
                     actions::ActionsInterface,
                     client::MemoryListenerInterface
             {
diff --git a/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice b/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice
deleted file mode 100644
index 42920804f6d80d9e79151600864dc50e3b0c7aa3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/armem/server/MemoryPredictorInterface.ice
+++ /dev/null
@@ -1,16 +0,0 @@
-#pragma once
-
-#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
-#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
-
-module armarx {
-  module armem {
-    module server {
-        interface MemoryPredictorInterface
-        {
-            // TODO
-            void predict();
-        }
-    };
-  };
-};
diff --git a/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
new file mode 100644
index 0000000000000000000000000000000000000000..aeae3745854d595ba7799a399df43cf2e33922b7
--- /dev/null
+++ b/source/RobotAPI/interface/armem/server/PredictingMemoryInterface.ice
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/prediction.ice>
+#include <RobotAPI/interface/armem/query.ice>
+
+module armarx
+{
+  module armem
+  {
+    module server
+    {
+        interface PredictingMemoryInterface
+        {
+            /* Request multiple predictions from the memory.
+             * The timestamp to requst a prediction for is encoded in the MemoryIDs.
+             */
+            prediction::data::PredictionResultSeq
+            predict(prediction::data::PredictionRequestSeq requests);
+
+            /* Get a map from memory segments to the prediction engines they support.
+             * Best used with the container_map operations to easily retrieve
+             * the available engine selection for fully evaluated MemoryIDs.
+             */
+            prediction::data::EngineSupportMap getAvailableEngines();
+        }
+    };
+  };
+};
diff --git a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
index 1dfe8b9f299d24684a0acdd3d6f53ed61063d397..a069da9078a11beeb140d5477dd847beb85cf2c3 100644
--- a/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
+++ b/source/RobotAPI/interface/objectpose/ObjectPoseStorageInterface.ice
@@ -152,6 +152,23 @@ module armarx
             long discardUpdatesUntilMilliSeconds = -1;
         };
 
+        struct ObjectPosePredictionRequest
+        {
+            armarx::data::ObjectID objectID;
+            armarx::core::time::dto::DateTime timestamp;
+            armarx::core::time::dto::Duration timeWindow;
+            armem::prediction::data::PredictionSettings settings;
+        };
+        sequence<ObjectPosePredictionRequest> ObjectPosePredictionRequestSeq;
+        struct ObjectPosePredictionResult
+        {
+            bool success = false;
+            string errorMessage;
+
+            data::ObjectPose prediction;
+        };
+        sequence<ObjectPosePredictionResult> ObjectPosePredictionResultSeq;
+
         interface ObjectPoseStorageInterface extends
                 ObjectPoseTopic
         {
@@ -191,6 +208,15 @@ module armarx
 
             SignalHeadMovementOutput signalHeadMovement(SignalHeadMovementInput input);
 
+            // Predicting
+
+            // Request predictions for the poses of the given objects at the given timestamps.
+            ObjectPosePredictionResultSeq
+            predictObjectPoses(ObjectPosePredictionRequestSeq requests);
+
+            // Get the prediction engines available for use with this storage interface.
+            armem::prediction::data::PredictionEngineSeq getAvailableObjectPoseEngines();
+
         };
     };
 
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index 2b2fb5f9d4ea899930351b1234873b2354cb50bf..ec6658fa85afba280fef0613fbc60596da57ee8a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -31,6 +31,7 @@ set(LIB_FILES
     plugins/ObjectPoseClientPlugin.cpp
     plugins/RequestedObjects.cpp
 
+    predictions.cpp
     util.cpp
 )
 set(LIB_HEADERS
@@ -57,6 +58,7 @@ set(LIB_HEADERS
     plugins/ObjectPoseClientPlugin.h
     plugins/RequestedObjects.h
 
+    predictions.h
     util.h
 )
 
diff --git a/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp b/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fc9dfe5081f69215398cd5c6eefaf7c8c1fbd705
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp
@@ -0,0 +1,88 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "predictions.h"
+
+#include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/math/regression/linear.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+
+namespace armarx::objpose
+{
+
+    objpose::ObjectPosePredictionResult
+    predictObjectPoseLinear(const std::map<DateTime, ObjectPose>& poses,
+                      const DateTime& time,
+                      const ObjectPose& latestPose)
+    {
+        objpose::ObjectPosePredictionResult result;
+        result.success = false;
+
+        const DateTime timeOrigin = DateTime::Now();
+
+        std::vector<double> timestampsSec;
+        std::vector<Eigen::Vector3d> positions;
+
+        // ToDo: How to handle attached objects?
+        for (const auto& [timestamp, pose] : poses)
+        {
+            timestampsSec.push_back((timestamp - timeOrigin).toSecondsDouble());
+            positions.emplace_back(simox::math::position(pose.objectPoseGlobal).cast<double>());
+        }
+
+        ARMARX_CHECK_EQUAL(timestampsSec.size(), positions.size());
+
+        Eigen::Vector3d prediction;
+        // Static objects don't move. Objects that haven't moved for a while probably won't either.
+        if (timestampsSec.size() <= 1 || latestPose.isStatic)
+        {
+            prediction = simox::math::position(latestPose.objectPoseGlobal).cast<double>();
+        }
+        else
+        {
+            using simox::math::LinearRegression3d;
+            const bool inputOffset = false;
+
+            const LinearRegression3d model =
+                LinearRegression3d::Fit(timestampsSec, positions, inputOffset);
+            const auto predictionTime = armarx::fromIce<DateTime>(time);
+            prediction = model.predict((predictionTime - timeOrigin).toSecondsDouble());
+        }
+
+        // Used as a template for the returned pose prediction.
+        ObjectPose latestCopy = latestPose;
+
+        // Reuse the rotation from the latest pose.
+        // This is a pretty generous assumption, but the linear model doesn't cover rotations,
+        // so it's our best guess.
+        Eigen::Matrix4f latest = latestPose.objectPoseGlobal;
+        simox::math::position(latest) = prediction.cast<float>();
+        latestCopy.setObjectPoseGlobal(latest);
+
+        result.success = true;
+        result.prediction = latestCopy.toIce();
+
+        return result;
+    }
+} // namespace armarx::objpose
diff --git a/source/RobotAPI/libraries/ArmarXObjects/predictions.h b/source/RobotAPI/libraries/ArmarXObjects/predictions.h
new file mode 100644
index 0000000000000000000000000000000000000000..03b3f7de2eb2267ba43c356c44988e374792c591
--- /dev/null
+++ b/source/RobotAPI/libraries/ArmarXObjects/predictions.h
@@ -0,0 +1,49 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+#pragma once
+
+#include <ArmarXCore/core/time/DateTime.h>
+
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+
+namespace armarx::objpose
+{
+    /**
+    * @brief Predict the pose of an object given a history of poses
+    * based on a linear regression.
+    *
+    * If `poses` is empty, `latestPose` is returned.
+    *
+    * @param poses the history of poses to base the prediction on
+    * @param time the timestamp to make the prediction for
+    * @param latestPose used for metadata so the result is valid even if poses is empty
+    * @param settings the settings to use for the prediction
+    * @return the result of the prediction
+    */
+    objpose::ObjectPosePredictionResult
+    predictObjectPoseLinear(
+            const std::map<DateTime, ObjectPose>& poses,
+            const DateTime& time,
+            const ObjectPose& latestPose);
+
+} // namespace armarx::objpose
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index f5a88c0ae45c0960938f1ef819002a563bc198c1..4f2d0c35fa4c95375cf67d09e332c1ecec5b77fa 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -130,18 +130,18 @@ namespace armarx
         return new RobotInfoNode(name, profile, value, children);
     }
 
-    RobotNameHelper::Arm RobotNameHelper::getArm(const std::string& side) const
+    Arm RobotNameHelper::getArm(const std::string& side) const
     {
         return Arm(shared_from_this(), side);
     }
 
-    RobotNameHelper::RobotArm
+    RobotArm
     RobotNameHelper::getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const
     {
         return RobotArm(Arm(shared_from_this(), side), robot);
     }
 
-    std::shared_ptr<const RobotNameHelper> RobotNameHelper::Arm::getRobotNameHelper() const
+    std::shared_ptr<const RobotNameHelper> Arm::getRobotNameHelper() const
     {
         return rnh;
     }
@@ -197,150 +197,150 @@ namespace armarx
         }
     }
 
-    std::string RobotNameHelper::Arm::getSide() const
+    std::string Arm::getSide() const
     {
         return side;
     }
 
-    std::string RobotNameHelper::Arm::getKinematicChain() const
+    std::string Arm::getKinematicChain() const
     {
         ARMARX_TRACE;
         return select("KinematicChain");
     }
 
-    std::string RobotNameHelper::Arm::getTorsoKinematicChain() const
+    std::string Arm::getTorsoKinematicChain() const
     {
         ARMARX_TRACE;
         return select("TorsoKinematicChain");
     }
 
-    std::string RobotNameHelper::Arm::getTCP() const
+    std::string Arm::getTCP() const
     {
         ARMARX_TRACE;
         return select("TCP");
     }
 
-    std::string RobotNameHelper::Arm::getForceTorqueSensor() const
+    std::string Arm::getForceTorqueSensor() const
     {
         ARMARX_TRACE;
         return select("ForceTorqueSensor");
     }
 
-    std::string RobotNameHelper::Arm::getForceTorqueSensorFrame() const
+    std::string Arm::getForceTorqueSensorFrame() const
     {
         ARMARX_TRACE;
         return select("ForceTorqueSensorFrame");
     }
 
-    std::string RobotNameHelper::Arm::getEndEffector() const
+    std::string Arm::getEndEffector() const
     {
         ARMARX_TRACE;
         return select("EndEffector");
     }
 
-    std::string RobotNameHelper::Arm::getMemoryHandName() const
+    std::string Arm::getMemoryHandName() const
     {
         ARMARX_TRACE;
         return select("MemoryHandName");
     }
 
-    std::string RobotNameHelper::Arm::getHandControllerName() const
+    std::string Arm::getHandControllerName() const
     {
         ARMARX_TRACE;
         return select("HandControllerName");
     }
 
-    std::string RobotNameHelper::Arm::getHandRootNode() const
+    std::string Arm::getHandRootNode() const
     {
         ARMARX_TRACE;
         return select("HandRootNode");
     }
 
-    std::string RobotNameHelper::Arm::getHandModelPath() const
+    std::string Arm::getHandModelPath() const
     {
         ARMARX_TRACE;
         return select("HandModelPath");
     }
 
-    std::string RobotNameHelper::Arm::getAbsoluteHandModelPath() const
+    std::string Arm::getAbsoluteHandModelPath() const
     {
         ArmarXDataPath::FindPackageAndAddDataPath(getHandModelPackage());
         auto path = getHandModelPath();
         return ArmarXDataPath::getAbsolutePath(path, path) ? path : "";
     }
 
-    std::string RobotNameHelper::Arm::getHandModelPackage() const
+    std::string Arm::getHandModelPackage() const
     {
         ARMARX_TRACE;
         return select("HandModelPackage");
     }
 
-    std::string RobotNameHelper::Arm::getPalmCollisionModel() const
+    std::string Arm::getPalmCollisionModel() const
     {
         ARMARX_TRACE;
         return select("PalmCollisionModel");
     }
 
-    std::string RobotNameHelper::Arm::getFullHandCollisionModel() const
+    std::string Arm::getFullHandCollisionModel() const
     {
         ARMARX_TRACE;
         return select("FullHandCollisionModel");
     }
 
-    RobotNameHelper::RobotArm
-    RobotNameHelper::Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
+    RobotArm
+    Arm::addRobot(const VirtualRobot::RobotPtr& robot) const
     {
         ARMARX_TRACE;
         return RobotArm(*this, robot);
     }
 
-    RobotNameHelper::Arm::Arm(const std::shared_ptr<const RobotNameHelper>& rnh,
+    Arm::Arm(const std::shared_ptr<const RobotNameHelper>& rnh,
                               const std::string& side) :
         rnh(rnh), side(side)
     {
     }
 
-    std::string RobotNameHelper::Arm::select(const std::string& path) const
+    std::string Arm::select(const std::string& path) const
     {
         ARMARX_TRACE;
         return rnh->select(side + "Arm/" + path);
     }
 
-    std::string RobotNameHelper::RobotArm::getSide() const
+    std::string RobotArm::getSide() const
     {
         ARMARX_TRACE;
         return arm.getSide();
     }
 
-    VirtualRobot::RobotNodeSetPtr RobotNameHelper::RobotArm::getKinematicChain() const
+    VirtualRobot::RobotNodeSetPtr RobotArm::getKinematicChain() const
     {
         ARMARX_TRACE;
         ARMARX_CHECK_NOT_NULL(robot);
         return robot->getRobotNodeSet(arm.getKinematicChain());
     }
 
-    VirtualRobot::RobotNodeSetPtr RobotNameHelper::RobotArm::getTorsoKinematicChain() const
+    VirtualRobot::RobotNodeSetPtr RobotArm::getTorsoKinematicChain() const
     {
         ARMARX_TRACE;
         ARMARX_CHECK_NOT_NULL(robot);
         return robot->getRobotNodeSet(arm.getTorsoKinematicChain());
     }
 
-    VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getTCP() const
+    VirtualRobot::RobotNodePtr RobotArm::getTCP() const
     {
         ARMARX_TRACE;
         ARMARX_CHECK_NOT_NULL(robot);
         return robot->getRobotNode(arm.getTCP());
     }
 
-    VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getPalmCollisionModel() const
+    VirtualRobot::RobotNodePtr RobotArm::getPalmCollisionModel() const
     {
         ARMARX_TRACE;
         ARMARX_CHECK_NOT_NULL(robot);
         return robot->getRobotNode(arm.getPalmCollisionModel());
     }
 
-    VirtualRobot::TriMeshModelPtr RobotNameHelper::RobotArm::getFullHandCollisionModel() const
+    VirtualRobot::TriMeshModelPtr RobotArm::getFullHandCollisionModel() const
     {
         ARMARX_TRACE;
         std::string abs;
@@ -349,14 +349,14 @@ namespace armarx
         return VirtualRobot::TriMeshModel::FromFile(abs);
     }
 
-    VirtualRobot::RobotNodePtr RobotNameHelper::RobotArm::getHandRootNode() const
+    VirtualRobot::RobotNodePtr RobotArm::getHandRootNode() const
     {
         ARMARX_TRACE;
         ARMARX_CHECK_NOT_NULL(robot);
         return robot->getRobotNode(arm.getHandRootNode());
     }
 
-    Eigen::Matrix4f RobotNameHelper::RobotArm::getTcp2HandRootTransform() const
+    Eigen::Matrix4f RobotArm::getTcp2HandRootTransform() const
     {
         ARMARX_TRACE;
         const auto tcp = getTCP();
@@ -366,17 +366,17 @@ namespace armarx
         return tcp->getPoseInRootFrame().inverse() * hand->getPoseInRootFrame();
     }
 
-    const VirtualRobot::RobotPtr& RobotNameHelper::RobotArm::getRobot() const
+    const VirtualRobot::RobotPtr& RobotArm::getRobot() const
     {
         return robot;
     }
 
-    const RobotNameHelper::Arm& RobotNameHelper::RobotArm::getArm() const
+    const Arm& RobotArm::getArm() const
     {
         return arm;
     }
 
-    RobotNameHelper::RobotArm::RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot) :
+    RobotArm::RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot) :
         arm(arm), robot(robot)
     {
         ARMARX_CHECK_NOT_NULL(robot);
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 92330d05d3e18b1447e68a9d36bb4c8b7472ad64..76c9b283f5d915e54d1f240c94d01aa9774d8e08 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -36,23 +36,130 @@ namespace armarx
 
     class RapidXmlReaderNode;
 
-    class RobotNameHelper : public std::enable_shared_from_this<RobotNameHelper>
+    struct RobotArm;
+
+    struct Arm
     {
+        friend class RobotNameHelper;
+
     public:
-        static void writeRobotInfoNode(
-            const RobotInfoNodePtr& n,
-            std::ostream& str,
-            std::size_t indent = 0,
-            char indentChar = ' ');
 
+        std::string getSide() const;
+
+        std::string getKinematicChain() const;
+
+        std::string getTorsoKinematicChain() const;
+
+        std::string getTCP() const;
+
+        std::string getForceTorqueSensor() const;
+
+        std::string getForceTorqueSensorFrame() const;
+
+        std::string getEndEffector() const;
+
+        std::string getMemoryHandName() const;
+
+        std::string getHandControllerName() const;
+
+        std::string getHandRootNode() const;
+
+        std::string getHandModelPath() const;
+
+        std::string getAbsoluteHandModelPath() const;
+
+        std::string getHandModelPackage() const;
+
+        std::string getPalmCollisionModel() const;
+
+        std::string getFullHandCollisionModel() const;
+
+        RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
+
+        Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
+
+        Arm() = default;
+
+        Arm(Arm&&) = default;
+
+        Arm(const Arm&) = default;
+
+        Arm& operator=(Arm&&) = default;
+
+        Arm& operator=(const Arm&) = default;
+
+        std::shared_ptr<const RobotNameHelper> getRobotNameHelper() const;
+
+        std::string select(const std::string& path) const;
+
+    private:
+
+        std::shared_ptr<const RobotNameHelper> rnh;
+        std::string side;
+    };
+
+    struct RobotArm
+    {
+        friend class RobotNameHelper;
+
+        friend struct Arm;
+    public:
+        std::string getSide() const;
+
+        VirtualRobot::RobotNodeSetPtr getKinematicChain() const;
+
+        VirtualRobot::RobotNodeSetPtr getTorsoKinematicChain() const;
+
+        VirtualRobot::RobotNodePtr getTCP() const;
+
+        VirtualRobot::RobotNodePtr getHandRootNode() const;
+
+        VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
+
+        VirtualRobot::TriMeshModelPtr getFullHandCollisionModel() const;
+
+        Eigen::Matrix4f getTcp2HandRootTransform() const;
+
+        const Arm& getArm() const;
+
+        const VirtualRobot::RobotPtr& getRobot() const;
+
+        RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
+
+        RobotArm() = default;
+
+        RobotArm(RobotArm&&) = default;
+
+        RobotArm(const RobotArm&) = default;
+
+        RobotArm& operator=(RobotArm&&) = default;
+
+        RobotArm& operator=(const RobotArm&) = default;
+
+    private:
+
+        Arm arm;
+        VirtualRobot::RobotPtr robot;
+    };
+
+    class RobotNameHelper : public std::enable_shared_from_this<RobotNameHelper>
+    {
+    public:
+        static void
+        writeRobotInfoNode(const RobotInfoNodePtr& n, std::ostream& str, std::size_t indent = 0, char indentChar = ' ');
+        using Arm = armarx::Arm;
+        using RobotArm = armarx::RobotArm;
         class Node
         {
         public:
             Node(const RobotInfoNodePtr& robotInfo);
+
             std::string value();
 
             Node select(const std::string& name, const std::vector<std::string>& profiles);
+
             bool isValid();
+
             void checkValid();
 
         private:
@@ -62,89 +169,31 @@ namespace armarx
         static const std::string LocationLeft;
         static const std::string LocationRight;
 
-        struct RobotArm;
-        struct Arm
-        {
-            friend class RobotNameHelper;
-        public:
-
-            std::string getSide() const;
-            std::string getKinematicChain() const;
-            std::string getTorsoKinematicChain() const;
-            std::string getTCP() const;
-            std::string getForceTorqueSensor() const;
-            std::string getForceTorqueSensorFrame() const;
-            std::string getEndEffector() const;
-            std::string getMemoryHandName() const;
-            std::string getHandControllerName() const;
-            std::string getHandRootNode() const;
-            std::string getHandModelPath() const;
-            std::string getAbsoluteHandModelPath() const;
-            std::string getHandModelPackage() const;
-            std::string getPalmCollisionModel() const;
-            std::string getFullHandCollisionModel() const;
-            RobotArm addRobot(const VirtualRobot::RobotPtr& robot) const;
-
-            Arm(const std::shared_ptr<const RobotNameHelper>& rnh, const std::string& side);
-            Arm() = default;
-            Arm(Arm&&) = default;
-            Arm(const Arm&) = default;
-            Arm& operator=(Arm&&) = default;
-            Arm& operator=(const Arm&) = default;
-
-            std::shared_ptr<const RobotNameHelper> getRobotNameHelper() const;
-
-            std::string select(const std::string& path) const;
-        private:
-
-            std::shared_ptr<const RobotNameHelper> rnh;
-            std::string side;
-        };
-
-        struct RobotArm
-        {
-            friend class RobotNameHelper;
-            friend struct Arm;
-        public:
-            std::string getSide() const;
-            VirtualRobot::RobotNodeSetPtr getKinematicChain() const;
-            VirtualRobot::RobotNodeSetPtr getTorsoKinematicChain() const;
-            VirtualRobot::RobotNodePtr getTCP() const;
-            VirtualRobot::RobotNodePtr getHandRootNode() const;
-            VirtualRobot::RobotNodePtr getPalmCollisionModel() const;
-            VirtualRobot::TriMeshModelPtr getFullHandCollisionModel() const;
-            Eigen::Matrix4f getTcp2HandRootTransform() const;
-            const Arm& getArm() const;
-            const VirtualRobot::RobotPtr& getRobot() const;
-
-            RobotArm(const Arm& arm, const VirtualRobot::RobotPtr& robot);
-            RobotArm() = default;
-            RobotArm(RobotArm&&) = default;
-            RobotArm(const RobotArm&) = default;
-            RobotArm& operator=(RobotArm&&) = default;
-            RobotArm& operator=(const RobotArm&) = default;
-        private:
-
-            Arm arm;
-            VirtualRobot::RobotPtr robot;
-        };
-
         std::string select(const std::string& path) const;
 
         static RobotNameHelperPtr Create(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile);
-        static RobotNameHelperPtr Create(const std::string& robotXmlFilename, const StatechartProfilePtr& profile = nullptr);
+
+        static RobotNameHelperPtr
+        Create(const std::string& robotXmlFilename, const StatechartProfilePtr& profile = nullptr);
 
         RobotNameHelper(const RobotInfoNodePtr& robotInfo, const StatechartProfilePtr& profile = nullptr);
 
         RobotNameHelper(RobotNameHelper&&) = default;
+
         RobotNameHelper(const RobotNameHelper&) = default;
+
         RobotNameHelper& operator=(RobotNameHelper&&) = default;
+
         RobotNameHelper& operator=(const RobotNameHelper&) = default;
 
         Arm getArm(const std::string& side) const;
+
         RobotArm getRobotArm(const std::string& side, const VirtualRobot::RobotPtr& robot) const;
+
         const std::vector<std::string>& getProfiles() const;
+
         const RobotInfoNodePtr& getRobotInfoNodePtr() const;
+
     private:
 
         static RobotInfoNodePtr readRobotInfo(const RapidXmlReaderNode& infoNode);
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 6b105d8f67ed0ba87bfd5ae17a2fcf54fea79b70..62da8840409c17d8968c34171120a230a379ef33 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -18,6 +18,7 @@ set(LIB_FILES
     core/MemoryID.cpp
     core/MemoryID_operators.cpp
     core/operations.cpp
+    core/Prediction.cpp
     core/SuccessHeader.cpp
     core/Time.cpp
     core/aron_conversions.cpp
@@ -81,10 +82,12 @@ set(LIB_HEADERS
 
     core/actions.h
     core/Commit.h
+    core/container_maps.h
     core/DataMode.h
     core/MemoryID.h
     core/MemoryID_operators.h
     core/operations.h
+    core/Prediction.h
     core/SuccessHeader.h
     core/Time.h
     core/aron_conversions.h
@@ -104,6 +107,7 @@ set(LIB_HEADERS
     core/base/detail/iteration_mixins.h
     core/base/detail/lookup_mixins.h
     core/base/detail/negative_index_semantics.h
+    core/base/detail/Predictive.h
 
     core/base/CoreSegmentBase.h
     core/base/EntityBase.h
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 813981444e2f62afc2a7226952d451422ccd2daf..14343e6b918853b7b5e36ca4cb07789d8ece238f 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -20,6 +20,7 @@ namespace armarx::armem::client
 
 
     MemoryNameSystem::MemoryNameSystem(mns::MemoryNameSystemInterfacePrx mns, ManagedIceObject* component) :
+        util::MemoryListener(component),
         mns(mns), component(component)
     {
     }
@@ -28,7 +29,7 @@ namespace armarx::armem::client
     void MemoryNameSystem::initialize(mns::MemoryNameSystemInterfacePrx mns, ManagedIceObject* component)
     {
         this->mns = mns;
-        this->component = component;
+        setComponent(component);
     }
 
 
@@ -68,6 +69,8 @@ namespace armarx::armem::client
                     };
                     foo(it->second.reading, server.reading);
                     foo(it->second.writing, server.writing);
+                    foo(it->second.prediction, server.prediction);
+                    foo(it->second.actions, server.actions);
                 }
             }
             // Remove all entries which are not there anymore.
@@ -171,19 +174,22 @@ namespace armarx::armem::client
 
     Reader MemoryNameSystem::getReader(const MemoryID& memoryID)
     {
-        return Reader(resolveServer(memoryID).reading);
+        auto server = resolveServer(memoryID);
+        return Reader(server.reading, server.prediction);
     }
 
 
     Reader MemoryNameSystem::useReader(const MemoryID& memoryID)
     {
-        return Reader(useServer(memoryID).reading);
+        auto server = useServer(memoryID);
+        return Reader(server.reading, server.prediction);
     }
 
 
     Reader MemoryNameSystem::useReader(const MemoryID& memoryID, ManagedIceObject& component)
     {
-        return Reader(useServer(memoryID, component).reading);
+        auto server = useServer(memoryID, component);
+        return Reader(server.reading, server.prediction);
     }
 
 
@@ -402,8 +408,10 @@ namespace armarx::armem::client
         this->mns = mns;
     }
 
+
     void MemoryNameSystem::setComponent(ManagedIceObject* component)
     {
+        util::MemoryListener::setComponent(component);
         this->component = component;
     }
 
diff --git a/source/RobotAPI/libraries/armem/client/Query.cpp b/source/RobotAPI/libraries/armem/client/Query.cpp
index 5829c918872623c48a2d2866d84af67b7809d919..aeb21e97f5420e3394f17f0ff4ec8ceb7a02ae2c 100644
--- a/source/RobotAPI/libraries/armem/client/Query.cpp
+++ b/source/RobotAPI/libraries/armem/client/Query.cpp
@@ -1,29 +1,35 @@
 #include "Query.h"
 
+#include <ArmarXCore/core/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+
 #include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 
 
 namespace armarx::armem::client
 {
+    using armarx::fromIce;
+    using armarx::toIce;
+
+
     QueryInput QueryInput::fromIce(const armem::query::data::Input& ice)
     {
-        return armem::fromIce<QueryInput>(ice);
+        return armarx::fromIce<QueryInput>(ice);
     }
 
     armem::query::data::Input QueryInput::toIce() const
     {
-        return armem::toIce<armem::query::data::Input>(*this);
+        return armarx::toIce<armem::query::data::Input>(*this);
     }
 
     QueryResult QueryResult::fromIce(const armem::query::data::Result& ice)
     {
-        return armem::fromIce<QueryResult>(ice);
+        return armarx::fromIce<QueryResult>(ice);
     }
 
     armem::query::data::Result QueryResult::toIce() const
     {
-        return armem::toIce<armem::query::data::Result>(*this);
+        return armarx::toIce<armem::query::data::Result>(*this);
     }
 
     std::ostream& operator<<(std::ostream& os, const QueryResult& rhs)
@@ -41,7 +47,7 @@ namespace armarx::armem
     void client::toIce(armem::query::data::Input& ice, const QueryInput& input)
     {
         ice.memoryQueries = input.memoryQueries;
-        ice.withData = (input.dataMode == DataMode::WithData);
+        toIce(ice.withData, (input.dataMode == DataMode::WithData));
     }
 
     void client::fromIce(const armem::query::data::Input& ice, QueryInput& input)
@@ -53,13 +59,13 @@ namespace armarx::armem
     void client::toIce(armem::query::data::Result& ice, const QueryResult& result)
     {
         toIce(ice, dynamic_cast<const detail::SuccessHeader&>(result));
-        armarx::armem::toIce(ice.memory, result.memory);
+        toIce(ice.memory, result.memory);
     }
 
     void client::fromIce(const armem::query::data::Result& ice, QueryResult& result)
     {
         fromIce(ice, dynamic_cast<detail::SuccessHeader&>(result));
-        armarx::armem::fromIce(ice.memory, result.memory);
+        fromIce(ice.memory, result.memory);
     }
 
 }
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index 5bf6dcd0308cfad16c6401bed4c2ae940a972930..9fb03536bbef6047d96baf6203893ad9cc9f78ed 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -3,11 +3,11 @@
 #include <sstream>
 
 #include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <RobotAPI/libraries/armem/aron/MemoryLink.aron.generated.h>
 #include <RobotAPI/libraries/armem/core/MemoryID_operators.h>
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
-#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem/util/util.h>
 #include <RobotAPI/libraries/aron/common/util/object_finders.h>
@@ -20,7 +20,9 @@
 namespace armarx::armem::client
 {
 
-    Reader::Reader(server::ReadingMemoryInterfacePrx memory) : memoryPrx(memory)
+    Reader::Reader(server::ReadingMemoryInterfacePrx readingMemory,
+                   server::PredictingMemoryInterfacePrx predictingMemory) :
+        readingPrx(readingMemory), predictionPrx(predictingMemory)
     {
     }
 
@@ -35,30 +37,22 @@ namespace armarx::armem::client
     armem::query::data::Result
     Reader::query(const armem::query::data::Input& input) const
     {
-        auto makeErrorMsg = [](auto e)
-        {
-            std::stringstream ss;
-            ss << "Memory query failed.\nReason: " << e.what();
-            return ss.str();
-        };
-
         armem::query::data::Result result;
-        ARMARX_CHECK_NOT_NULL(memoryPrx);
-        try
+        if (!readingPrx)
         {
-            result = memoryPrx->query(input);
+            throw error::ProxyNotSet("ReadingMemoryInterfacePrx",
+                                     "Reading interface proxy must be set to perform a query.");
         }
-        catch (const Ice::ConnectionRefusedException& e)
-        {
-            result.errorMessage = makeErrorMsg(e);
-        }
-        catch (const Ice::ConnectionLostException& e)
+
+        try
         {
-            result.errorMessage = makeErrorMsg(e);
+            result = readingPrx->query(input);
         }
-        catch (const Ice::NotRegisteredException& e)
+        catch (const Ice::LocalException& e)
         {
-            result.errorMessage = makeErrorMsg(e);
+            std::stringstream sstream;
+            sstream << "Memory query failed.\nReason: " << e.what();
+            result.errorMessage = sstream.str();
         }
         return result;
     }
@@ -97,35 +91,27 @@ namespace armarx::armem::client
             armem::client::MemoryNameSystem& mns,
             int recursionDepth) const
     {
-        auto makeErrorMsg = [](auto error)
+        if (!readingPrx)
         {
-            std::stringstream sstream;
-            sstream << "Memory query failed.\nReason: " << error.what();
-            return sstream.str();
-        };
+            throw error::ProxyNotSet("ReadingMemoryInterfacePrx",
+                                     "Reading interface proxy must be set to perform a query.");
+        }
 
         armem::query::data::Result result;
-        ARMARX_CHECK_NOT_NULL(memoryPrx);
         try
         {
-            result = memoryPrx->query(input);
+            result = readingPrx->query(input);
             QueryResult bObj = QueryResult::fromIce(result);
             bObj.memory.forEachInstance(
                 [&bObj, &mns, recursionDepth](armem::wm::EntityInstance& instance)
                 { resolveMemoryLinks(instance, bObj.memory, mns, recursionDepth); });
             result = bObj.toIce();
         }
-        catch (const Ice::ConnectionRefusedException& e)
-        {
-            result.errorMessage = makeErrorMsg(e);
-        }
-        catch (const Ice::ConnectionLostException& e)
-        {
-            result.errorMessage = makeErrorMsg(e);
-        }
-        catch (const Ice::NotRegisteredException& e)
+        catch (const Ice::LocalException& e)
         {
-            result.errorMessage = makeErrorMsg(e);
+            std::stringstream sstream;
+            sstream << "Memory query failed.\nReason: " << e.what();
+            result.errorMessage = sstream.str();
         }
         catch (const exceptions::local::ExpressionException& e)
         {
@@ -424,7 +410,7 @@ namespace armarx::armem::client
     data::StoreResult
     Reader::readAndStore(const data::StoreInput& input) const
     {
-        server::StoringMemoryInterfacePrx storingMemoryPrx = server::StoringMemoryInterfacePrx::checkedCast(memoryPrx);
+        server::StoringMemoryInterfacePrx storingMemoryPrx = server::StoringMemoryInterfacePrx::checkedCast(readingPrx);
         if (storingMemoryPrx)
         {
             return storingMemoryPrx->store(input);
@@ -438,8 +424,84 @@ namespace armarx::armem::client
 
 
     void
-    Reader::setReadingMemory(server::ReadingMemoryInterfacePrx memory)
+    Reader::setReadingMemory(server::ReadingMemoryInterfacePrx readingMemory)
+    {
+        this->readingPrx = readingMemory;
+    }
+
+    void
+    Reader::setPredictingMemory(server::PredictingMemoryInterfacePrx predictingMemory)
+    {
+        this->predictionPrx = predictingMemory;
+    }
+
+    std::vector<PredictionResult>
+    Reader::predict(const std::vector<PredictionRequest>& requests) const
+    {
+        if (!predictionPrx)
+        {
+            throw error::ProxyNotSet(
+                "PredictingMemoryInterfacePrx",
+                "Prediction interface proxy must be set to request a prediction.");
+        }
+
+        armem::prediction::data::PredictionRequestSeq iceRequests;
+        for (const auto& request : requests)
+        {
+            iceRequests.push_back(request.toIce());
+        }
+
+        armem::prediction::data::PredictionResultSeq results;
+        try
+        {
+            results = predictionPrx->predict(iceRequests);
+        }
+        catch (const Ice::LocalException& e)
+        {
+            armem::prediction::data::PredictionResult failure;
+            failure.success = false;
+            std::stringstream sstream;
+            sstream << "Prediction request failed. Reason: " << e.what();
+            failure.errorMessage = sstream.str();
+
+            for (size_t i = 0; i < requests.size(); ++i)
+            {
+                results.push_back(failure);
+            }
+        }
+
+        std::vector<PredictionResult> boResults;
+        for (const auto& result : results)
+        {
+            boResults.push_back(PredictionResult::fromIce(result));
+        }
+
+        return boResults;
+    }
+
+    std::map<MemoryID, std::vector<PredictionEngine>>
+    Reader::getAvailablePredictionEngines() const
     {
-        this->memoryPrx = memory;
+        if (!predictionPrx)
+        {
+            throw error::ProxyNotSet(
+                "PredictingMemoryInterfacePrx",
+                "Prediction interface proxy must be set to request a prediction.");
+        }
+
+        armem::prediction::data::EngineSupportMap engines;
+        try
+        {
+            engines = predictionPrx->getAvailableEngines();
+        }
+        catch (const Ice::LocalException& e)
+        {
+            // Just leave engines empty in this case.
+        }
+
+        std::map<MemoryID, std::vector<PredictionEngine>> boMap;
+        armarx::fromIce(engines, boMap);
+
+        return boMap;
     }
-}
+} // namespace armarx::armem::client
diff --git a/source/RobotAPI/libraries/armem/client/Reader.h b/source/RobotAPI/libraries/armem/client/Reader.h
index 1b957fde328f8c09b1086dc7fa2f0011cecd694b..7ecb453c845524edce1a217c49db671efbf3c9e7 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.h
+++ b/source/RobotAPI/libraries/armem/client/Reader.h
@@ -9,6 +9,7 @@
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
 #include <RobotAPI/interface/armem/server/StoringMemoryInterface.h>
 #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
 #include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
 
 #include "Query.h"
@@ -29,9 +30,11 @@ namespace armarx::armem::client
          * @brief Construct a memory reader.
          * @param memory The memory proxy.
          */
-        Reader(server::ReadingMemoryInterfacePrx memory = nullptr);
+        Reader(server::ReadingMemoryInterfacePrx readingMemory = nullptr,
+               server::PredictingMemoryInterfacePrx predictingMemory = nullptr);
 
-        void setReadingMemory(server::ReadingMemoryInterfacePrx memory);
+        void setReadingMemory(server::ReadingMemoryInterfacePrx readingMemory);
+        void setPredictingMemory(server::PredictingMemoryInterfacePrx predictingMemory);
 
         /// Perform a query.
         QueryResult query(const QueryInput& input) const;
@@ -162,10 +165,31 @@ namespace armarx::armem::client
         //data::StoreResult readAndStore(data::StoreInputSeq& input);
         data::StoreResult readAndStore(const data::StoreInput& input) const;
 
+        /**
+         * @brief Get a prediction for the state of multiple entity instances in the future.
+         *
+         * The timestamp to predict the entities' state at is given via the snapshot
+         * given in the MemoryID.
+         *
+         * The `predictionPrx` must not be null when calling this function.
+         *
+         * @param requests a list of requests for entity instance predictions
+         * @return the vector of prediction results
+         */
+        std::vector<PredictionResult> predict(const std::vector<PredictionRequest>& requests) const;
+
+        /**
+         * @brief Get the list of prediction engines supported by the memory.
+         *
+         * The `predictionPrx` must not be null when calling this function.
+         *
+         * @return a map from memory containers to their supported engines
+         */
+        std::map<MemoryID, std::vector<PredictionEngine>> getAvailablePredictionEngines() const;
 
         inline operator bool() const
         {
-            return bool(memoryPrx);
+            return bool(readingPrx);
         }
 
     private:
@@ -176,7 +200,8 @@ namespace armarx::armem::client
 
     public:
 
-        server::ReadingMemoryInterfacePrx memoryPrx;
+        server::ReadingMemoryInterfacePrx readingPrx;
+        server::PredictingMemoryInterfacePrx predictionPrx;
 
     };
 
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
index 463c6443e11ddd0ec92d6c5bb4b1001e4e97dfed..96126b71241148187068990a18e61776cef5ba4a 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
@@ -14,8 +14,9 @@ namespace armarx::armem::client::plugins
 
     void ListeningPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
     {
+        // This is now done by the client::util::MemoryListener class on subscription of a memory ID.
         // Subscribe topics by single servers, use this as a prefix.
-        properties->topic<MemoryListenerInterface>("MemoryUpdates");
+        // properties->topic<MemoryListenerInterface>("MemoryUpdates");
     }
 
 }
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
index 3a40a9ffe27b1116fe5a78f5d1a3088652818b38..95eed974f77513f9186aed0d8b2633394b73f3be 100644
--- a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
@@ -26,4 +26,3 @@ namespace armarx::armem::client::plugins
     }
 
 }
-
diff --git a/source/RobotAPI/libraries/armem/client/query/selectors.cpp b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
index 791a6190c9d344c35113fdb388c8d98f9cdf931b..aeae579c070d8c54692997956589b423956df643 100644
--- a/source/RobotAPI/libraries/armem/client/query/selectors.cpp
+++ b/source/RobotAPI/libraries/armem/client/query/selectors.cpp
@@ -1,9 +1,10 @@
 #include "selectors.h"
 
+#include <ArmarXCore/core/ice_conversions.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 #include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
 
 
@@ -74,6 +75,8 @@ namespace armarx::armem::client::query
 
     SnapshotSelector& SnapshotSelector::beforeTime(Time timestamp, long maxEntries)
     {
+        using armarx::toIce;
+
         auto& q = _addQuery<dq::entity::BeforeTime>();
         toIce(q.timestamp, timestamp);
         toIce(q.maxEntries, maxEntries);
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
index bc180c726f4d573fe69a3a77bfba2b0be12fe2c8..c8a7c6c683467194d6e2248edc0e5be57d3b547b 100644
--- a/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryListener.cpp
@@ -4,24 +4,39 @@
 
 #include <ArmarXCore/core/exceptions/LocalException.h>
 #include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 #include <RobotAPI/libraries/armem/core/error.h>
 
 
 namespace armarx::armem::client::util
 {
 
-    MemoryListener::MemoryListener()
+    std::string MemoryListener::MakeMemoryTopicName(const MemoryID& memoryID)
+    {
+        return "MemoryUpdates." + memoryID.memoryName;
+    }
+
+
+    MemoryListener::MemoryListener(ManagedIceObject* component) :
+        component(component)
     {
     }
 
 
+    void MemoryListener::setComponent(ManagedIceObject* component)
+    {
+        this->component = component;
+    }
+
+
     void
     MemoryListener::updated(const std::vector<data::MemoryID>& updatedSnapshotIDs) const
     {
         std::vector<MemoryID> bos;
-        fromIce(updatedSnapshotIDs, bos);
+        armarx::fromIce(updatedSnapshotIDs, bos);
         updated(bos);
     }
 
@@ -108,6 +123,10 @@ namespace armarx::armem::client::util
     MemoryListener::subscribe(const MemoryID& id, Callback callback)
     {
         callbacks[id].push_back(callback);
+        if (component)
+        {
+            component->usingTopic(MakeMemoryTopicName(id));
+        }
     }
 
 
diff --git a/source/RobotAPI/libraries/armem/client/util/MemoryListener.h b/source/RobotAPI/libraries/armem/client/util/MemoryListener.h
index 2d530097ce6394ddcf4cc815f8e44f93e057d916..ceb765e60db13404fbe170900342cff554b3affe 100644
--- a/source/RobotAPI/libraries/armem/client/util/MemoryListener.h
+++ b/source/RobotAPI/libraries/armem/client/util/MemoryListener.h
@@ -11,6 +11,12 @@
 #include <RobotAPI/libraries/armem/core/MemoryID.h>
 
 
+
+namespace armarx
+{
+    class ManagedIceObject;
+}
+
 namespace armarx::armem::client::util
 {
 
@@ -20,6 +26,7 @@ namespace armarx::armem::client::util
      */
     class MemoryListener
     {
+    public:
 
         using Callback = std::function<void(const MemoryID& subscriptionID, const std::vector<MemoryID>& updatedSnapshotIDs)>;
         using CallbackUpdatedOnly = std::function<void(const std::vector<MemoryID>& updatedSnapshotIDs)>;
@@ -29,11 +36,14 @@ namespace armarx::armem::client::util
         template <class CalleeT>
         using MemberCallbackUpdatedOnly = void(CalleeT::*)(const std::vector<MemoryID>& updatedSnapshotIDs);
 
+        static std::string MakeMemoryTopicName(const MemoryID& memoryID);
+
 
     public:
 
-        MemoryListener();
+        MemoryListener(ManagedIceObject* component = nullptr);
 
+        void setComponent(ManagedIceObject* component);
 
         void subscribe(const MemoryID& subscriptionID, Callback Callback);
         void subscribe(const MemoryID& subscriptionID, CallbackUpdatedOnly Callback);
@@ -73,6 +83,10 @@ namespace armarx::armem::client::util
 
         std::unordered_map<MemoryID, std::vector<Callback>> callbacks;
 
+    private:
+
+        armarx::ManagedIceObject* component;
+
     };
 
 }
diff --git a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
index ce25109502b1da09cb01399396a5c7bca92ed50f..b0bbf2869134f92cdf15e45bde4dd264dda2d1b0 100644
--- a/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
+++ b/source/RobotAPI/libraries/armem/client/util/SimpleReaderBase.cpp
@@ -20,6 +20,8 @@ namespace armarx::armem::client::util
 
         const std::string prefix = propertyPrefix();
 
+        props = defaultProperties();
+
         def->optional(props.memoryName, prefix + "Memory");
         def->optional(props.coreSegmentName, prefix + "CoreSegment");
     }
diff --git a/source/RobotAPI/libraries/armem/core/Prediction.cpp b/source/RobotAPI/libraries/armem/core/Prediction.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9880d03a2f4e4c28e649e50f08a1f0b93ce52cb2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/Prediction.cpp
@@ -0,0 +1,135 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::armem::client
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "Prediction.h"
+
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+namespace armarx::armem
+{
+    PredictionEngine
+    PredictionEngine::fromIce(const armem::prediction::data::PredictionEngine& ice)
+    {
+        return armarx::fromIce<PredictionEngine>(ice);
+    }
+
+    armem::prediction::data::PredictionEngine
+    PredictionEngine::toIce() const
+    {
+        return armarx::toIce<armem::prediction::data::PredictionEngine>(*this);
+    }
+
+    PredictionSettings
+    PredictionSettings::fromIce(const armem::prediction::data::PredictionSettings& ice)
+    {
+        return armarx::fromIce<PredictionSettings>(ice);
+    }
+
+    armem::prediction::data::PredictionSettings
+    PredictionSettings::toIce() const
+    {
+        return armarx::toIce<armem::prediction::data::PredictionSettings>(*this);
+    }
+
+    PredictionRequest
+    PredictionRequest::fromIce(const armem::prediction::data::PredictionRequest& ice)
+    {
+        return armarx::fromIce<PredictionRequest>(ice);
+    }
+
+    armem::prediction::data::PredictionRequest
+    PredictionRequest::toIce() const
+    {
+        return armarx::toIce<armem::prediction::data::PredictionRequest>(*this);
+    }
+
+    PredictionResult
+    PredictionResult::fromIce(const armem::prediction::data::PredictionResult& ice)
+    {
+        return armarx::fromIce<PredictionResult>(ice);
+    }
+
+    armem::prediction::data::PredictionResult
+    PredictionResult::toIce() const
+    {
+        return armarx::toIce<armem::prediction::data::PredictionResult>(*this);
+    }
+
+    void
+    toIce(armem::prediction::data::PredictionEngine& ice, const PredictionEngine& engine)
+    {
+        ice.engineID = engine.engineID;
+    }
+
+    void
+    fromIce(const armem::prediction::data::PredictionEngine& ice, PredictionEngine& engine)
+    {
+        engine.engineID = ice.engineID;
+    }
+
+    void
+    toIce(armem::prediction::data::PredictionSettings& ice, const PredictionSettings& settings)
+    {
+        ice.predictionEngineID = settings.predictionEngineID;
+    }
+
+    void
+    fromIce(const armem::prediction::data::PredictionSettings& ice, PredictionSettings& settings)
+    {
+        settings.predictionEngineID = ice.predictionEngineID;
+    }
+
+    void
+    toIce(armem::prediction::data::PredictionRequest& ice, const PredictionRequest& request)
+    {
+        toIce(ice.snapshotID, request.snapshotID);
+        toIce(ice.settings, request.predictionSettings);
+    }
+
+    void
+    fromIce(const armem::prediction::data::PredictionRequest& ice, PredictionRequest& request)
+    {
+        fromIce(ice.snapshotID, request.snapshotID);
+        fromIce(ice.settings, request.predictionSettings);
+    }
+
+    void
+    toIce(armem::prediction::data::PredictionResult& ice, const PredictionResult& result)
+    {
+        ice.success = result.success;
+        ice.errorMessage = result.errorMessage;
+        toIce(ice.snapshotID, result.snapshotID);
+        ice.prediction = result.prediction->toAronDictDTO();
+    }
+
+    void
+    fromIce(const armem::prediction::data::PredictionResult& ice, PredictionResult& result)
+    {
+        result.success = ice.success;
+        result.errorMessage = ice.errorMessage;
+        fromIce(ice.snapshotID, result.snapshotID);
+        result.prediction = aron::data::Dict::FromAronDictDTO(ice.prediction);
+    }
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/Prediction.h b/source/RobotAPI/libraries/armem/core/Prediction.h
new file mode 100644
index 0000000000000000000000000000000000000000..a8ec9ee52436b5b5d96c5c8013d058f8d6abc6e5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/Prediction.h
@@ -0,0 +1,86 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::armem::client
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/interface/armem/prediction.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx::armem
+{
+
+    struct PredictionEngine
+    {
+        std::string engineID;
+
+        static PredictionEngine fromIce(const armem::prediction::data::PredictionEngine& ice);
+        armem::prediction::data::PredictionEngine toIce() const;
+    };
+
+    struct PredictionSettings
+    {
+        std::string predictionEngineID;
+
+        static PredictionSettings fromIce(const armem::prediction::data::PredictionSettings& ice);
+        armem::prediction::data::PredictionSettings toIce() const;
+    };
+
+    struct PredictionRequest
+    {
+        armem::MemoryID snapshotID;
+        PredictionSettings predictionSettings;
+
+        static PredictionRequest fromIce(const armem::prediction::data::PredictionRequest& ice);
+        armem::prediction::data::PredictionRequest toIce() const;
+    };
+
+    struct PredictionResult
+    {
+        bool success;
+        std::string errorMessage;
+
+        armem::MemoryID snapshotID;
+        aron::data::DictPtr prediction;
+
+        static PredictionResult fromIce(const armem::prediction::data::PredictionResult& ice);
+        armem::prediction::data::PredictionResult toIce() const;
+    };
+
+    void toIce(armem::prediction::data::PredictionEngine& ice,
+               const PredictionEngine& engine);
+    void fromIce(const armem::prediction::data::PredictionEngine& ice,
+                 PredictionEngine& engine);
+
+    void toIce(armem::prediction::data::PredictionSettings& ice,
+               const PredictionSettings& settings);
+    void fromIce(const armem::prediction::data::PredictionSettings& ice,
+                 PredictionSettings& settings);
+
+    void toIce(armem::prediction::data::PredictionRequest& ice, const PredictionRequest& request);
+    void fromIce(const armem::prediction::data::PredictionRequest& ice,
+                 PredictionRequest& request);
+
+    void toIce(armem::prediction::data::PredictionResult& ice, const PredictionResult& result);
+    void fromIce(const armem::prediction::data::PredictionResult& ice, PredictionResult& result);
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
index 8f158a3fe744a36ab4bf7755e1fee362bc01a6f8..8c1ed546b3d8699ea4eed9225f055323510745d6 100644
--- a/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/CoreSegmentBase.h
@@ -8,6 +8,7 @@
 #include "detail/MemoryContainerBase.h"
 #include "detail/iteration_mixins.h"
 #include "detail/lookup_mixins.h"
+#include "detail/Predictive.h"
 
 #include <ArmarXCore/core/logging/Logging.h>
 
@@ -21,6 +22,7 @@ namespace armarx::armem::base
     class CoreSegmentBase :
         public detail::MemoryContainerBase<std::map<std::string, _ProviderSegmentT>, _Derived>
         , public detail::AronTyped
+        , public detail::PredictiveContainer<_Derived>
         , public detail::ForEachEntityInstanceMixin<_Derived>
         , public detail::ForEachEntitySnapshotMixin<_Derived>
         , public detail::ForEachEntityMixin<_Derived>
@@ -66,17 +68,23 @@ namespace armarx::armem::base
         CoreSegmentBase()
         {
         }
-        explicit CoreSegmentBase(const std::string& name, aron::type::ObjectPtr aronType = nullptr) :
-            CoreSegmentBase(name, MemoryID(), aronType)
+        explicit CoreSegmentBase(const std::string& name,
+                                 aron::type::ObjectPtr aronType = nullptr,
+                                 const std::vector<PredictionEngine>& predictionEngines = {}) :
+            CoreSegmentBase(name, MemoryID(), aronType, predictionEngines)
         {
         }
-        explicit CoreSegmentBase(const std::string& name, const MemoryID& parentID, aron::type::ObjectPtr aronType = nullptr) :
-            CoreSegmentBase(parentID.withCoreSegmentName(name), aronType)
+        explicit CoreSegmentBase(const std::string& name,
+                                 const MemoryID& parentID,
+                                 aron::type::ObjectPtr aronType = nullptr,
+                                 const std::vector<PredictionEngine>& predictionEngines = {}) :
+            CoreSegmentBase(parentID.withCoreSegmentName(name), aronType, predictionEngines)
         {
         }
-        explicit CoreSegmentBase(const MemoryID& id, aron::type::ObjectPtr aronType = nullptr) :
-            Base(id),
-            AronTyped(aronType)
+        explicit CoreSegmentBase(const MemoryID& id,
+                                 aron::type::ObjectPtr aronType = nullptr,
+                                 const std::vector<PredictionEngine>& predictionEngines = {}) :
+            Base(id), AronTyped(aronType), detail::PredictiveContainer<_Derived>(predictionEngines)
         {
         }
 
@@ -201,22 +209,34 @@ namespace armarx::armem::base
         // forEachInstance() is provided by ForEachEntityInstanceMixin.
 
 
-        // Get child keys
-        std::vector<std::string> getProviderSegmentNames() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
         {
-            return simox::alg::get_keys(this->_container);
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasProviderSegmentName(),
+                        id.hasProviderSegmentName() ? this->findProviderSegment(id.providerSegmentName) : nullptr);
         }
-
-
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline const auto& providerSegments() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
         {
-            return this->_container;
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasProviderSegmentName(),
+                        id.hasProviderSegmentName() ? this->findProviderSegment(id.providerSegmentName) : nullptr);
         }
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline auto& providerSegments()
+
+
+        // Get child keys
+        std::vector<std::string> getProviderSegmentNames() const
         {
-            return this->_container;
+            return simox::alg::get_keys(this->_container);
         }
 
 
@@ -264,15 +284,20 @@ namespace armarx::armem::base
         }
 
         /**
-         * @brief Add an empty provider segment with the given name and optional provider segment type.
+         * @brief Add an empty provider segment with the given name,
+         *        optional provider segment type and prediction engines.
          * @param name The segment name.
          * @param providerSegmentType The provider type. If nullptr, the core segment type is used.
+         * @param predictionEngines The prediction engines supported by the provider segment (optional).
          * @return The added provider segment.
          */
-        ProviderSegmentT& addProviderSegment(const std::string& name, aron::type::ObjectPtr providerSegmentType = nullptr)
+        ProviderSegmentT&
+        addProviderSegment(const std::string& name,
+                           aron::type::ObjectPtr providerSegmentType = nullptr,
+                           const std::vector<PredictionEngine>& predictionEngines = {})
         {
             aron::type::ObjectPtr type = providerSegmentType ? providerSegmentType : this->aronType();
-            return this->_derived().addProviderSegment(name, name, type);
+            return this->_derived().addProviderSegment(name, name, type, predictionEngines);
         }
 
         /// Copy and insert a provider segment.
diff --git a/source/RobotAPI/libraries/armem/core/base/EntityBase.h b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
index 7395f1447d568aebfa7b1bcbf10325c0ab6728ec..9c9a8c88a535eb919029c16305f2af72e999423d 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntityBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntityBase.h
@@ -386,6 +386,29 @@ namespace armarx::armem::base
         {
             return this->forEachChild(func);
         }
+        /**
+         * @param func Function like: bool process(EntitySnapshotT& snapshot)
+         */
+        template <class SnapshotFunctionT>
+        bool forEachSnapshotIn(const MemoryID& id, SnapshotFunctionT&& func)
+        {
+            return this->forEachChild(func);
+        }
+        /**
+         * @param func Function like void process(const EntitySnapshotT& snapshot)
+         */
+        template <class SnapshotFunctionT>
+        bool forEachSnapshotIn(const MemoryID& id, SnapshotFunctionT&& func) const
+        {
+            if (id.hasTimestamp())
+            {
+                if (const auto* child = findSnapshot(id.timestamp))
+                {
+                    child->forEachChild(func);
+                }
+            }
+            return this->forEachChild(func);
+        }
         // forEachInstance() is provided by ForEachEntityInstanceMixin.
 
 
@@ -483,23 +506,35 @@ namespace armarx::armem::base
         }
 
 
-        // Get child keys
-        /// @brief Get all timestamps in the history.
-        std::vector<Time> getTimestamps() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
         {
-            return simox::alg::get_keys(this->_container);
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasTimestamp(),
+                        id.hasTimestamp() ? this->findSnapshot(id.timestamp) : nullptr);
         }
-
-
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline const ContainerT& history() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
         {
-            return this->_container;
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasTimestamp(),
+                        id.hasTimestamp() ? this->findSnapshot(id.timestamp) : nullptr);
         }
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline ContainerT& history()
+
+
+        // Get child keys
+        /// @brief Get all timestamps in the history.
+        std::vector<Time> getTimestamps() const
         {
-            return const_cast<ContainerT&>(const_cast<const EntityBase*>(this)->history());
+            return simox::alg::get_keys(this->_container);
         }
 
 
diff --git a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
index 0d0f091f59847cabd2b9d5f0982d634daaa2723a..c983dd8dec8a9a351b0a4cd1efc9d00320f59a1c 100644
--- a/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/EntitySnapshotBase.h
@@ -172,6 +172,39 @@ namespace armarx::armem::base
             return this->forEachChild(func);
         }
 
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
+        {
+            if (id.hasInstanceIndex())
+            {
+                EntityInstanceT* child = findInstance(id.instanceIndex);
+                return child ? base::detail::call(func, *child) : true;
+            }
+            else
+            {
+                return this->forEachInstance(func);
+            }
+        }
+        /**
+         * @param func Function like void process (const EntityInstanceT& instance)
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
+        {
+            if (id.hasInstanceIndex())
+            {
+                const EntityInstanceT* child = findInstance(id.instanceIndex);
+                return child ? base::detail::call(func, *child) : true;
+            }
+            else
+            {
+                return this->forEachInstance(func);
+            }
+        }
+
 
         // Get child keys
         std::vector<int> getInstanceIndices() const
@@ -186,18 +219,6 @@ namespace armarx::armem::base
         }
 
 
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline const std::vector<EntityInstanceT>& instances() const
-        {
-            return this->_container;
-        }
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline std::vector<EntityInstanceT>& instances()
-        {
-            return const_cast<std::vector<EntityInstanceT>&>(const_cast<const EntitySnapshotBase*>(this)->instances());
-        }
-
-
         // MODIFICATION
 
         void update(const EntityUpdate& update)
diff --git a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
index 0bb30f68996ea1d292b1c4b599c4ee1b98e5dc36..b6497f8ff421feb16b7f7b07ede1f2d3e57c2266 100644
--- a/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/MemoryBase.h
@@ -7,6 +7,7 @@
 #include "detail/MemoryContainerBase.h"
 #include "detail/iteration_mixins.h"
 #include "detail/lookup_mixins.h"
+#include "detail/Predictive.h"
 
 
 namespace armarx::armem::base
@@ -18,6 +19,7 @@ namespace armarx::armem::base
     template <class _CoreSegmentT, class _Derived>
     class MemoryBase :
         public detail::MemoryContainerBase<std::map<std::string, _CoreSegmentT>, _Derived>
+        , public detail::PredictiveContainer<_Derived>
         , public detail::ForEachEntityInstanceMixin<_Derived>
         , public detail::ForEachEntitySnapshotMixin<_Derived>
         , public detail::ForEachEntityMixin<_Derived>
@@ -67,12 +69,14 @@ namespace armarx::armem::base
         MemoryBase()
         {
         }
-        explicit MemoryBase(const std::string& name) :
-            MemoryBase(MemoryID().withMemoryName(name))
+        explicit MemoryBase(const std::string& name,
+                            const std::vector<PredictionEngine>& predictionEngines = {}) :
+            MemoryBase(MemoryID().withMemoryName(name), predictionEngines)
         {
         }
-        explicit MemoryBase(const MemoryID& id) :
-            Base(id)
+        explicit MemoryBase(const MemoryID& id,
+                            const std::vector<PredictionEngine>& predictionEngines = {}) :
+            Base(id), detail::PredictiveContainer<_Derived>(predictionEngines)
         {
         }
 
@@ -182,36 +186,51 @@ namespace armarx::armem::base
         // forEachInstance() is provided by ForEachEntityInstanceMixin.
 
 
-        std::vector<std::string> getCoreSegmentNames() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
         {
-            return simox::alg::get_keys(this->_container);
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasCoreSegmentName(),
+                        id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
         }
-
-
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline auto& coreSegments() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
         {
-            return this->_container;
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasCoreSegmentName(),
+                        id.hasCoreSegmentName() ? this->findCoreSegment(id.coreSegmentName) : nullptr);
         }
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline auto& coreSegments()
+
+
+        std::vector<std::string> getCoreSegmentNames() const
         {
-            return this->_container;
+            return simox::alg::get_keys(this->_container);
         }
 
 
         // MODIFICATION
 
         /**
-         * @brief Add an empty core segment with the given name.
+         * @brief Add an empty core segment with the given name, type and prediction engines.
          * @param name The core segment name.
          * @param coreSegmentType The core segment type (optional).
+         * @param predictionEngines The prediction engines supported by the core segment (optional).
          * @return The added core segment.
          */
-        CoreSegmentT& addCoreSegment(
-            const std::string& name, aron::type::ObjectPtr coreSegmentType = nullptr)
+        CoreSegmentT&
+        addCoreSegment(const std::string& name,
+                       aron::type::ObjectPtr coreSegmentType = nullptr,
+                       const std::vector<PredictionEngine>& predictionEngines = {})
         {
-            return this->_derived().addCoreSegment(name, name, coreSegmentType);
+            return this->_derived().addCoreSegment(name, name, coreSegmentType, predictionEngines);
         }
 
         /// Copy and insert a core segment.
diff --git a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
index 7deccd83643bc759a289dd6340f16452994ccab1..6cd70391660d6f61fe073837052a9b06fb57da1c 100644
--- a/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
+++ b/source/RobotAPI/libraries/armem/core/base/ProviderSegmentBase.h
@@ -3,8 +3,11 @@
 #include <map>
 #include <string>
 
+#include <RobotAPI/libraries/armem/core/Prediction.h>
+
 #include "EntityBase.h"
 #include "detail/AronTyped.h"
+#include "detail/Predictive.h"
 #include "detail/MemoryContainerBase.h"
 #include "detail/iteration_mixins.h"
 #include "detail/lookup_mixins.h"
@@ -20,6 +23,7 @@ namespace armarx::armem::base
     class ProviderSegmentBase :
         public detail::MemoryContainerBase<std::map<std::string, _EntityT>, _Derived>
         , public detail::AronTyped
+        , public detail::Predictive<_Derived>
         , public detail::ForEachEntityInstanceMixin<_Derived>
         , public detail::ForEachEntitySnapshotMixin<_Derived>
         , public detail::GetFindInstanceMixin<_Derived>
@@ -60,17 +64,26 @@ namespace armarx::armem::base
         {
         }
 
-        explicit ProviderSegmentBase(const std::string& name, aron::type::ObjectPtr aronType = nullptr) :
-            ProviderSegmentBase(name, MemoryID(), aronType)
+        explicit ProviderSegmentBase(
+            const std::string& name,
+            aron::type::ObjectPtr aronType = nullptr,
+            const std::vector<PredictionEngine>& predictionEngines = {}) :
+            ProviderSegmentBase(name, MemoryID(), aronType, predictionEngines)
         {
         }
-        explicit ProviderSegmentBase(const std::string& name, const MemoryID parentID, aron::type::ObjectPtr aronType = nullptr) :
-            ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType)
+        explicit ProviderSegmentBase(
+            const std::string& name,
+            const MemoryID parentID,
+            aron::type::ObjectPtr aronType = nullptr,
+            const std::vector<PredictionEngine>& predictionEngines = {}) :
+            ProviderSegmentBase(parentID.withProviderSegmentName(name), aronType, predictionEngines)
         {
         }
-        explicit ProviderSegmentBase(const MemoryID id, aron::type::ObjectPtr aronType = nullptr) :
-            Base(id),
-            AronTyped(aronType)
+        explicit ProviderSegmentBase(
+            const MemoryID id,
+            aron::type::ObjectPtr aronType = nullptr,
+            const std::vector<PredictionEngine>& predictionEngines = {}) :
+            Base(id), AronTyped(aronType), detail::Predictive<_Derived>(predictionEngines)
         {
         }
 
@@ -177,23 +190,34 @@ namespace armarx::armem::base
         // forEachSnapshot() is provided by ForEachEntitySnapshotMixin
         // forEachInstance() is provided by ForEachEntityInstanceMixin
 
-
-        // Get child keys
-        std::vector<std::string> getEntityNames() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func)
         {
-            return simox::alg::get_keys(this->_container);
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasEntityName(),
+                        id.hasEntityName() ? this->findEntity(id.entityName) : nullptr);
         }
-
-
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline const ContainerT& entities() const
+        /**
+         * @param func Function like void process(EntityInstanceT& instance)>
+         */
+        template <class InstanceFunctionT>
+        bool forEachInstanceIn(const MemoryID& id, InstanceFunctionT&& func) const
         {
-            return this->_container;
+            return detail::forEachInstanceIn(
+                        id, func, *this,
+                        id.hasEntityName(),
+                        id.hasEntityName() ? this->findEntity(id.entityName) : nullptr);
         }
-        [[deprecated("Direct container access is deprecated. Use forEach*() instead.")]]
-        inline ContainerT& entities()
+
+
+        // Get child keys
+        std::vector<std::string> getEntityNames() const
         {
-            return this->_container;
+            return simox::alg::get_keys(this->_container);
         }
 
 
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
new file mode 100644
index 0000000000000000000000000000000000000000..ea9ec0dde71cbdb19c6bebe0e160bfbcea8c8155
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/base/detail/Predictive.h
@@ -0,0 +1,125 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::armem::core::base::detail
+ * @author     phesch ( phesch at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
+
+#include "derived.h"
+
+
+namespace armarx::armem::base::detail
+{
+
+    /**
+     * @brief Something that supports a set of prediction engines.
+     */
+    template <class DerivedT>
+    class Predictive
+    {
+    public:
+
+        explicit Predictive(const std::vector<PredictionEngine>& engines = {}) :
+            _predictionEngines(engines)
+        {
+        }
+
+        const std::vector<PredictionEngine>&
+        predictionEngines() const
+        {
+            return _predictionEngines;
+        }
+
+        void addPredictionEngine(const PredictionEngine& engine)
+        {
+            _predictionEngines.push_back(engine);
+        }
+
+        void setPredictionEngines(const std::vector<PredictionEngine>& engines)
+        {
+            this->_predictionEngines = engines;
+        }
+
+        std::map<MemoryID, std::vector<PredictionEngine>>
+        getAllPredictionEngines() const
+        {
+            std::map<MemoryID, std::vector<PredictionEngine>> engines;
+
+            // Add own engines.
+            const auto& derivedThis = derived<DerivedT>(this);
+            const auto& ownEngines = derivedThis.predictionEngines();
+            if (not ownEngines.empty())
+            {
+                engines.emplace(derivedThis.id(), derivedThis.predictionEngines());
+            }
+
+            return engines;
+        }
+
+
+    private:
+
+        std::vector<PredictionEngine> _predictionEngines;
+
+    };
+
+
+    /**
+     * @brief Something that supports a set of prediction engines.
+     */
+    template <class DerivedT>
+    class PredictiveContainer : public Predictive<DerivedT>
+    {
+    public:
+
+        using Predictive<DerivedT>::Predictive;
+
+
+        std::map<MemoryID, std::vector<PredictionEngine>>
+        getAllPredictionEngines() const
+        {
+            std::map<MemoryID, std::vector<PredictionEngine>> engines;
+
+            // Collect engines of children.
+            const auto& derivedThis = derived<DerivedT>(this);
+            derivedThis.forEachChild(
+                [&engines](const auto& child)
+                {
+                    const auto& childMap = child.getAllPredictionEngines();
+                    engines.insert(childMap.begin(), childMap.end());
+                });
+
+            // Add own engines.
+            const auto& ownEngines = derivedThis.predictionEngines();
+            if (not ownEngines.empty())
+            {
+                engines.emplace(derivedThis.id(), derivedThis.predictionEngines());
+            }
+
+            return engines;
+        }
+
+    };
+
+
+} // namespace armarx::armem::base::detail
diff --git a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
index 876d0d6d73bed644d3b8316c5479f0c15b39b97f..b686b1cc7b304e780579808a6bd3b3f4d1b50ff9 100644
--- a/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
+++ b/source/RobotAPI/libraries/armem/core/base/detail/iteration_mixins.h
@@ -3,6 +3,9 @@
 #include <functional>
 #include <type_traits>
 
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+
 namespace
 {
     template<typename F, typename Ret, typename A, typename... Rest>
@@ -103,6 +106,31 @@ namespace armarx::armem::base::detail
     }
 
 
+    template <class FunctionT, class ParentT, class ChildT>
+    bool forEachInstanceIn(
+            const MemoryID& id,
+            FunctionT&& func,
+            ParentT& parent,
+            bool single,
+            ChildT* child
+            )
+    {
+        auto childFn = [&id,&func](auto& child)
+        {
+            return child.forEachInstanceIn(id, func);
+        };
+        if (single)
+        {
+            return child ? childFn(*child) : true;
+        }
+        else
+        {
+            return parent.forEachChild(childFn);
+        }
+    }
+
+
+
     // We use auto instead of, e.g. DerivedT::EntitySnapshotT,
     // as we cannot use the typedef before DerivedT was completely defined.
 
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
index a71881a57851833f91debb68c1f026f2b1fb7859..6ec40abd7ec808b8aca5aaf3cb4a93a5772e17b1 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.cpp
@@ -1,12 +1,12 @@
 #include "ice_conversions.h"
 
 #include <ArmarXCore/core/time/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 #include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
 
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 
 
 namespace armarx::armem::base
@@ -71,11 +71,11 @@ namespace armarx::armem
 
     void base::toIce(data::EntityInstanceMetadataPtr& ice, const EntityInstanceMetadata& metadata)
     {
-        armem::toIce<data::EntityInstanceMetadata>(ice, metadata);
+        armarx::toIce<data::EntityInstanceMetadata>(ice, metadata);
     }
     void base::fromIce(const data::EntityInstanceMetadataPtr& ice, EntityInstanceMetadata& metadata)
     {
-        armem::fromIce<data::EntityInstanceMetadata>(ice, metadata);
+        armarx::fromIce<data::EntityInstanceMetadata>(ice, metadata);
     }
 
 }
diff --git a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
index b58e820917bd8784f355793c308a8f5fe4d0efdb..e808e01ace5165eb3fb38109cc850138e20061df 100644
--- a/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/base/ice_conversions.h
@@ -7,14 +7,13 @@
 #include "CoreSegmentBase.h"
 #include "MemoryBase.h"
 
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
-
 #include <RobotAPI/libraries/aron/core/type/variant/forward_declarations.h>
 
 #include <RobotAPI/interface/armem/memory.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
 
 
@@ -64,7 +63,7 @@ namespace armarx::armem::base
         ice.instances.clear();
         snapshot.forEachInstance([&ice](const auto & instance)
         {
-            armem::toIce(ice.instances.emplace_back(), instance);
+            armarx::toIce(ice.instances.emplace_back(), instance);
         });
     }
     template <class ...Args>
@@ -75,7 +74,7 @@ namespace armarx::armem::base
         snapshot.clear();
         for (const data::EntityInstancePtr& iceInstance : ice.instances)
         {
-            snapshot.addInstance(armem::fromIce<typename EntitySnapshotBase<Args...>::EntityInstanceT>(iceInstance));
+            snapshot.addInstance(armarx::fromIce<typename EntitySnapshotBase<Args...>::EntityInstanceT>(iceInstance));
         }
     }
 
@@ -87,7 +86,7 @@ namespace armarx::armem::base
         ice.history.clear();
         entity.forEachSnapshot([&ice](const auto & snapshot)
         {
-            armem::toIce(ice.history[armem::toIce<dto::Time>(snapshot.time())], snapshot);
+            armarx::toIce(ice.history[armarx::toIce<dto::Time>(snapshot.time())], snapshot);
         });
     }
     template <class ...Args>
@@ -98,7 +97,7 @@ namespace armarx::armem::base
         entity.clear();
         for (const auto& [key, snapshot] : ice.history)
         {
-            entity.addSnapshot(armem::fromIce<typename EntityBase<Args...>::EntitySnapshotT>(snapshot));
+            entity.addSnapshot(armarx::fromIce<typename EntityBase<Args...>::EntitySnapshotT>(snapshot));
         }
     }
 
@@ -114,7 +113,7 @@ namespace armarx::armem::base
         ice.entities.clear();
         providerSegment.forEachEntity([&ice](const auto & entity)
         {
-            armem::toIce(ice.entities[entity.name()], entity);
+            armarx::toIce(ice.entities[entity.name()], entity);
         });
     }
     template <class ...Args>
@@ -129,7 +128,7 @@ namespace armarx::armem::base
         for (const auto& [key, entity] : ice.entities)
         {
             providerSegment.addEntity(
-                armem::fromIce<typename ProviderSegmentBase<Args...>::EntityT>(entity));
+                armarx::fromIce<typename ProviderSegmentBase<Args...>::EntityT>(entity));
         }
     }
 
@@ -144,7 +143,7 @@ namespace armarx::armem::base
         ice.providerSegments.clear();
         coreSegment.forEachProviderSegment([&ice](const auto & providerSegment)
         {
-            armem::toIce(ice.providerSegments[providerSegment.name()], providerSegment);
+            armarx::toIce(ice.providerSegments[providerSegment.name()], providerSegment);
         });
     }
     template <class ...Args>
@@ -160,7 +159,7 @@ namespace armarx::armem::base
         for (const auto& [key, providerSegment] : ice.providerSegments)
         {
             coreSegment.addProviderSegment(
-                armem::fromIce<typename CoreSegmentBase<Args...>::ProviderSegmentT>(providerSegment));
+                armarx::fromIce<typename CoreSegmentBase<Args...>::ProviderSegmentT>(providerSegment));
         }
     }
 
@@ -172,7 +171,7 @@ namespace armarx::armem::base
         ice.coreSegments.clear();
         memory.forEachCoreSegment([&ice](const auto & coreSegment)
         {
-            armem::toIce(ice.coreSegments[coreSegment.name()], coreSegment);
+            armarx::toIce(ice.coreSegments[coreSegment.name()], coreSegment);
         });
     }
     template <class ...Args>
@@ -184,7 +183,7 @@ namespace armarx::armem::base
         for (const auto& [key, coreSegment] : ice.coreSegments)
         {
             // We can avoid using CoreSegment's copy constructor this way:
-            armem::fromIce(coreSegment, memory.addCoreSegment(coreSegment->id.coreSegmentName));
+            armarx::fromIce(coreSegment, memory.addCoreSegment(coreSegment->id.coreSegmentName));
         }
     }
 
diff --git a/source/RobotAPI/libraries/armem/core/container_maps.h b/source/RobotAPI/libraries/armem/core/container_maps.h
new file mode 100644
index 0000000000000000000000000000000000000000..625c92bb02548c66b96c18e349bbe23acc0385ef
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/core/container_maps.h
@@ -0,0 +1,232 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+#include <optional>
+#include <tuple>
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+namespace armarx::armem
+{
+
+    namespace detail
+    {
+    template <class KeyT, class ValueT>
+    struct MapRef
+    {
+        KeyT* key;
+        ValueT* value;
+    };
+
+
+
+        /**
+        * @brief Get the entry in the map for which the returned key is the longest prefix
+        *        of the given key among the keys in the map.
+        *
+        * `prefixFunc` is used to successively calculate the prefixes of the given key.
+        * It must be pure and return an empty optional when there is no shorter
+        * prefix of the given key (for strings, this would be the case when passed the empty string).
+        *
+        * @param keyValMap the map that contains the key-value-pairs to search
+        * @param prefixFunc the function that returns the longest non-identical prefix of the key
+        * @param key the key to calculate the prefixes of
+        *
+        * @return The iterator pointing to the found entry, or `keyValMap.end()`.
+        */
+        template <typename KeyT, typename ValueT>
+        typename std::map<KeyT, ValueT>::const_iterator
+        findEntryWithLongestPrefix(const std::map<KeyT, ValueT>& keyValMap,
+                                   const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
+                                   const KeyT& key)
+        {
+            std::optional<KeyT> curKey = key;
+
+            typename std::map<KeyT, ValueT>::const_iterator result = keyValMap.end();
+            do
+            {
+                auto iterator = keyValMap.find(curKey.value());
+                if (iterator != keyValMap.end())
+                {
+                    result = iterator;
+                }
+                else
+                {
+                    curKey = prefixFunc(curKey.value());
+                }
+            }
+            while (result == keyValMap.end() and curKey.has_value());
+
+            return result;
+        }
+
+
+        /**
+        * @brief Accumulate all the values in a map for which the keys are prefixes of the given key.
+        *
+        * `AccumulateT` is a type that the values will be accumulated into using `accumulateFunc`.
+        * `accumulateFunc` is a function that modifies the given accumulator
+        * (by, e.g., adding the given value to it).
+        *
+        * The values are accumulated in order from the longest key to the shortest. 
+        *
+        * @see `getWithLongestPrefix` for a description of `prefixFunc`
+        * @param keyValMap the map that contains the key-value-pairs to search
+        * @param prefixFunc the function that returns the longest non-identical prefix of the key
+        * @param accumulateFunc the function that accumulates the values in the accumulator
+        * @param key the key to calculate the prefixes of
+        */
+        template <typename KeyT, typename ValueT, typename AccumulateT>
+        AccumulateT
+        accumulateFromPrefixes(const std::map<KeyT, ValueT>& keyValMap,
+                               const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
+                               const std::function<void(AccumulateT&, const ValueT&)> accumulateFunc,
+                               const KeyT& key)
+        {
+            std::optional<KeyT> curKey = key;
+            AccumulateT values;
+            do
+            {
+                const auto nextEntry =
+                    findEntryWithLongestPrefix<KeyT, ValueT>(keyValMap, prefixFunc, curKey.value());
+                if (nextEntry != keyValMap.end())
+                {
+                    curKey = prefixFunc(nextEntry->first);
+                    accumulateFunc(values, nextEntry->second);
+                }
+                else
+                {
+                    curKey.reset();
+                }
+            }
+            while (curKey.has_value());
+
+            return values;
+        }
+
+        /**
+        * @brief Collect all the values in a map for which the keys are prefixes of the given key.
+        *
+        * This is a specialization of the general `accumulateFromPrefixes`
+        * for collecting single values into a vector.
+        *
+        * @see `accumulateFromPrefixes` for a detailed description
+        * @param keyValMap the map that contains the key-value-pairs to search
+        * @param prefixFunc the function that returns the longest non-identical prefix of the key
+        * @param key the key to calculate the prefixes of
+        */
+        template <typename KeyT, typename ValueT>
+        std::vector<ValueT>
+        accumulateFromPrefixes(const std::map<KeyT, ValueT>& keyValMap,
+                               const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
+                               const KeyT& key)
+        {
+            return accumulateFromPrefixes<KeyT, ValueT, std::vector<ValueT>>(
+                keyValMap,
+                prefixFunc,
+                [](std::vector<ValueT>& values, const ValueT& val) { values.push_back(val); },
+                key);
+        }
+
+        /**
+        * @brief Collect all the values in a map for which the keys are prefixes of the given key.
+        *
+        * This is a specialization of the general `accumulateFromPrefixes`
+        * for appending vector values into a single vector.
+        *
+        * @see `accumulateFromPrefixes` for a detailed description
+        * @param keyValMap the map that contains the key-value-pairs to search
+        * @param prefixFunc the function that returns the longest non-identical prefix of the key
+        * @param key the key to calculate the prefixes of
+        */
+        template <typename KeyT, typename ValueT>
+        std::vector<ValueT>
+        accumulateFromPrefixes(const std::map<KeyT, std::vector<ValueT>>& keyValMap,
+                               const std::function<std::optional<KeyT>(const KeyT&)>& prefixFunc,
+                               const KeyT& key)
+        {
+            return accumulateFromPrefixes<KeyT, std::vector<ValueT>, std::vector<ValueT>>(
+                keyValMap,
+                prefixFunc,
+                [](std::vector<ValueT>& values, const std::vector<ValueT>& val)
+                { values.insert(values.end(), val.begin(), val.end()); },
+                key);
+        }
+
+    } // namespace detail
+
+
+    std::optional<MemoryID> inline getMemoryIDParent(const MemoryID& memID)
+    {
+        if (!memID.hasMemoryName())
+        {
+            return std::nullopt;
+        }
+        MemoryID parent = memID.removeLeafItem();
+        return {parent};
+    }
+
+
+    /**
+     * @brief Find the entry with the most specific key that contains the given ID,
+     * or `idMap.end()` if no key contains the ID.
+     *
+     * @see `detail::findEntryWithLongestPrefix()`
+     */
+    template <typename ValueT>
+    typename std::map<MemoryID, ValueT>::const_iterator
+    findMostSpecificEntryContainingID(const std::map<MemoryID, ValueT>& idMap, const MemoryID& id)
+    {
+        return detail::findEntryWithLongestPrefix<MemoryID, ValueT>(idMap, &getMemoryIDParent, id);
+    }
+
+
+    /**
+     * @brief Return all values of keys containing the given ID.
+     *
+     * @see `detail::accumulateFromPrefixes()`
+     */
+    template <typename ValueT>
+    std::vector<ValueT>
+    accumulateEntriesContainingID(const std::map<MemoryID, ValueT>& idMap, const MemoryID& id)
+    {
+        return detail::accumulateFromPrefixes<MemoryID, ValueT>(idMap, &getMemoryIDParent, id);
+    }
+
+
+    /**
+     * @brief Return all values of keys containing the given ID in a flattened vector.
+     *
+     * @see `detail::accumulateFromPrefixes()`
+     */
+    template <typename ValueT>
+    std::vector<ValueT>
+    accumulateEntriesContainingID(const std::map<MemoryID, std::vector<ValueT>>& idMap,
+                                  const MemoryID& key)
+    {
+        return detail::accumulateFromPrefixes<MemoryID, ValueT>(idMap, &getMemoryIDParent, key);
+    }
+
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
index ac8be17b51fd8f67d90de93c77513d15b6ff8320..87b687447b7277cbd3861d7c29e3df566e3e26b3 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.cpp
@@ -220,4 +220,21 @@ namespace armarx::armem::error
         return ss.str();
     }
 
+    ProxyNotSet::ProxyNotSet(const std::string& proxyName, const std::string& message) :
+        ArMemError(makeMsg(proxyName, message))
+    {
+    }
+
+    std::string
+    ProxyNotSet::makeMsg(const std::string& proxyName, const std::string& message)
+    {
+        std::stringstream sstream;
+        sstream << "Proxy \"" << proxyName << "\" not set.";
+        if (!message.empty())
+        {
+            sstream << "\n" << message;
+        }
+        return sstream.str();
+    }
+
 } // namespace armarx::armem::error
diff --git a/source/RobotAPI/libraries/armem/core/error/ArMemError.h b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
index 5678ee1a9a8e452309f2127fa41f519858ee233c..6f5be02a243e9e953d56b67f5f1726be214b2745 100644
--- a/source/RobotAPI/libraries/armem/core/error/ArMemError.h
+++ b/source/RobotAPI/libraries/armem/core/error/ArMemError.h
@@ -203,5 +203,15 @@ namespace armarx::armem::error
 
     };
 
-}
+    /**
+     * @brief Indicates that a proxy required for an operation wasn't usable.
+     */
+    class ProxyNotSet : public ArMemError
+    {
+    public:
+        ProxyNotSet(const std::string& proxyName, const std::string& message = "");
+
+        static std::string makeMsg(const std::string& proxyName, const std::string& message = "");
+    };
 
+} // namespace armarx::armem::error
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
index 1dd76ae471eab7f3041b7ea835891f53d6df3f3f..dfd25e3ba39ca2bc9a18be1b45684d004255297f 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.cpp
@@ -1,6 +1,7 @@
 #include "ice_conversions.h"
 
 #include <ArmarXCore/core/time/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
 
@@ -8,8 +9,6 @@
 #include <RobotAPI/interface/armem/commit.h>
 #include <RobotAPI/interface/armem/memory.h>
 
-#include "ice_conversions_templates.h"
-
 #include "actions.h"
 #include "Commit.h"
 #include "MemoryID.h"
@@ -137,7 +136,7 @@ namespace armarx
 
     void armem::fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived)
     {
-        armem::fromIce(ice, update);
+        fromIce(ice, update);
         update.timeArrived = timeArrived;
     }
 
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions.h b/source/RobotAPI/libraries/armem/core/ice_conversions.h
index 2a4daf725a32bb9ca12a5865be8207b87076871a..b88157c688bcaeefd301b1764bf6a78d33badf71 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions.h
@@ -28,7 +28,6 @@ namespace armarx::armem
     void fromIce(const data::Commit& ice, Commit& commit, Time timeArrived);
     void fromIce(const data::EntityUpdate& ice, EntityUpdate& update, Time timeArrived);
 
-
     void fromIce(const actions::data::MenuPtr& ice, actions::Menu& menu);
     void toIce(actions::data::MenuPtr& ice, const actions::Menu& menu);
 
diff --git a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
index 8060e22a0782e23c6bb989fe900fcce99c7ff7c6..d5bd8f32a4b6bfc9f57e35fc22fd9a79d4bdae2e 100644
--- a/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
+++ b/source/RobotAPI/libraries/armem/core/ice_conversions_templates.h
@@ -1,12 +1,9 @@
 #pragma once
 
-#include "Commit.h"
+#include <ArmarXCore/core/ice_conversions.h>
 
-#include <Ice/Handle.h>
-
-#include <map>
-#include <memory>
-#include <vector>
+#define DEPRECATION_TO_ICE "This function is deprecated. Use armarx::toIce() from <ArmarXCore/core/ice_conversions.h> instead."
+#define DEPRECATION_FROM_ICE "This function is deprecated. Use armarx::fromIce() from <ArmarXCore/core/ice_conversions.h> instead."
 
 
 namespace armarx::armem
@@ -14,11 +11,13 @@ namespace armarx::armem
 
     // Same type
     template <class T>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(T& ice, const T& cpp)
     {
         ice = cpp;
     }
     template <class T>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const T& ice, T& cpp)
     {
         cpp = ice;
@@ -27,12 +26,14 @@ namespace armarx::armem
 
     // Ice Handle
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(::IceInternal::Handle<IceT>& ice, const CppT& cpp)
     {
         ice = new IceT();
         toIce(*ice, cpp);
     }
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const ::IceInternal::Handle<IceT>& ice, CppT& cpp)
     {
         if (ice)
@@ -44,6 +45,7 @@ namespace armarx::armem
 
     // General return version
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     IceT toIce(const CppT& cpp)
     {
         IceT ice;
@@ -51,6 +53,7 @@ namespace armarx::armem
         return ice;
     }
     template <class CppT, class IceT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     CppT fromIce(const IceT& ice)
     {
         CppT cpp;
@@ -61,6 +64,7 @@ namespace armarx::armem
     // std::unique_ptr
 
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(IceT& ice, const std::unique_ptr<CppT>& cppPointer)
     {
         if (cppPointer)
@@ -69,6 +73,7 @@ namespace armarx::armem
         }
     }
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const IceT& ice, std::unique_ptr<CppT>& cppPointer)
     {
         cppPointer = std::make_unique<CppT>();
@@ -79,6 +84,7 @@ namespace armarx::armem
     // Ice Handle <-> std::unique_ptr
 
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(::IceInternal::Handle<IceT>& ice, const std::unique_ptr<CppT>& cppPointer)
     {
         if (cppPointer)
@@ -92,6 +98,7 @@ namespace armarx::armem
         }
     }
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const ::IceInternal::Handle<IceT>& ice, std::unique_ptr<CppT>& cppPointer)
     {
         if (ice)
@@ -109,6 +116,7 @@ namespace armarx::armem
     // std::vector
 
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(std::vector<IceT>& ices, const std::vector<CppT>& cpps)
     {
         ices.clear();
@@ -119,6 +127,7 @@ namespace armarx::armem
         }
     }
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const std::vector<IceT>& ices, std::vector<CppT>& cpps)
     {
         cpps.clear();
@@ -130,6 +139,7 @@ namespace armarx::armem
     }
 
     template <class IceT, class CppT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     std::vector<IceT> toIce(const std::vector<CppT>& cpps)
     {
         std::vector<IceT> ices;
@@ -141,6 +151,7 @@ namespace armarx::armem
     // std::map
 
     template <class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     void toIce(std::map<IceKeyT, IceValueT>& iceMap,
                const std::map<CppKeyT, CppValueT>& cppMap)
     {
@@ -151,6 +162,7 @@ namespace armarx::armem
         }
     }
     template <class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
+    [[deprecated(DEPRECATION_FROM_ICE)]]
     void fromIce(const std::map<IceKeyT, IceValueT>& iceMap,
                  std::map<CppKeyT, CppValueT>& cppMap)
     {
@@ -162,6 +174,7 @@ namespace armarx::armem
     }
 
     template <class IceKeyT, class IceValueT, class CppKeyT, class CppValueT>
+    [[deprecated(DEPRECATION_TO_ICE)]]
     std::map<IceKeyT, IceValueT> toIce(const std::map<CppKeyT, CppValueT>& cppMap)
     {
         std::map<IceKeyT, IceValueT> iceMap;
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
index 566cf7e0bcbdba70e8e16ca5c527120628c89f32..3247c4cc45133132a1346fa42b46166c183a60ad 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
@@ -59,7 +59,7 @@ namespace armarx::armem::mns
         int row = 0;
         grid.add(Label("Memory Name"), {row, 0})
         .add(Label("Component Name"), {row, 1})
-        .add(Label("R/W/A"), {row, 2})
+        .add(Label("R/W/P/A"), {row, 2})
         .add(Label("Registration Time"), {row, 3})
         ;
         row++;
@@ -79,6 +79,11 @@ namespace armarx::armem::mns
                 componentName = info.server.writing->ice_getIdentity().name;
                 mode += "W";
             }
+            if (info.server.prediction)
+            {
+                componentName = info.server.prediction->ice_getIdentity().name;
+                mode += "P";
+            }
             if (info.server.actions)
             {
                 componentName = info.server.actions->ice_getIdentity().name;
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.cpp b/source/RobotAPI/libraries/armem/mns/Registry.cpp
index ad3a8e54a3a292f8dfc8dd72ac72b2a7b5564041..79edf5d06193cd61f185044138edd0a19b1a989f 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.cpp
+++ b/source/RobotAPI/libraries/armem/mns/Registry.cpp
@@ -160,10 +160,14 @@ namespace armarx::armem::mns
     }
 
 
+    server::PredictingMemoryInterfacePrx getPredictionInterface(const dto::MemoryServerInterfaces& server)
+    {
+        return server.prediction;
+    }
+
+
     server::actions::ActionsInterfacePrx getActionsInterface(const dto::MemoryServerInterfaces& server)
     {
         return server.actions;
     }
-
 }
-
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.h b/source/RobotAPI/libraries/armem/mns/Registry.h
index 7fcd1c04b95b5b0fe938ae4fdc383ada5bd147d5..0148d6c529fb57321117f21ad800c51d0d3cc549 100644
--- a/source/RobotAPI/libraries/armem/mns/Registry.h
+++ b/source/RobotAPI/libraries/armem/mns/Registry.h
@@ -4,6 +4,7 @@
 
 #include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
 #include <RobotAPI/interface/armem/server/ActionsInterface.h>
+#include <RobotAPI/interface/armem/server/PredictingMemoryInterface.h>
 #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
 #include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
 
@@ -69,5 +70,6 @@ namespace armarx::armem::mns
 
     server::ReadingMemoryInterfacePrx getReadingInterface(const dto::MemoryServerInterfaces& server);
     server::WritingMemoryInterfacePrx getWritingInterface(const dto::MemoryServerInterfaces& server);
+    server::PredictingMemoryInterfacePrx getPredictionInterface(const dto::MemoryServerInterfaces& server);
     server::actions::ActionsInterfacePrx getActionsInterface(const dto::MemoryServerInterfaces& server);
 }
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index a838e9e0f173de79b0a89a9d14bf103757d5b531..a10a398186c73734a841dbf3e40cf8db11987769 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -3,14 +3,14 @@
 #include "query_proc/wm/wm.h"
 #include "query_proc/ltm/disk/ltm.h"
 
-#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
-
+#include <RobotAPI/libraries/aron/core/Exception.h>
 #include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
 #include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-
-#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/armem/server/wm/ice_conversions.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
 
@@ -123,7 +123,7 @@ namespace armarx::armem::server
         armem::Commit commit;
         try
         {
-            armem::fromIce(commitIce, commit, timeArrived);
+            ::armarx::armem::fromIce(commitIce, commit, timeArrived);
         }
         catch (const aron::error::AronNotValidException& e)
         {
@@ -138,7 +138,7 @@ namespace armarx::armem::server
 
         armem::CommitResult result = this->commit(commit);
         data::CommitResult resultIce;
-        armem::toIce(resultIce, result);
+        toIce(resultIce, result);
 
         return resultIce;
     }
@@ -229,7 +229,7 @@ namespace armarx::armem::server
                 if (publishUpdates)
                 {
                     data::MemoryID& id = updatedIDs.emplace_back();
-                    armem::toIce(id, result.snapshotID);
+                    toIce(id, result.snapshotID);
                 }
             }
             catch (const error::ArMemError& e)
@@ -310,7 +310,7 @@ namespace armarx::armem::server
             }
         }
 
-        result.memory = toIce<data::MemoryPtr>(wmResult);
+        result.memory = armarx::toIce<data::MemoryPtr>(wmResult);
 
         result.success = true;
         if (result.memory->coreSegments.size() == 0)
@@ -352,12 +352,39 @@ namespace armarx::armem::server
 
         if (queryResult.success)
         {
-            armem::wm::Memory m;
-            fromIce(queryResult.memory, m);
+            armem::wm::Memory m = armarx::fromIce<armem::wm::Memory>(queryResult.memory);
             longtermMemory->store(m);
         }
 
         return output;
     }
 
+    // PREDICTION
+    prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
+    {
+        prediction::data::EngineSupportMap result;
+        armarx::toIce(result, workingMemory->getAllPredictionEngines());
+
+        prediction::data::EngineSupportMap ltmMap;
+        armarx::toIce(ltmMap, workingMemory->getAllPredictionEngines());
+        for (const auto& [memoryID, engines] : ltmMap)
+        {
+            auto entryIter = result.find(memoryID);
+            if (entryIter == result.end())
+            {
+                result.emplace(memoryID, engines);
+            }
+            else
+            {
+                // Merge LTM-supported engines with WM-supported engines, removing duplicates
+                std::set<prediction::data::PredictionEngine> engineSet;
+                engineSet.insert(entryIter->second.begin(), entryIter->second.end());
+                engineSet.insert(engines.begin(), engines.end());
+                entryIter->second.assign(engineSet.begin(), engineSet.end());
+            }
+        }
+
+        return result;
+    }
+
 }
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 33e788ff566ca4f06b369160112f54160b425b46..96c1e822d6f4150c6e341bd5c0d234f57efec2b5 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -52,6 +52,9 @@ namespace armarx::armem::server
         // LTM STORING
         data::StoreResult store(const armem::data::StoreInput& input);
 
+        // PREDICTION
+        prediction::data::EngineSupportMap getAvailableEngines();
+
     public:
 
         server::wm::Memory* workingMemory;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
index 4356aed6f4591eb5d33baaa86b0f9d4388f0a628..40d22cead44dea33a993364415ea6cbe59d6413a 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -1,6 +1,7 @@
 #include "Plugin.h"
 
 #include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
 #include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
 
 #include <ArmarXCore/core/Component.h>
@@ -37,9 +38,13 @@ namespace armarx::armem::server::plugins
             properties->optional(longtermMemory.enabled, prefix + "ltm.enabled");
         }
         longtermMemory.createPropertyDefinitions(properties, prefix + "ltm.");
+    }
+
 
-        // Publish memory updates topic
-        properties->topic(memoryTopic, memoryTopicDefaultName);
+    void Plugin::preOnInitComponent()
+    {
+        memoryTopicName = client::util::MemoryListener::MakeMemoryTopicName(MemoryID(workingMemory.name()));
+        parent().offeringTopic(memoryTopicName);
     }
 
 
@@ -52,6 +57,7 @@ namespace armarx::armem::server::plugins
         {
             registerServer(parent);
         }
+        parent.getTopic(memoryTopic, memoryTopicName);
         iceAdapter.setMemoryListener(memoryTopic);
     }
 
@@ -78,6 +84,7 @@ namespace armarx::armem::server::plugins
         mns::dto::MemoryServerInterfaces server;
         server.reading = ReadingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
         server.writing = WritingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
+        server.prediction = PredictingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
         server.actions = actions::ActionsInterfacePrx::uncheckedCast(parent.getProxy());
 
         mns::dto::RegisterServerResult result;
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
index 8a5a68934003997a9588117ecc985f2fa9dfe456..dcbe7adc4c3b519a55da2b234f6f3b28338fd74f 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -33,6 +33,7 @@ namespace armarx::armem::server::plugins
 
         virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
+        virtual void preOnInitComponent() override;
         virtual void postOnConnectComponent() override;
         virtual void preOnDisconnectComponent() override;
 
@@ -74,7 +75,9 @@ namespace armarx::armem::server::plugins
 
         // Working Memory Updates (publishing)
 
-        std::string memoryTopicDefaultName = "MemoryUpdates";
+        /// Available at onInit().
+        std::string memoryTopicName;
+        /// Available after onConnect().
         client::MemoryListenerInterfacePrx memoryTopic;
 
 
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 41e09c13be1cbc68f0281023596be9c275f16dc5..44454b87d83b905edff8b925b0aa5831ffd8715e 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -2,6 +2,7 @@
 #include "Plugin.h"
 
 #include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 
 #include <ArmarXCore/core/Component.h>
@@ -117,4 +118,39 @@ namespace armarx::armem::server::plugins
         return {};
     }
 
+    // PREDICTIONS
+    armem::prediction::data::PredictionResultSeq
+    ReadWritePluginUser::predict(const armem::prediction::data::PredictionRequestSeq& requests)
+    {
+        armem::prediction::data::PredictionResultSeq result;
+        for (auto request : requests)
+        {
+            armem::PredictionResult singleResult;
+            singleResult.success = false;
+            singleResult.errorMessage = "This memory does not implement predictions.";
+            singleResult.prediction = nullptr;
+            result.push_back(singleResult.toIce());
+        }
+        return result;
+    }
+
+    armem::prediction::data::EngineSupportMap
+    ReadWritePluginUser::getAvailableEngines()
+    {
+        return iceAdapter().getAvailableEngines();
+    }
+
+    armem::prediction::data::PredictionResultSeq
+    ReadWritePluginUser::predict(const armem::prediction::data::PredictionRequestSeq& requests,
+                                 const ::Ice::Current& /*unused*/)
+    {
+        return predict(requests);
+    }
+
+    armem::prediction::data::EngineSupportMap
+    ReadWritePluginUser::getAvailableEngines(const ::Ice::Current& /*unused*/)
+    {
+        return getAvailableEngines();
+    }
+
 } // namespace armarx::armem::server::plugins
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
index 83e761281bf064a111a90efe15a9148689daa2ff..8ddf174b172d4eb2fc4fba7f3e89d79553d72b42 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -55,6 +55,17 @@ namespace armarx::armem::server::plugins
         virtual armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& inputs, const ::Ice::Current&) override;
         virtual armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& inputs, const ::Ice::Current&) override;
 
+        // PredictingInterface interface
+        virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests);
+
+        // Unless you need very unusual behavior from this method for your memory server,
+        // it is better to set the available prediction engines in the memory itself
+        // and let it handle the requests than to override this.
+        virtual armem::prediction::data::EngineSupportMap getAvailableEngines();
+
+        virtual armem::prediction::data::PredictionResultSeq predict(const armem::prediction::data::PredictionRequestSeq& requests, const ::Ice::Current&) override;
+        virtual armem::prediction::data::EngineSupportMap getAvailableEngines(const ::Ice::Current&) override;
+
     public:
 
         Plugin& memoryServerPlugin();
diff --git a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
index 73a77eddd0d7efab69dc16f37e544049e743fc43..432453afbf5de7e1c4d1b0cdd21d18bef1b56787 100644
--- a/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
+++ b/source/RobotAPI/libraries/armem/server/query_proc/base/EntityQueryProcessorBase.h
@@ -3,11 +3,11 @@
 #include "BaseQueryProcessorBase.h"
 
 #include <ArmarXCore/core/time/ice_conversions.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <RobotAPI/libraries/armem/core/Time.h>
 #include <RobotAPI/libraries/armem/core/error.h>
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 
 #include <RobotAPI/interface/armem/query.h>
 
@@ -108,7 +108,7 @@ namespace armarx::armem::server::query_proc::base
             }
             else
             {
-                const Time time = armem::fromIce<Time>(query.timestamp);
+                const Time time = armarx::fromIce<Time>(query.timestamp);
                 if (auto snapshot = entity.findSnapshot(time))
                 {
                     this->addResultSnapshot(result, *snapshot);
@@ -141,8 +141,8 @@ namespace armarx::armem::server::query_proc::base
                 || query.minTimestamp.timeSinceEpoch.microSeconds < 0
                 || query.maxTimestamp.timeSinceEpoch.microSeconds < 0)
             {
-                const Time min = fromIce<Time>(query.minTimestamp);
-                const Time max = fromIce<Time>(query.maxTimestamp);
+                const Time min = armarx::fromIce<Time>(query.minTimestamp);
+                const Time max = armarx::fromIce<Time>(query.maxTimestamp);
                 process(result, min, max, entity, query);
             }
         }
@@ -181,7 +181,7 @@ namespace armarx::armem::server::query_proc::base
                      const armem::query::data::entity::BeforeOrAtTime& query,
                      const EntityT& entity) const
         {
-            const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+            const Time referenceTimestamp = armarx::fromIce<Time>(query.timestamp);
             base::detail::checkReferenceTimestampNonNegative(referenceTimestamp);
 
             if (auto beforeOrAt = entity.findLatestSnapshotBeforeOrAt(referenceTimestamp))
@@ -195,7 +195,7 @@ namespace armarx::armem::server::query_proc::base
                      const armem::query::data::entity::BeforeTime& query,
                      const EntityT& entity) const
         {
-            const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+            const Time referenceTimestamp = armarx::fromIce<Time>(query.timestamp);
             base::detail::checkReferenceTimestampNonNegative(referenceTimestamp);
 
             std::vector<const EntitySnapshotT*> befores;
@@ -226,7 +226,7 @@ namespace armarx::armem::server::query_proc::base
                      const armem::query::data::entity::TimeApprox& query,
                      const EntityT& entity) const
         {
-            const Time referenceTimestamp = fromIce<Time>(query.timestamp);
+            const Time referenceTimestamp = armarx::fromIce<Time>(query.timestamp);
             base::detail::checkReferenceTimestampNonNegative(referenceTimestamp);
 
             // elements have to be in range [t_ref - eps, t_ref + eps] if eps is positive
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
index b0afa282677c45325993feee0fcba60245236611..818c2d38520fa55b31390cff00123720f0fdbefd 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.cpp
@@ -14,9 +14,11 @@ namespace armarx::armem::server::segment
             armem::server::MemoryToIceAdapter& iceMemory,
             const std::string& defaultCoreSegmentName,
             aron::type::ObjectPtr coreSegmentAronType,
-            int defaultMaxHistorySize) :
+            int defaultMaxHistorySize,
+            const std::vector<PredictionEngine>& predictionEngines) :
         Base(iceMemory),
         aronType(coreSegmentAronType),
+        predictionEngines(predictionEngines),
         properties({defaultCoreSegmentName, defaultMaxHistorySize})
     {
         Logging::setTag("armarx::armem::SpecializedCoreSegment");
@@ -60,6 +62,7 @@ namespace armarx::armem::server::segment
 
             segmentPtr->aronType() = aronType;
             segmentPtr->setMaxHistorySize(properties.maxHistorySize);
+            segmentPtr->setPredictionEngines(predictionEngines);
         }
     }
 
@@ -80,6 +83,13 @@ namespace armarx::armem::server::segment
         this->aronType = aronType;
     }
 
+    void
+    SpecializedCoreSegment::setPredictionEngines(
+        const std::vector<PredictionEngine>& predictionEngines)
+    {
+        this->predictionEngines = predictionEngines;
+    }
+
     wm::CoreSegment& SpecializedCoreSegment::getCoreSegment()
     {
         ARMARX_CHECK_NOT_NULL(segmentPtr);
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
index d94fa1aed5632e752fec44bbfeadc91b1c7e34bd..5ddca3e7d1dc0820a29039dba17af1e956d9897c 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h
@@ -27,7 +27,8 @@ namespace armarx::armem::server::segment
                 MemoryToIceAdapter& iceMemory,
                 const std::string& defaultCoreSegmentName = "",
                 aron::type::ObjectPtr coreSegmentAronType = nullptr,
-                int defaultMaxHistorySize = -1);
+                int defaultMaxHistorySize = -1,
+                const std::vector<PredictionEngine>& predictionEngines = {});
 
             virtual ~SpecializedCoreSegment() override;
 
@@ -43,6 +44,8 @@ namespace armarx::armem::server::segment
             void setDefaultCoreSegmentName(const std::string& coreSegmentName);
             void setDefaultMaxHistorySize(int64_t maxHistorySize);
             void setAronType(aron::type::ObjectPtr aronType);
+            void
+            setPredictionEngines(const std::vector<PredictionEngine>& predictionEngines);
 
             wm::CoreSegment& getCoreSegment();
             const wm::CoreSegment& getCoreSegment() const;
@@ -51,6 +54,7 @@ namespace armarx::armem::server::segment
         public:
 
             aron::type::ObjectPtr aronType;
+            std::vector<PredictionEngine> predictionEngines;
 
             struct Properties
             {
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
index 747b2bec833e5f1b13366e2954b5af4f12f64b4b..f5ab3b86543d601310a02a0de59820a2d459a32e 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.cpp
@@ -10,15 +10,22 @@
 namespace armarx::armem::server::segment
 {
     SpecializedProviderSegment::SpecializedProviderSegment(
-            armem::server::MemoryToIceAdapter& iceMemory,
-            const std::string& defaultProviderSegmentName,
-            const std::string& defaultCoreSegmentName,
-            aron::type::ObjectPtr providerSegmentAronType,
-            aron::type::ObjectPtr coreSegmentAronType,
-            int defaultMaxHistorySize) :
+        armem::server::MemoryToIceAdapter& iceMemory,
+        const std::string& defaultProviderSegmentName,
+        const std::string& defaultCoreSegmentName,
+        aron::type::ObjectPtr providerSegmentAronType,
+        aron::type::ObjectPtr coreSegmentAronType,
+        int defaultMaxHistorySize,
+        const std::vector<PredictionEngine>& providerSegmentPredictionEngines,
+        const std::vector<PredictionEngine>& coreSegmentPredictionEngines) :
         Base(iceMemory),
         aronType(providerSegmentAronType),
-        coreSegment(iceMemory, defaultCoreSegmentName, coreSegmentAronType),
+        predictionEngines(providerSegmentPredictionEngines),
+        coreSegment(iceMemory,
+                    defaultCoreSegmentName,
+                    coreSegmentAronType,
+                    -1,
+                    providerSegmentPredictionEngines),
         properties({defaultProviderSegmentName, defaultMaxHistorySize})
     {
         Logging::setTag("armarx::armem::SpecializedProviderSegment");
@@ -65,6 +72,7 @@ namespace armarx::armem::server::segment
 
             segmentPtr->aronType() = aronType;
             segmentPtr->setMaxHistorySize(properties.maxHistorySize);
+            segmentPtr->setPredictionEngines(predictionEngines);
         }
     }
 
@@ -85,6 +93,13 @@ namespace armarx::armem::server::segment
         this->aronType = aronType;
     }
 
+    void
+    SpecializedProviderSegment::setPredictionEngines(
+        const std::vector<PredictionEngine>& predictionEngines)
+    {
+        this->predictionEngines = predictionEngines;
+    }
+
     wm::ProviderSegment& SpecializedProviderSegment::getProviderSegment()
     {
         ARMARX_CHECK_NOT_NULL(segmentPtr);
diff --git a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
index 44db000d18e7804c99e1cc1d412cd3efe5b9b652..3cb50c52f42ba2e2ca35a5024755729b9226336f 100644
--- a/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
+++ b/source/RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h
@@ -29,7 +29,9 @@ namespace armarx::armem::server::segment
                 const std::string& defaultCoreSegmentName = "",
                 aron::type::ObjectPtr providerSegmentAronType = nullptr,
                 aron::type::ObjectPtr coreSegmentAronType = nullptr,
-                int defaultMaxHistorySize = -1);
+                int defaultMaxHistorySize = -1,
+                const std::vector<PredictionEngine>& providerSegmentPredictionEngines = {},
+                const std::vector<PredictionEngine>& coreSegmentPredictionEngines = {});
 
             virtual ~SpecializedProviderSegment() override;
 
@@ -39,6 +41,8 @@ namespace armarx::armem::server::segment
             void setDefaultProviderSegmentName(const std::string& providerSegmentName);
             void setDefaultMaxHistorySize(int64_t maxHistorySize);
             void setAronType(aron::type::ObjectPtr aronType);
+            void
+            setPredictionEngines(const std::vector<PredictionEngine>& predictionEngines);
 
             wm::ProviderSegment& getProviderSegment();
             const wm::ProviderSegment& getProviderSegment() const;
@@ -47,6 +51,7 @@ namespace armarx::armem::server::segment
         public:
 
             aron::type::ObjectPtr aronType;
+            std::vector<PredictionEngine> predictionEngines;
             SpecializedCoreSegment coreSegment;
 
             struct Properties
diff --git a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
index 8cb721c4b724e0c6f307a6ee6b796c01c974680a..f1b5b362318e577dda941c1dd8fff97dd3cf72d7 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemForEachTest.cpp
@@ -167,7 +167,6 @@ BOOST_AUTO_TEST_CASE(test_forEach)
     });
     BOOST_TEST_INFO(toVector(cids));
     BOOST_CHECK_EQUAL(cids.size(), 0);
-
 }
 
 
@@ -186,3 +185,240 @@ BOOST_AUTO_TEST_CASE(test_forEach_non_bool_func)
     });
     BOOST_CHECK_EQUAL(i, 2);
 }
+
+
+
+BOOST_AUTO_TEST_CASE(test_forEachInstanceIn)
+{
+    armem::wm::EntitySnapshot snapshot(armem::Time::Now());
+    snapshot.addInstance();
+    snapshot.addInstance();
+
+    int i = 0;
+    auto count = [&i](const auto&) -> void
+    {
+        ++i;
+    };
+
+    {
+        auto test = [&](auto&& snapshot)
+        {
+            armem::MemoryID id;
+
+            // Count any.
+            i = 0;
+            snapshot.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 2);
+
+            // Just index 0.
+            id.instanceIndex = 0;
+            i = 0;
+            snapshot.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Just index 1.
+            id.instanceIndex = 1;
+            i = 0;
+            snapshot.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Just index 2, but does not exist.
+            id.instanceIndex = 2;
+            i = 0;
+            snapshot.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 0);
+        };
+        test(snapshot);
+        test(const_cast<const armem::wm::EntitySnapshot&>(snapshot));
+    }
+
+
+    armem::wm::Entity entity("entity");
+    entity.addSnapshot(snapshot);
+    entity.addSnapshot(snapshot.time() + armem::Duration::Seconds(1)).addInstance();
+
+    {
+        auto test = [&](auto&& entity)
+        {
+            armem::MemoryID id;
+
+            // Count any.
+            i = 0;
+            entity.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 3);
+
+            // Count only one snapshot (with 2 instances).
+            id.timestamp = snapshot.time();
+            i = 0;
+            entity.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 2);
+
+            // Count only one snapshot and only one instance.
+            id.instanceIndex = 1;
+            i = 0;
+            entity.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Count non-existing snapshot.
+            id = {};
+            id.timestamp = snapshot.time() - armem::Duration::Seconds(1);
+            i = 0;
+            entity.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 0);
+        };
+        test(entity);
+        test(const_cast<const armem::wm::Entity&>(entity));
+    }
+
+
+    armem::wm::ProviderSegment provSeg("provider");
+    provSeg.addEntity(entity);
+    provSeg.addEntity(entity.name() + " 2")
+            .addSnapshot(armem::Time::Now())
+            .addInstance();
+
+    {
+        auto test = [&](auto&& provSeg)
+        {
+            armem::MemoryID id;
+
+            // Count all (2+1) + 1 instances.
+            i = 0;
+            provSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 4);
+
+            // Count only one entity (with 2+1 instances).
+            id.entityName = entity.name();
+            i = 0;
+            provSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 3);
+
+            // Count only one entity and one snapshot with 2 instances.
+            id.timestamp = snapshot.time();
+            i = 0;
+            provSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 2);
+
+            // Count only one entity and one snapshot, 1 instance.
+            id.instanceIndex = 1;
+            i = 0;
+            provSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Count non-existing entity.
+            id = {};
+            id.entityName = "non existing";
+            i = 0;
+            provSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 0);
+        };
+        test(provSeg);
+        test(const_cast<const armem::wm::ProviderSegment&>(provSeg));
+    }
+
+
+    armem::wm::CoreSegment coreSeg("core");
+    coreSeg.addProviderSegment(provSeg);
+    coreSeg.addProviderSegment("other prov segment")
+            .addEntity("other entity")
+            .addSnapshot(armem::Time::Now())
+            .addInstance();
+
+    {
+        auto test = [&](auto&& coreSeg)
+        {
+            armem::MemoryID id;
+
+            // Count all ( (2+1) + 1) + 1 instances.
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 5);
+
+            // Count only one provider segment (with (2+1) + 1 instances).
+            id.providerSegmentName = provSeg.name();
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 4);
+
+            id.entityName = entity.name();
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 3);
+
+            id.timestamp = snapshot.time();
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 2);
+
+            id.instanceIndex = 1;
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Count non-existing provider segment.
+            id = {};
+            id.providerSegmentName = "non existing";
+            i = 0;
+            coreSeg.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 0);
+        };
+        test(coreSeg);
+        test(const_cast<const armem::wm::CoreSegment&>(coreSeg));
+    }
+
+
+    armem::wm::Memory memory("memory");
+    memory.addCoreSegment(coreSeg);
+    memory.addCoreSegment("other memory")
+            .addProviderSegment("other provider segment")
+            .addEntity("other entity")
+            .addSnapshot(armem::Time::Now())
+            .addInstance();
+
+    {
+        auto test = [&](auto&& memory)
+        {
+            armem::MemoryID id;
+
+            // Count all ( ( (2+1) + 1) + 1 ) + 1 instances.
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 6);
+
+            // Count only one provider segment (with (2+1) + 1 instances).
+            id.coreSegmentName = coreSeg.name();
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 5);
+
+            id.providerSegmentName = provSeg.name();
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 4);
+
+            id.entityName = entity.name();
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 3);
+
+            id.timestamp = snapshot.time();
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 2);
+
+            id.instanceIndex = 1;
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 1);
+
+            // Count non-existing provider segment.
+            id = {};
+            id.coreSegmentName = "non existing";
+            i = 0;
+            memory.forEachInstanceIn(id, count);
+            BOOST_CHECK_EQUAL(i, 0);
+        };
+        test(memory);
+        test(const_cast<const armem::wm::Memory&>(memory));
+    }
+}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
index 07ea4e3acc307aa3d7abb97c7f9bd3f450a4129e..071b0bc4b38882bbd7e87307d946312ba50d6f10 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemIceConversionsTest.cpp
@@ -26,7 +26,7 @@
 
 #include <RobotAPI/Test.h>
 #include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <iostream>
 #include <SimoxUtility/algorithm/get_map_keys_values.h>
@@ -52,7 +52,7 @@ BOOST_AUTO_TEST_CASE(test_entity)
     entity.addSnapshot(snapshot);
 
     armem::data::EntityPtr ice;
-    armem::toIce(ice, entity);
+    armarx::toIce(ice, entity);
 
     BOOST_CHECK_EQUAL(ice->id.memoryName, entity.id().memoryName);
     BOOST_CHECK_EQUAL(ice->id.coreSegmentName, entity.id().coreSegmentName);
@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE(test_entity)
     BOOST_CHECK_EQUAL(ice->history.size(), entity.size());
 
     armem::wm::Entity entityOut;
-    armem::fromIce(ice, entityOut);
+    armarx::fromIce(ice, entityOut);
 
     BOOST_CHECK_EQUAL(entityOut.size(), entity.size());
 
diff --git a/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4efc404325b61dbea0f68c7ec1bda5ecb051b8c6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/test/ArMemPrefixesTest.cpp
@@ -0,0 +1,94 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::armem
+ * @author     phesch ( ulila at student dot kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::armem
+
+#define ARMARX_BOOST_TEST
+
+#include <iostream>
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/container_maps.h>
+
+
+namespace armem = armarx::armem;
+
+BOOST_AUTO_TEST_CASE(test_MemoryID_prefixes)
+{
+    std::map<armem::MemoryID, int> idMap;
+    std::map<armem::MemoryID, std::vector<int>> idListMap;
+    armem::MemoryID empty;
+    armem::MemoryID complete("mem", "coreSeg", "provSeg", "entity", armarx::DateTime::Now(), 0);
+
+    BOOST_TEST_CONTEXT(VAROUT(idMap))
+    {
+        BOOST_CHECK(armem::findMostSpecificEntryContainingID(idMap, empty) == idMap.end());
+        BOOST_CHECK(armem::findMostSpecificEntryContainingID(idMap, complete) == idMap.end());
+        BOOST_CHECK(armem::accumulateEntriesContainingID(idMap, empty).empty());
+        BOOST_CHECK(armem::accumulateEntriesContainingID(idMap, complete).empty());
+
+        BOOST_CHECK(armem::accumulateEntriesContainingID(idListMap, empty).empty());
+        BOOST_CHECK(armem::accumulateEntriesContainingID(idListMap, complete).empty());
+    }
+
+    idMap[armem::MemoryID()] = 0;
+    idMap.emplace("mem", 1);
+    idMap.emplace("mem/coreSeg", 2);
+    idMap.emplace("mem/coreSeg/provSeg", 3);
+    idMap.emplace("mem/otherSeg/provSeg", 10);
+
+    BOOST_TEST_CONTEXT(VAROUT(idMap))
+    {
+        auto it = armem::findMostSpecificEntryContainingID(idMap, empty);
+        BOOST_CHECK(it != idMap.end());
+        BOOST_CHECK_EQUAL(it->second, 0);
+
+        it = armem::findMostSpecificEntryContainingID(idMap, complete.getCoreSegmentID());
+        BOOST_CHECK(it != idMap.end());
+        BOOST_CHECK_EQUAL(it->second, 2);
+
+        it = armem::findMostSpecificEntryContainingID(idMap, complete);
+        BOOST_CHECK(it != idMap.end());
+        BOOST_CHECK_EQUAL(it->second, 3);
+
+        BOOST_CHECK((armem::accumulateEntriesContainingID(idMap, empty) == std::vector<int>{0}));
+        BOOST_CHECK((armem::accumulateEntriesContainingID(idMap, complete.getCoreSegmentID()) ==
+                     std::vector<int>{2, 1, 0}));
+        BOOST_CHECK(
+            (armem::accumulateEntriesContainingID(idMap, complete) == std::vector<int>{3, 2, 1, 0}));
+    }
+
+    idListMap.emplace("mem", std::vector<int>{1, 2});
+    idListMap.emplace("mem/coreSeg", std::vector<int>{3, 4, 5});
+    idListMap.emplace("mem/coreSeg/provSeg", std::vector<int>{6, 7, 8});
+    idListMap.emplace("mem/otherSeg/provSeg", std::vector<int>{9, 10, 11});
+
+    BOOST_TEST_CONTEXT(VAROUT(idListMap))
+    {
+        BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, empty).empty()));
+        BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, complete.getCoreSegmentID()) ==
+                     std::vector<int>{3, 4, 5, 1, 2}));
+        BOOST_CHECK((armem::accumulateEntriesContainingID(idListMap, complete) ==
+                     std::vector<int>{6, 7, 8, 3, 4, 5, 1, 2}));
+    }
+}
diff --git a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
index 535ce2b80b6b9b5ac7c95fcf3f9847ab943d1729..1f92ff883c67fe070328bd51ff6a9baad7afa81b 100644
--- a/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
+++ b/source/RobotAPI/libraries/armem/test/ArMemQueryBuilderTest.cpp
@@ -28,7 +28,7 @@
 
 #include <ArmarXCore/core/time/ice_conversions.h>
 
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/client/query/query_fns.h>
 
@@ -147,7 +147,7 @@ BOOST_AUTO_TEST_CASE(test_mixed)
         {
             auto atTime = query::entity::SinglePtr::dynamicCast(*it);
             BOOST_REQUIRE(atTime);
-            BOOST_CHECK_EQUAL(atTime->timestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(3000))));
+            BOOST_CHECK_EQUAL(atTime->timestamp, armarx::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(3000))));
             ++it;
         }
         {
@@ -160,8 +160,8 @@ BOOST_AUTO_TEST_CASE(test_mixed)
         {
             auto timeRange = query::entity::TimeRangePtr::dynamicCast(*it);
             BOOST_REQUIRE(timeRange);
-            BOOST_CHECK_EQUAL(timeRange->minTimestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(1000))));
-            BOOST_CHECK_EQUAL(timeRange->maxTimestamp, armem::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(2000))));
+            BOOST_CHECK_EQUAL(timeRange->minTimestamp, armarx::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(1000))));
+            BOOST_CHECK_EQUAL(timeRange->maxTimestamp, armarx::toIce<armem::dto::Time>(armem::Time(armem::Duration::MilliSeconds(2000))));
             ++it;
         }
     }
diff --git a/source/RobotAPI/libraries/armem/test/CMakeLists.txt b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
index 592b9aef3105bd7fc780c92348cae11e60f65a6d..da77a43b82a6174b756ddf1705e8c29ea3acabb2 100644
--- a/source/RobotAPI/libraries/armem/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/test/CMakeLists.txt
@@ -7,3 +7,4 @@ armarx_add_test(ArMemGetFindTest ArMemGetFindTest.cpp "${LIBS}")
 armarx_add_test(ArMemIceConversionsTest ArMemIceConversionsTest.cpp "${LIBS}")
 armarx_add_test(ArMemMemoryIDTest ArMemMemoryIDTest.cpp "${LIBS}")
 armarx_add_test(ArMemQueryBuilderTest ArMemQueryBuilderTest.cpp "${LIBS}")
+armarx_add_test(ArMemPrefixesTest ArMemPrefixesTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 36b2e7036df83d0b99731d6773eb4465e7b75997..1c2b1a25a9a050e4ea597477780ccc340fdcb60b 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -19,6 +19,7 @@
 #include <ArmarXCore/core/ManagedIceObject.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
 #include <ArmarXCore/observers/variant/Variant.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
 #include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
 
@@ -679,7 +680,7 @@ namespace armarx::armem::gui
         actions::GetActionsOutputSeq result;
         try
         {
-            result = prx.actions->getActions({{toIce<data::MemoryID>(memoryID)}});
+            result = prx.actions->getActions({{armarx::toIce<data::MemoryID>(memoryID)}});
         }
         catch (const Ice::LocalException& e)
         {
@@ -704,7 +705,7 @@ namespace armarx::armem::gui
                 try
                 {
                     result = prx.actions->executeActions(
-                            {{toIce<armem::data::MemoryID>(memoryID), path}});
+                            {{armarx::toIce<armem::data::MemoryID>(memoryID), path}});
                 }
                 catch (const Ice::LocalException& e)
                 {
diff --git a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
index 2e315e6f06f8e141c3911479685424b3f5585580..9fe9db837e7cfdd3ecff3c26143fcc74093d94a1 100644
--- a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.cpp
@@ -8,7 +8,6 @@
 
 #include <cmath>
 
-
 namespace armarx::armem::gui
 {
 
@@ -51,6 +50,11 @@ namespace armarx::armem::gui
 
         connect(this, &This::updateSingle, this, &This::update);
         connect(this, &This::updatePeriodic, this, &This::update);
+
+        // See `startTimerIfEnabled` for the signal reasoning.
+        // qOverload is required because `QTimer::start()` is overloaded.
+        connect(this, &This::startTimerSignal, _timer, qOverload<>(&QTimer::start));
+        connect(this, &This::stopTimerSignal, _timer, &QTimer::stop);
     }
 
     QPushButton* PeriodicUpdateWidget::updateButton()
@@ -66,22 +70,25 @@ namespace armarx::armem::gui
 
     void PeriodicUpdateWidget::startTimerIfEnabled()
     {
+        /* A QTimer can only be started and stopped within its own thread (the thread for which
+         * it has the greatest affinity). Since this method can be called from any thread, we
+         * need to take a detour through these signals, which can be emitted from any thread and
+         * will always be caught in this object's (and thus the timer's) native thread.
+         */
         if (_autoCheckBox->isChecked())
         {
-            _timer->start();
+            emit startTimerSignal();
         }
         else
         {
-            _timer->stop();
+            emit stopTimerSignal();
         }
     }
 
     void PeriodicUpdateWidget::stopTimer()
     {
-        if (_timer)
-        {
-            _timer->stop();
-        }
+        // See `startTimerIfEnabled` for the signal reasoning.
+        emit stopTimerSignal();
     }
 
     void PeriodicUpdateWidget::_updateTimerFrequency()
@@ -91,6 +98,7 @@ namespace armarx::armem::gui
 
     void PeriodicUpdateWidget::_toggleAutoUpdates(bool enabled)
     {
+        // This method is already a slot, so it doesn't need to use the timer signals.
         _frequencySpinBox->setEnabled(enabled);
         if (enabled)
         {
diff --git a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
index db8d9d5a30264180d93243c3a6f631f5666ed784..d9438993cc765f5d7b5350f28ac85dac53ed5202 100644
--- a/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/PeriodicUpdateWidget.h
@@ -50,10 +50,10 @@ namespace armarx::armem::gui
         void _updateTimerFrequency();
         void _toggleAutoUpdates(bool enabled);
 
-
     signals:
 
-
+        void startTimerSignal();
+        void stopTimerSignal();
 
     private:
 
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 60fd8f1b5dd3767083ef4c41c8a52ea2188e6dde..aaf23c20e21eff50cf135664b6c8c951d9980abd 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -9,7 +9,6 @@
 
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
 #include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions_templates.h>
 #include <RobotAPI/libraries/armem/client/Writer.h>
 #include <RobotAPI/libraries/armem/client/query/Builder.h>
 #include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -28,6 +27,7 @@
 #include <RobotAPI/libraries/core/FramedPose.h>
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/core/time/DateTime.h>
@@ -37,8 +37,10 @@
 #include <SimoxUtility/algorithm/string.h>
 #include <SimoxUtility/json.h>
 #include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/math/regression/linear.h>
 
 #include <Eigen/Geometry>
+#include <Eigen/Dense>
 
 #include <sstream>
 
@@ -47,8 +49,11 @@ namespace armarx::armem::server::obj::instance
 {
 
     Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
-        SpecializedCoreSegment(memoryToIceAdapter, "Instance",
-                           arondto::ObjectInstance::ToAronType(), 64)
+        SpecializedCoreSegment(memoryToIceAdapter,
+                               "Instance",
+                               arondto::ObjectInstance::ToAronType(),
+                               64,
+                               predictionEngines)
     {
         oobbCache.setFetchFn([this](const ObjectID & id) -> std::optional<simox::OrientedBoxf>
         {
@@ -147,7 +152,7 @@ namespace armarx::armem::server::obj::instance
         stats.numUpdated = 0;
         for (const objpose::data::ProvidedObjectPose& provided : providedPoses)
         {
-            const Time timestamp = armem::fromIce<Time>(provided.timestamp);
+            const Time timestamp = armarx::fromIce<Time>(provided.timestamp);
 
             // Check whether we have an old snapshot for this object.
             std::optional<objpose::ObjectPose> previousPose;
@@ -545,6 +550,35 @@ namespace armarx::armem::server::obj::instance
     }
 
 
+    std::map<DateTime, objpose::ObjectPose>
+    Segment::getObjectPosesInRange(const wm::Entity& entity,
+                                   const DateTime& start,
+                                   const DateTime& end)
+    {
+        std::map<DateTime, objpose::ObjectPose> result;
+
+        entity.forEachSnapshotInTimeRange(
+            start,
+            end,
+            [&result](const wm::EntitySnapshot& snapshot)
+            {
+                snapshot.forEachInstance(
+                    [&result, &snapshot](const wm::EntityInstance& instance)
+                    {
+                        arondto::ObjectInstance dto;
+                        dto.fromAron(instance.data());
+
+                        ObjectPose pose;
+                        fromAron(dto, pose);
+
+                        result.emplace(snapshot.time(), pose);
+                    });
+            });
+
+        return result;
+    }
+
+
     std::optional<simox::OrientedBoxf> Segment::getObjectOOBB(const ObjectID& id)
     {
         return oobbCache.get(id);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
index da97aac841559b845fb308e93ac572739efb7c3c..ba7c5539df7299be11ceead0c4253938bfe9ed73 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.h
@@ -18,6 +18,7 @@
 #include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
 #include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
 
+#include <RobotAPI/libraries/armem/core/Prediction.h>
 #include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 #include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
 
@@ -104,7 +105,8 @@ namespace armarx::armem::server::obj::instance
 
         ::armarx::armem::articulated_object::ArticulatedObjects getArticulatedObjects();
 
-
+        static std::map<DateTime, ObjectPose>
+        getObjectPosesInRange(const wm::Entity& entity, const DateTime& start, const DateTime& end);
 
     private:
 
@@ -139,7 +141,6 @@ namespace armarx::armem::server::obj::instance
 
         std::optional<wm::EntityInstance> findClassInstance(const ObjectID& objectID) const;
 
-
         friend struct DetachVisitor;
 
 
@@ -193,7 +194,6 @@ namespace armarx::armem::server::obj::instance
 
         static const std::string timestampPlaceholder;
 
-
     public:
 
         struct RemoteGui
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index b7f7a63085b31cb3672ad6c0307fc5afe2096c4e..7a36b0cbce48d258eded0545492bd4974019069f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -25,8 +25,14 @@
 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 #include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
 #include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/predictions.h>
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions/core.h>
 
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
 #include <ArmarXCore/observers/variant/Variant.h>
 
 #include <VirtualRobot/Robot.h>
@@ -62,6 +68,7 @@ namespace armarx::armem::server::obj::instance
     {
         segment.setTag(getName());
         segment.decay.setTag(getName());
+        segment.setPredictionEngines(predictionEngines);
         robotHead.setTag(getName());
         visu.setTag(getName());
 
@@ -88,6 +95,7 @@ namespace armarx::armem::server::obj::instance
         robotHead.fetchDatafields();
 
         visu.arviz = arviz;
+
         if (!visu.updateTask)
         {
             visu.updateTask = new SimpleRunningTask<>([this]()
@@ -97,6 +105,7 @@ namespace armarx::armem::server::obj::instance
             visu.updateTask->start();
         }
 
+
         segment.connect(arviz);
     }
 
@@ -431,8 +440,91 @@ namespace armarx::armem::server::obj::instance
         return robotHead.signalHeadMovement(input);
     }
 
+    objpose::ObjectPosePredictionResultSeq
+    SegmentAdapter::predictObjectPoses(const objpose::ObjectPosePredictionRequestSeq& requests,
+                                       const Ice::Current&)
+    {
+        objpose::ObjectPosePredictionResultSeq results;
+        std::vector<std::map<DateTime, objpose::ObjectPose>> poses;
+        std::vector<objpose::ObjectPose> latestPoses;
+
+        segment.doLocked(
+            [this, &requests, &results, &poses, &latestPoses]()
+            {
+                for (const auto& request : requests)
+                {
+                    auto& result = results.emplace_back();
+                    const ObjectID objID = armarx::fromIce(request.objectID);
+
+                    const Duration timeWindow = armarx::fromIce<Duration>(request.timeWindow);
+
+                    const wm::Entity* entity = segment.findObjectEntity(objID);
+                    // Use result.success as a marker for whether to continue later
+                    result.success = false;
+                    poses.emplace_back();
+                    latestPoses.emplace_back();
+                    if (!entity)
+                    {
+                        std::stringstream sstream;
+                        sstream << "Could not find object with ID " << objID << ".";
+                        result.errorMessage = sstream.str();
+                        continue;
+                    }
+
+                    const auto dto = entity->findLatestInstanceDataAs<arondto::ObjectInstance>();
+                    if (!dto)
+                    {
+                        std::stringstream sstream;
+                        sstream << "No snapshots of the object " << objID << " were found."
+                                << " Cannot make a prediction.";
+                        result.errorMessage = sstream.str();
+                        continue;
+                    }
+
+                    result.success = true;
+                    poses.back() = segment.getObjectPosesInRange(
+                        *entity, Time::Now() - timeWindow, Time::Invalid());
+                    latestPoses.back() = aron::fromAron<objpose::ObjectPose>(dto.value().pose);
+                }
+            });
+
+        for (size_t i = 0; i < requests.size(); ++i)
+        {
+            const objpose::ObjectPosePredictionRequest& request = requests.at(i);
+            objpose::ObjectPosePredictionResult& result = results.at(i);
+
+            if (result.success)
+            {
+                armem::PredictionSettings settings =
+                        armem::PredictionSettings::fromIce(request.settings);
+
+                if (settings.predictionEngineID.empty()
+                    or settings.predictionEngineID == linearPredictionEngineID)
+                {
+                    result = objpose::predictObjectPoseLinear(
+                        poses.at(i),
+                        armarx::fromIce<DateTime>(request.timestamp),
+                        latestPoses.at(i));
+                }
+                else
+                {
+                    result.errorMessage = "Prediction engine '" + settings.predictionEngineID +
+                                          "' not available for object pose prediction.";
+                    result.success = false;
+                }
+            }
+        }
+        return results;
+    }
+
+    armem::prediction::data::PredictionEngineSeq
+    SegmentAdapter::getAvailableObjectPoseEngines(const Ice::Current&)
+    {
+        return armarx::toIce<armem::prediction::data::PredictionEngineSeq>(predictionEngines);
+    }
 
-    void SegmentAdapter::visualizeRun()
+    void
+    SegmentAdapter::visualizeRun()
     {
         ObjectFinder objectFinder;
 
@@ -447,9 +539,10 @@ namespace armarx::armem::server::obj::instance
                     TIMING_START(tVisu);
 
                     objpose::ObjectPoseMap objectPoses;
+                    std::map<ObjectID, std::map<DateTime, objpose::ObjectPose>> poseHistories;
                     visu.minConfidence = -1;
 
-                    segment.doLocked([this, &objectPoses, &objectFinder]()
+                    segment.doLocked([this, &objectPoses, &poseHistories, &objectFinder]()
                     {
                         const Time now = Time::Now();
 
@@ -467,11 +560,27 @@ namespace armarx::armem::server::obj::instance
                         {
                             visu.minConfidence = segment.decay.removeObjectsBelowConfidence;
                         }
+
+                        // Get histories.
+                        for (const auto& [id, objectPose] : objectPoses)
+                        {
+                            const wm::Entity* entity = segment.findObjectEntity(id);
+                            if (entity != nullptr)
+                            {
+                                poseHistories[id] = instance::Segment::getObjectPosesInRange(
+                                    *entity,
+                                    Time::Now() - Duration::SecondsDouble(
+                                                      visu.linearPredictionTimeWindowSeconds),
+                                    Time::Invalid());
+                            }
+                        }
                     });
 
-                    const std::vector<viz::Layer> layers = visu.visualizeCommit(objectPoses, objectFinder);
+                    const std::vector<viz::Layer> layers =
+                        visu.visualizeCommit(objectPoses, poseHistories, objectFinder);
                     arviz.commit(layers);
 
+
                     TIMING_END_STREAM(tVisu, ARMARX_VERBOSE);
 
                     if (debugObserver)
@@ -489,6 +598,10 @@ namespace armarx::armem::server::obj::instance
             cycle.waitForCycleDuration();
         }
     }
+    
+
+    const std::string SegmentAdapter::linearPredictionEngineID = "Linear Position Regression";
+    const std::vector<PredictionEngine> SegmentAdapter::predictionEngines{{linearPredictionEngineID}};
 
 
     void SegmentAdapter::Calibration::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
@@ -498,7 +611,6 @@ namespace armarx::armem::server::obj::instance
     }
 
 
-
     void SegmentAdapter::RemoteGui::setup(const SegmentAdapter& adapter)
     {
         using namespace armarx::RemoteGui::Client;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
index 353f2e0644dc044edfd1f260a76eb0c5d7857a11..aafe61f5c87e5a1363ef837d56cd7cbeec08407c 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h
@@ -107,6 +107,15 @@ namespace armarx::armem::server::obj::instance
 
         virtual objpose::SignalHeadMovementOutput signalHeadMovement(const objpose::SignalHeadMovementInput& input, ICE_CURRENT_ARG) override;
 
+        // PREDICTING
+
+        virtual objpose::ObjectPosePredictionResultSeq
+        predictObjectPoses(const objpose::ObjectPosePredictionRequestSeq& requests,
+                           ICE_CURRENT_ARG) override;
+
+        virtual armem::prediction::data::PredictionEngineSeq
+            getAvailableObjectPoseEngines(ICE_CURRENT_ARG) override;
+
 
     private:
 
@@ -121,6 +130,12 @@ namespace armarx::armem::server::obj::instance
         void visualizeRun();
 
 
+    public:
+
+        static const std::string linearPredictionEngineID;
+        static const std::vector<PredictionEngine> predictionEngines;
+
+
     private:
 
         viz::Client arviz;
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index e5bfd134140eae11fe3c6135d781dde2571f98eb..eb7d90cd267566d10487ce4d2b390ccc63eee586 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -3,9 +3,13 @@
 #include <SimoxUtility/math/pose.h>
 #include <SimoxUtility/math/rescale.h>
 
+#include <ArmarXCore/core/time/ice_conversions.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
 
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
 #include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+#include <RobotAPI/libraries/ArmarXObjects/predictions.h>
 
 
 namespace armarx::armem::server::obj::instance
@@ -45,43 +49,77 @@ namespace armarx::armem::server::obj::instance
 
         defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
                        "Prefer articulated object models if available.");
+
+        defs->optional(showLinearPredictions, prefix + "predictions.linear.show",
+                       "Show arrows linearly predicting object positions.");
+        defs->optional(linearPredictionTimeOffsetSeconds, prefix + "predictions.linear.timeOffset",
+                       "The offset (in seconds) to the current time to make predictions for.");
+        defs->optional(linearPredictionTimeWindowSeconds, prefix + "predictions.linear.timeWindow",
+                       "The time window (in seconds) into the past to perform the regression on.");
     }
 
 
-    std::vector<viz::Layer> Visu::visualizeCommit(
+    std::vector<viz::Layer>
+    Visu::visualizeCommit(
         const std::map<std::string, objpose::ObjectPoseSeq>& objectPoses,
+        const std::map<std::string, std::vector<std::map<DateTime, objpose::ObjectPose>>>&
+            poseHistories,
         const ObjectFinder& objectFinder) const
     {
         std::vector<viz::Layer> layers;
         for (const auto& [name, poses] : objectPoses)
         {
-            layers.push_back(visualizeProvider(name, poses, objectFinder));
+            auto poseHistoryMap = poseHistories.find(name);
+            if (poseHistoryMap != poseHistories.end())
+            {
+                layers.push_back(visualizeProvider(name, poses, poseHistoryMap->second, objectFinder));
+            }
+            else
+            {
+                layers.push_back(visualizeProvider(name, poses, {}, objectFinder));
+            }
         }
         return layers;
     }
 
 
-    std::vector<viz::Layer> Visu::visualizeCommit(
-        const objpose::ObjectPoseSeq& objectPoses,
-        const ObjectFinder& objectFinder) const
+    std::vector<viz::Layer>
+    Visu::visualizeCommit(const objpose::ObjectPoseSeq& objectPoses,
+                          const std::vector<std::map<DateTime, objpose::ObjectPose>>& poseHistories,
+                          const ObjectFinder& objectFinder) const
     {
         std::map<std::string, viz::Layer> stage;
-        for (const objpose::ObjectPose& objectPose : objectPoses)
+        for (size_t i = 0; i < objectPoses.size(); ++i)
         {
-            visualizeObjectPose(getLayer(objectPose.providerName, stage), objectPose, objectFinder);
+            visualizeObjectPose(getLayer(objectPoses.at(i).providerName, stage),
+                                objectPoses.at(i),
+                                poseHistories.at(i),
+                                objectFinder);
         }
         return simox::alg::get_values(stage);
     }
 
 
-    std::vector<viz::Layer> Visu::visualizeCommit(
+    std::vector<viz::Layer>
+    Visu::visualizeCommit(
         const objpose::ObjectPoseMap& objectPoses,
+        const std::map<ObjectID, std::map<DateTime, objpose::ObjectPose>>& poseHistories,
         const ObjectFinder& objectFinder) const
     {
         std::map<std::string, viz::Layer> stage;
-        for (const auto& [id, objectPose] : objectPoses)
+        for (const auto& [id, pose] : objectPoses)
         {
-            visualizeObjectPose(getLayer(objectPose.providerName, stage), objectPose, objectFinder);
+            
+            auto poseHistoryMap = poseHistories.find(id);
+            if (poseHistoryMap != poseHistories.end())
+            {
+                visualizeObjectPose(
+                    getLayer(pose.providerName, stage), pose, poseHistoryMap->second, objectFinder);
+            }
+            else
+            {
+                visualizeObjectPose(getLayer(pose.providerName, stage), pose, {}, objectFinder);
+            }
         }
         return simox::alg::get_values(stage);
     }
@@ -100,15 +138,17 @@ namespace armarx::armem::server::obj::instance
     }
 
 
-    viz::Layer Visu::visualizeProvider(
+    viz::Layer
+    Visu::visualizeProvider(
         const std::string& providerName,
         const objpose::ObjectPoseSeq& objectPoses,
+        const std::vector<std::map<DateTime, objpose::ObjectPose>>& poseHistories,
         const ObjectFinder& objectFinder) const
     {
         viz::Layer layer = arviz.layer(providerName);
-        for (const objpose::ObjectPose& objectPose : objectPoses)
+        for (size_t i = 0; i < poseHistories.size(); ++i)
         {
-            visualizeObjectPose(layer, objectPose, objectFinder);
+            visualizeObjectPose(layer, objectPoses.at(i), poseHistories.at(i), objectFinder);
         }
         return layer;
     }
@@ -116,6 +156,7 @@ namespace armarx::armem::server::obj::instance
     void Visu::visualizeObjectPose(
         viz::Layer& layer,
         const objpose::ObjectPose& objectPose,
+        const std::map<DateTime, objpose::ObjectPose>& poseHistory,
         const ObjectFinder& objectFinder) const
     {
         const bool show = objectPose.confidence >= minConfidence;
@@ -236,6 +277,28 @@ namespace armarx::armem::server::obj::instance
                 }
             }
         }
+        if (showLinearPredictions)
+        {
+            auto predictionResult = objpose::predictObjectPoseLinear(
+                poseHistory,
+                Time::Now() + Duration::SecondsDouble(linearPredictionTimeOffsetSeconds),
+                objectPose);
+            if (predictionResult.success)
+            {
+                auto predictedPose =
+                    armarx::fromIce<objpose::ObjectPose>(predictionResult.prediction);
+                Eigen::Vector3f predictedPosition = simox::math::position(
+                    inGlobalFrame ? predictedPose.objectPoseGlobal : predictedPose.objectPoseRobot);
+                layer.add(viz::Arrow(key + " Linear Prediction")
+                              .fromTo(simox::math::position(pose), predictedPosition)
+                              .color(viz::Color::blue()));
+            }
+            else
+            {
+                ARMARX_INFO << "Linear prediction for visualization failed: "
+                            << predictionResult.errorMessage;
+            }
+        }
     }
 
 
@@ -270,6 +333,7 @@ namespace armarx::armem::server::obj::instance
 
         useArticulatedModels.setValue(visu.useArticulatedModels);
 
+
         GridLayout grid;
         int row = 0;
         grid.add(Label("Enabled"), {row, 0}).add(enabled, {row, 1});
@@ -291,10 +355,13 @@ namespace armarx::armem::server::obj::instance
         grid.add(gaussians.group, {row, 0}, {1, 4});
         row++;
 
-
         grid.add(Label("Use Articulated Models"), {row, 0}).add(useArticulatedModels, {row, 1});
         row++;
 
+        linearPredictions.setup(visu);
+        grid.add(linearPredictions.group, {row, 0}, {1, 4});
+        row++;
+
         group = GroupBox();
         group.setLabel("Visualization");
         group.addChild(grid);
@@ -342,6 +409,48 @@ namespace armarx::armem::server::obj::instance
         visu.gaussiansOrientationDisplaced = gaussians.orientationDisplaced.getValue();
 
         visu.useArticulatedModels = useArticulatedModels.getValue();
+
+        linearPredictions.update(visu);
+    }
+
+
+    void Visu::RemoteGui::LinearPredictions::setup(const Visu& visu)
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        show.setValue(visu.showLinearPredictions);
+        timeOffsetSeconds.setValue(visu.linearPredictionTimeOffsetSeconds);
+        timeOffsetSeconds.setRange(-1e6, 1e6);
+        timeOffsetSeconds.setSteps(2 * 2 * 1000 * 1000);
+
+        timeWindowSeconds.setValue(visu.linearPredictionTimeWindowSeconds);
+        timeWindowSeconds.setRange(0, 1e6);
+        timeWindowSeconds.setSteps(2 * 1000 * 1000);
+
+
+        GridLayout grid;
+        int row = 0;
+
+        grid.add(Label("Show"), {row, 0}).add(show, {row, 1});
+        row++;
+        grid.add(Label("Time (seconds from now):"), {row, 0})
+            .add(timeOffsetSeconds, {row, 1});
+        row++;
+        grid.add(Label("Time Window (seconds):"), {row, 0})
+            .add(timeWindowSeconds, {row, 1});
+        row++;
+
+        group = GroupBox();
+        group.setLabel("Linear Predictions");
+        group.addChild(grid);
+    }
+
+
+    void Visu::RemoteGui::LinearPredictions::update(Visu& visu)
+    {
+        visu.showLinearPredictions = show.getValue();
+        visu.linearPredictionTimeOffsetSeconds = timeOffsetSeconds.getValue();
+        visu.linearPredictionTimeWindowSeconds = timeWindowSeconds.getValue();
     }
 
 }
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index f1ce436435eec9de5c9fd1cbffcea98bc7201410..0341f514421e10a9158a446c1cb2c4a7eb3625e6 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -7,6 +7,7 @@
 #include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
 
 #include <RobotAPI/components/ArViz/Client/Client.h>
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
 #include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
 
 
@@ -29,22 +30,26 @@ namespace armarx::armem::server::obj::instance
 
         std::vector<viz::Layer> visualizeCommit(
             const std::map<std::string, objpose::ObjectPoseSeq>& objectPoses,
-            const ObjectFinder& objectFinder
-        ) const;
+            const std::map<std::string, std::vector<std::map<DateTime, objpose::ObjectPose>>>&
+                poseHistories,
+            const ObjectFinder& objectFinder) const;
 
         /// Visualize the given object poses, with one layer per provider.
         std::vector<viz::Layer> visualizeCommit(
             const objpose::ObjectPoseSeq& objectPoses,
+            const std::vector<std::map<DateTime, objpose::ObjectPose>>& poseHistories,
             const ObjectFinder& objectFinder
         ) const;
         std::vector<viz::Layer> visualizeCommit(
             const objpose::ObjectPoseMap& objectPoses,
+            const std::map<ObjectID, std::map<DateTime, objpose::ObjectPose>>& poseHistories,
             const ObjectFinder& objectFinder
         ) const;
 
         viz::Layer visualizeProvider(
             const std::string& providerName,
             const objpose::ObjectPoseSeq& objectPoses,
+            const std::vector<std::map<DateTime, objpose::ObjectPose>>& poseHistories,
             const ObjectFinder& objectFinder
         ) const;
 
@@ -52,6 +57,7 @@ namespace armarx::armem::server::obj::instance
         void visualizeObjectPose(
             viz::Layer& layer,
             const objpose::ObjectPose& objectPose,
+            const std::map<DateTime, objpose::ObjectPose>& poseHistory,
             const ObjectFinder& objectFinder
         ) const;
 
@@ -86,8 +92,12 @@ namespace armarx::armem::server::obj::instance
         /// Prefer articulated models if available.
         bool useArticulatedModels = true;
 
-        SimpleRunningTask<>::pointer_type updateTask;
+        /// Linear prediction arrows for object positions.
+        bool showLinearPredictions = false;
+        float linearPredictionTimeOffsetSeconds = 1;
+        float linearPredictionTimeWindowSeconds = 2;
 
+        SimpleRunningTask<>::pointer_type updateTask;
 
         struct RemoteGui
         {
@@ -121,6 +131,20 @@ namespace armarx::armem::server::obj::instance
             armarx::RemoteGui::Client::CheckBox useArticulatedModels;
 
 
+            struct LinearPredictions
+            {
+                armarx::RemoteGui::Client::CheckBox show;
+
+                armarx::RemoteGui::Client::FloatSpinBox timeOffsetSeconds;
+                armarx::RemoteGui::Client::FloatSpinBox timeWindowSeconds;
+
+                armarx::RemoteGui::Client::GroupBox group;
+
+                void setup(const Visu& data);
+                void update(Visu& data);
+            };
+            LinearPredictions linearPredictions;
+
             void setup(const Visu& visu);
             void update(Visu& visu);
         };
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index beebabd2977e8f7e46e976892ee4da3dc18f2bad..f8eaaa6430967056012d9f9bcc7333ddabb7853a 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -205,7 +205,7 @@ namespace armarx::armem::robot_state
             .timestamp = timestamp, .globalPose = *globalPose, .jointMap = *jointMap};
     }
 
-    std::optional<robot::RobotState::Pose>
+    std::optional<::armarx::armem::robot_state::Transform>
     RobotReader::queryOdometryPose(const robot::RobotDescription& description,
                                    const armem::Time& timestamp) const
     {
@@ -220,13 +220,18 @@ namespace armarx::armem::robot_state
             }
         };
 
-        const auto result = transformReader.lookupTransform(query);
-        if (not result)
-        {
+        try {
+            const auto result = transformReader.lookupTransform(query);
+            if (not result)
+            {
+                return std::nullopt;
+            }
+            return result.transform;
+
+        } catch (...) {
+            ARMARX_WARNING << GetHandledExceptionString();
             return std::nullopt;
         }
-
-        return result.transform.transform;
     }
 
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
index e72b5fc64744a7ad3481990705568e92a8c56208..247deb3b20c2613ab2d3c4d14ce076b76f076790 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
@@ -108,7 +108,7 @@ namespace armarx::armem::robot_state
          * @param timestamp 
          * @return std::optional<robot::RobotState::Pose> 
          */
-        std::optional<robot::RobotState::Pose>
+        std::optional<::armarx::armem::robot_state::Transform>
         queryOdometryPose(const robot::RobotDescription& description,
                           const armem::Time& timestamp) const;
 
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index a595d5502c7139e51d9e940d71f24925ab39f199..8e2246c3dd4dc4175c23e0bb01455b380d94e86c 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -6,6 +6,9 @@
 
 #include <ArmarXCore/core/exceptions/LocalException.h>
 #include "ArmarXCore/core/exceptions/local/ExpressionException.h"
+#include "ArmarXCore/core/time/DateTime.h"
+#include "ArmarXCore/core/time/Duration.h"
+#include "RobotAPI/libraries/armem/core/forward_declarations.h"
 
 #include <RobotAPI/libraries/core/FramedPose.h>
 
@@ -41,6 +44,14 @@ namespace armarx::armem::common::robot_state::localization
 
         const std::vector<Eigen::Affine3f> transforms = _obtainTransforms(
                     localizationCoreSegment, tfChain, query.header.agent, query.header.timestamp);
+
+        const armem::Time sanitizedTimestamp = _obtainTimestamp(localizationCoreSegment, query.header.timestamp);
+        auto header = query.header;
+
+        // ARMARX_INFO << header.timestamp << "vs" << sanitizedTimestamp;
+
+        header.timestamp = sanitizedTimestamp;
+                
         if (transforms.empty())
         {
             ARMARX_WARNING << deactivateSpam(1) << "No transform available.";
@@ -58,7 +69,7 @@ namespace armarx::armem::common::robot_state::localization
 
         ARMARX_DEBUG << "Found valid transform";
 
-        return {.transform = {.header = query.header, .transform = transform},
+        return {.transform = {.header = header, .transform = transform},
                 .status    = TransformResult::Status::Success};
     }
 
@@ -187,6 +198,30 @@ namespace armarx::armem::common::robot_state::localization
         return chain;
     }
 
+    template <class ...Args>
+    armarx::core::time::DateTime
+    TransformHelper::_obtainTimestamp(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment, const armem::Time& timestamp)
+    {
+        
+        // first we check which the newest timestamp is
+        int64_t timeSinceEpochUs = 0;
+
+        localizationCoreSegment.forEachEntity([&timeSinceEpochUs, &timestamp](const auto& entity){
+            auto snapshot = entity.findLatestSnapshotBeforeOrAt(timestamp);
+            const armem::wm::EntityInstance& item = snapshot->getInstance(0);
+            const auto tf = _convertEntityToTransform(item);
+            
+            const auto& dataTs = tf.header.timestamp;
+
+            timeSinceEpochUs = std::max(timeSinceEpochUs, dataTs.toMicroSecondsSinceEpoch());
+        });
+
+        // then we ensure that the timestamp is not more recent than the query timestamp
+        timeSinceEpochUs = std::min(timeSinceEpochUs, timestamp.toMicroSecondsSinceEpoch());
+
+        return armarx::core::time::DateTime(armarx::core::time::Duration::MicroSeconds(timeSinceEpochUs));
+    }
+
 
     template <class ...Args>
     std::vector<Eigen::Affine3f>
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
index 9de1fbd994f5a17c00987ce70d31525db7d9d1dd..6e2611f7a178ba64ab3e25082b5e74a6b968dc23 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
@@ -111,6 +111,10 @@ namespace armarx::armem::common::robot_state::localization
             const armem::base::ProviderSegmentBase<Args...>& agentProviderSegment,
             const armem::Time& timestamp);
 
+        template <class ...Args>
+        static
+        armarx::core::time::DateTime
+        _obtainTimestamp(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment, const armem::Time& timestamp);
 
         static
         Eigen::Affine3f
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
index 9b7c4fea29c8d2bd2471ca13feca3c384e194433..02325df8c3333ffa5671bcdc109e04ff6edc4ceb 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
@@ -48,9 +48,9 @@ namespace armarx::armem::server::robot_state::proprioception
     {
         const std::vector<std::string> split = simox::alg::split(entryName, ".", false, false);
         ARMARX_CHECK_GREATER_EQUAL(split.size(), 3);
-        const std::set<size_t> acceptedSizes{3, 4};
+        const std::set<size_t> acceptedSizes{3, 4, 5};
         ARMARX_CHECK_GREATER(acceptedSizes.count(split.size()), 0)
-                << "Data entry name could not be parsed (exected 3 or 4 components between '.'): "
+                << "Data entry name could not be parsed (exected 3 or 4 or 5 components between '.'): "
                 << "\n- split: '" << split << "'";
 
         const std::string& category = split.at(0);
diff --git a/source/RobotAPI/libraries/armem_vision/CMakeLists.txt b/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
index cc81788baa40cf3089de08f3699ac8e9cf026c36..f8bbe5ec1db7641c9f634ff51ba6416e1d2dbb81 100644
--- a/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_vision/CMakeLists.txt
@@ -19,13 +19,18 @@ armarx_add_library(
         ./client/laser_scans/Writer.h
         ./client/occupancy_grid/Reader.h
         ./client/occupancy_grid/Writer.h
+        ./client/laser_scanner_features/Reader.h
+        ./client/laser_scanner_features/Writer.h
         ./OccupancyGridHelper.h
+        constants.h
     SOURCES
         ./aron_conversions.cpp
         ./client/laser_scans/Reader.cpp
         ./client/laser_scans/Writer.cpp
         ./client/occupancy_grid/Reader.cpp
         ./client/occupancy_grid/Writer.cpp
+        ./client/laser_scanner_features/Reader.cpp
+        ./client/laser_scanner_features/Writer.cpp
         ./OccupancyGridHelper.cpp
 )
 
@@ -34,6 +39,7 @@ armarx_enable_aron_file_generation_for_target(
         "${LIB_NAME}"
     ARON_FILES
         aron/LaserScan.xml
+        aron/LaserScannerFeatures.xml
         aron/OccupancyGrid.xml
 )
 
diff --git a/source/RobotAPI/libraries/armem_vision/OccupancyGridHelper.h b/source/RobotAPI/libraries/armem_vision/OccupancyGridHelper.h
index 4b936b6e5bbc7de8141ea380efdac63f3e8d14ad..89ee1de1132faa3298765bd1c28fda208ca164a7 100644
--- a/source/RobotAPI/libraries/armem_vision/OccupancyGridHelper.h
+++ b/source/RobotAPI/libraries/armem_vision/OccupancyGridHelper.h
@@ -2,14 +2,14 @@
 
 #include <Eigen/Core>
 
-namespace armarx::armem
+namespace armarx::armem::vision
 {
     struct OccupancyGrid;
 }
 
 namespace armarx
 {
-    using armarx::armem::OccupancyGrid;
+    using armarx::armem::vision::OccupancyGrid;
 
     namespace detail
     {
diff --git a/source/RobotAPI/libraries/armem_vision/aron/LaserScan.xml b/source/RobotAPI/libraries/armem_vision/aron/LaserScan.xml
index f2d11c2e4111dfd0c24896ba807aef6435b7014b..9ad92092e4f2fde9a14450e0bf36bacb8cc84326 100644
--- a/source/RobotAPI/libraries/armem_vision/aron/LaserScan.xml
+++ b/source/RobotAPI/libraries/armem_vision/aron/LaserScan.xml
@@ -8,7 +8,7 @@
 
     <GenerateTypes>
 
-        <Object name='armarx::armem::arondto::LaserScannerInfo'>
+        <Object name='armarx::armem::vision::arondto::LaserScannerInfo'>
             <ObjectChild key='device'>
                 <string />
             </ObjectChild>
@@ -26,7 +26,7 @@
             </ObjectChild>
         </Object>
 
-        <Object name="armarx::armem::arondto::SensorHeader">
+        <Object name="armarx::armem::vision::arondto::SensorHeader">
             <ObjectChild key="agent">
                 <string/>
             </ObjectChild>
@@ -39,9 +39,9 @@
         </Object>
 
 
-        <Object name='armarx::armem::arondto::LaserScanStamped'>
+        <Object name='armarx::armem::vision::arondto::LaserScanStamped'>
             <ObjectChild key="header">
-                <armarx::armem::arondto::SensorHeader />
+                <armarx::armem::vision::arondto::SensorHeader />
             </ObjectChild>
 
             <!-- 
@@ -51,4 +51,4 @@
         </Object>
 
     </GenerateTypes>
-</AronTypeDefinition> 
\ No newline at end of file
+</AronTypeDefinition> 
diff --git a/source/RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.xml b/source/RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.xml
new file mode 100644
index 0000000000000000000000000000000000000000..32600d7d19eef8f3969bde99c4a66d60635cf4c6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.xml
@@ -0,0 +1,67 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+    <CodeIncludes>
+    </CodeIncludes>
+    <AronIncludes>
+    </AronIncludes>
+
+    <GenerateTypes>
+
+        <Object name='armarx::armem::vision::arondto::Ellipsoid'>
+            <ObjectChild key='globalPose'>
+                <Pose />
+            </ObjectChild>
+            <ObjectChild key='radii'>
+                <Matrix rows="2" cols="1" type="float32" />
+            </ObjectChild>
+        </Object>
+
+        <Object name='armarx::armem::vision::arondto::Circle'>
+            <ObjectChild key='center'>
+                <Matrix rows="2" cols="1" type="float32" />
+            </ObjectChild>
+            <ObjectChild key='radius'>
+                <float />
+            </ObjectChild>
+        </Object>
+
+        <Object name="armarx::armem::vision::arondto::LaserScannerFeature">
+            <ObjectChild key="convexHull">
+                <List>
+                    <Matrix rows="2" cols="1" type="float32" />
+                </List>
+            </ObjectChild>
+            <ObjectChild key="circle">
+                <armarx::armem::vision::arondto::Circle/>
+            </ObjectChild>
+            <ObjectChild key="ellipsoid">
+                <armarx::armem::vision::arondto::Ellipsoid/>
+            </ObjectChild>
+            <!-- <ObjectChild key="chain">
+                <armarx::armem::vision::arondto::Chain/>
+            </ObjectChild> -->
+            <ObjectChild key="points">
+                <List>
+                    <Matrix rows="2" cols="1" type="float32" />
+                </List>
+            </ObjectChild>
+        </Object>
+
+         <Object name="armarx::armem::vision::arondto::LaserScannerFeatures">
+            <ObjectChild key="frame">
+                <String/>
+            </ObjectChild>
+            <ObjectChild key="frameGlobalPose">
+                <Pose/>
+            </ObjectChild>
+            <ObjectChild key="features">
+                <List>
+                    <armarx::armem::vision::arondto::LaserScannerFeature />
+                </List>
+            </ObjectChild>
+        </Object>
+
+
+    </GenerateTypes>
+</AronTypeDefinition> 
diff --git a/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml b/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
index 0c508a4e2138b4b04c126287bf46d8826fb3da6f..3f273cded23f6942d6be82f76521f929146fb21e 100644
--- a/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
+++ b/source/RobotAPI/libraries/armem_vision/aron/OccupancyGrid.xml
@@ -8,7 +8,7 @@
 
     <GenerateTypes>
 
-        <Object name='armarx::armem::arondto::OccupancyGrid'>
+        <Object name='armarx::armem::vision::arondto::OccupancyGrid'>
             <ObjectChild key='resolution'>
                 <float />
             </ObjectChild>
@@ -27,4 +27,4 @@
 
 
     </GenerateTypes>
-</AronTypeDefinition> 
\ No newline at end of file
+</AronTypeDefinition> 
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
index 4819a27abc53f7b10696da6d452bb2d133a82fd4..cadb4fdcda9f18695833a462e0bef2acfe91451d 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.cpp
@@ -5,8 +5,9 @@
 #include <iterator>
 
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
-#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions.h>
 #include <RobotAPI/libraries/aron/converter/common/Converter.h>
 #include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
@@ -14,36 +15,38 @@
 #include "types.h"
 
 
-namespace armarx::armem
+namespace armarx::armem::vision
 {
 
     /************ fromAron ************/
-    SensorHeader fromAron(const arondto::SensorHeader& aronSensorHeader)
+    SensorHeader
+    fromAron(const arondto::SensorHeader& aronSensorHeader)
     {
-        return {.agent     = aronSensorHeader.agent,
-                .frame     = aronSensorHeader.frame,
+        return {.agent = aronSensorHeader.agent,
+                .frame = aronSensorHeader.frame,
                 .timestamp = aron::fromAron<Time>(aronSensorHeader.timestamp)};
     }
 
-    void fromAron(const arondto::LaserScanStamped& aronLaserScan,
-                  LaserScanStamped& laserScan)
+    void
+    fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan)
     {
         laserScan.header = fromAron(aronLaserScan.header);
         // laserScan.data = fromAron(aronLaserScan.data);
     }
 
-    void fromAron(const arondto::LaserScanStamped& aronLaserScan,
-                  LaserScan& laserScan,
-                  std::int64_t& timestamp,
-                  std::string& frame,
-                  std::string& agentName)
+    void
+    fromAron(const arondto::LaserScanStamped& aronLaserScan,
+             LaserScan& laserScan,
+             std::int64_t& timestamp,
+             std::string& frame,
+             std::string& agentName)
     {
         const auto header = fromAron(aronLaserScan.header);
 
         // laserScan = fromAron(aronLaserScan.data);
 
         timestamp = header.timestamp.toMicroSecondsSinceEpoch();
-        frame     = header.frame;
+        frame = header.frame;
         agentName = header.agent;
     }
 
@@ -54,46 +57,48 @@ namespace armarx::armem
     //     aronLaserScan.scan = toAron(laserScan);
     // }
 
-    int64_t toAron(const armem::Time& timestamp)
+    int64_t
+    toAron(const armem::Time& timestamp)
     {
         return timestamp.toMicroSecondsSinceEpoch();
     }
 
-    arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
+    arondto::SensorHeader
+    toAron(const SensorHeader& sensorHeader)
     {
         arondto::SensorHeader aronSensorHeader;
 
-        aronSensorHeader.agent     = sensorHeader.agent;
-        aronSensorHeader.frame     = sensorHeader.frame;
+        aronSensorHeader.agent = sensorHeader.agent;
+        aronSensorHeader.frame = sensorHeader.frame;
         toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
 
         return aronSensorHeader;
     }
 
-    void toAron(const LaserScanStamped& laserScanStamped,
-                arondto::LaserScanStamped& aronLaserScanStamped)
+    void
+    toAron(const LaserScanStamped& laserScanStamped,
+           arondto::LaserScanStamped& aronLaserScanStamped)
     {
         aronLaserScanStamped.header = toAron(laserScanStamped.header);
         // toAron(laserScanStamped.data, aronLaserScanStamped.data);
     }
 
-    void toAron(const LaserScan& laserScan,
-                const armem::Time& timestamp,
-                const std::string& frame,
-                const std::string& agentName,
-                arondto::LaserScanStamped& aronLaserScanStamped)
+    void
+    toAron(const LaserScan& laserScan,
+           const armem::Time& timestamp,
+           const std::string& frame,
+           const std::string& agentName,
+           arondto::LaserScanStamped& aronLaserScanStamped)
     {
-        const SensorHeader header
-        {
-            .agent = agentName, .frame = frame, .timestamp = timestamp};
+        const SensorHeader header{.agent = agentName, .frame = frame, .timestamp = timestamp};
 
-        const LaserScanStamped laserScanStamped{.header = header,
-                                                .data   = laserScan};
+        const LaserScanStamped laserScanStamped{.header = header, .data = laserScan};
 
         toAron(laserScanStamped, aronLaserScanStamped);
     }
 
-    void toAron(arondto::OccupancyGrid& dto, const OccupancyGrid& bo)
+    void
+    toAron(arondto::OccupancyGrid& dto, const OccupancyGrid& bo)
     {
         aron::toAron(dto.frame, bo.frame);
         aron::toAron(dto.pose, bo.pose);
@@ -101,7 +106,8 @@ namespace armarx::armem
         // bo.grid is NdArray -> need special handling.
     }
 
-    void fromAron(const arondto::OccupancyGrid& dto, OccupancyGrid& bo)
+    void
+    fromAron(const arondto::OccupancyGrid& dto, OccupancyGrid& bo)
     {
         aron::fromAron(dto.frame, bo.frame);
         aron::fromAron(dto.pose, bo.pose);
@@ -109,4 +115,70 @@ namespace armarx::armem
         // bo.grid is NdArray -> need special handling.
     }
 
-} // namespace armarx::armem
+    // LaserScannerFeatures
+
+
+    void
+    toAron(arondto::Circle& dto, const Circle& bo)
+    {
+        dto.center = bo.center;
+        dto.radius = bo.radius;
+    }
+
+    void
+    toAron(arondto::Ellipsoid& dto, const Ellipsoid& bo)
+    {
+        dto.globalPose = bo.pose.matrix();
+        dto.radii = bo.radii;
+    }
+
+    void
+    toAron(arondto::LaserScannerFeature& dto, const LaserScannerFeature& bo)
+    {
+        toAron(dto.circle, bo.circle);
+        dto.convexHull = bo.convexHull;
+        toAron(dto.ellipsoid, bo.ellipsoid);
+        dto.points = bo.points;
+    }
+
+    void
+    toAron(arondto::LaserScannerFeatures& dto, const LaserScannerFeatures& bo)
+    {
+        aron::toAron(dto.frame, bo.frame);
+        aron::toAron(dto.frameGlobalPose, bo.frameGlobalPose);
+        aron::toAron(dto.features, bo.features);
+    }
+
+    void
+    fromAron(const arondto::Circle& dto, Circle& bo)
+    {
+        bo.center = dto.center;
+        bo.radius = dto.radius;
+    }
+    void
+    fromAron(const arondto::Ellipsoid& dto, Ellipsoid& bo)
+    {
+        bo.pose = dto.globalPose;
+        bo.radii = dto.radii;
+    }
+
+    void
+    fromAron(const arondto::LaserScannerFeature& dto, LaserScannerFeature& bo)
+    {
+        bo.convexHull = dto.convexHull;
+        fromAron(dto.circle, bo.circle);
+        fromAron(dto.ellipsoid, bo.ellipsoid);
+
+        // bo.chain = dto.chain;
+        bo.points = dto.points;
+    }
+
+    void
+    fromAron(const arondto::LaserScannerFeatures& dto, LaserScannerFeatures& bo)
+    {
+        aron::fromAron(dto.frame, bo.frame);
+        aron::fromAron(dto.frameGlobalPose, bo.frameGlobalPose);
+        aron::fromAron(dto.features, bo.features);
+    }
+
+} // namespace armarx::armem::vision
diff --git a/source/RobotAPI/libraries/armem_vision/aron_conversions.h b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
index 681049dac2250e30ad6a3ccee5f25cc6412b074e..bb1e525344c71ac33fabc7d8eda2102f69777107 100644
--- a/source/RobotAPI/libraries/armem_vision/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_vision/aron_conversions.h
@@ -21,15 +21,16 @@
 
 #pragma once
 
-#include <RobotAPI/libraries/armem_vision/types.h>
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
 #include <RobotAPI/libraries/armem_vision/aron/OccupancyGrid.aron.generated.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
 #include <RobotAPI/libraries/aron/converter/common/VectorConverter.h>
 #include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
 #include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
 
-namespace armarx::armem
+namespace armarx::armem::vision
 {
 
     namespace arondto
@@ -47,14 +48,13 @@ namespace armarx::armem
                   std::string& agentName);
 
     template <typename T>
-    auto fromAron(const aron::data::NDArrayPtr& navigator)
+    auto
+    fromAron(const aron::data::NDArrayPtr& navigator)
     {
-        return aron::converter::AronVectorConverter::ConvertToVector<T>(
-                   navigator);
+        return aron::converter::AronVectorConverter::ConvertToVector<T>(navigator);
     }
 
-    void fromAron(const arondto::LaserScanStamped& aronLaserScan,
-                  LaserScanStamped& laserScan);
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan);
 
     void toAron(const LaserScan& laserScan,
                 const armem::Time& timestamp,
@@ -79,4 +79,8 @@ namespace armarx::armem
         return aron::converter::AronEigenConverter::ConvertFromArray(grid);
     }
 
-} // namespace armarx::armem
+    // LaserScannerFeatures
+    void toAron(arondto::LaserScannerFeatures& dto, const LaserScannerFeatures& bo);
+    void fromAron(const arondto::LaserScannerFeatures& dto, LaserScannerFeatures& bo);
+
+} // namespace armarx::armem::vision
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e9cf78c698b31345a9fcc17262bb7a23a25cd7fc
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.cpp
@@ -0,0 +1,218 @@
+#include "Reader.h"
+
+// STD / STL
+#include <algorithm>
+#include <cstring>
+#include <map>
+#include <optional>
+#include <ostream>
+#include <type_traits>
+#include <utility>
+#include <vector>
+
+// ICE
+#include <IceUtil/Handle.h>
+#include <IceUtil/Time.h>
+
+// Simox
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
+// ArmarXCore
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/LogSender.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+// RobotAPI Interfaces
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+
+// RobotAPI Aron
+#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+// RobotAPI Armem
+#include <RobotAPI/libraries/armem/client/Query.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/selectors.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/util/util.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
+
+
+namespace armarx::armem::vision::laser_scanner_features::client
+{
+
+    Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
+        memoryNameSystem(memoryNameSystem)
+    {
+    }
+    Reader::~Reader() = default;
+
+
+    void
+    Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+    {
+        // ARMARX_DEBUG << "TransformReader: registerPropertyDefinitions";
+        // registerPropertyDefinitions(def);
+
+        const std::string prefix = propertyPrefix;
+
+        def->optional(properties.coreSegmentName,
+                      prefix + "CoreSegment",
+                      "Name of the mapping memory core segment to use.");
+
+        def->optional(properties.memoryName, prefix + "MemoryName");
+    }
+
+    void
+    Reader::connect()
+    {
+        // Wait for the memory to become available and add it as dependency.
+        ARMARX_IMPORTANT << "MappingDataReader: Waiting for memory '" << properties.memoryName
+                         << "' ...";
+        try
+        {
+            memoryReader =
+                memoryNameSystem.useReader(MemoryID().withMemoryName(properties.memoryName));
+            ARMARX_IMPORTANT << "MappingDataReader: Connected to memory '" << properties.memoryName
+                             << "'";
+        }
+        catch (const armem::error::CouldNotResolveMemoryServer& e)
+        {
+            ARMARX_ERROR << e.what();
+            return;
+        }
+    }
+
+    armarx::armem::client::query::Builder
+    Reader::buildQuery(const Query& query) const
+    {
+        armarx::armem::client::query::Builder qb;
+
+        qb.coreSegments()
+                       .withName(properties.coreSegmentName)
+                       .providerSegments()
+                       .withName(query.providerName)
+                       .entities()
+                       .all()
+                       .snapshots()
+                       .beforeOrAtTime(query.timestamp);
+
+        // auto entitySel = [&]()
+        // {
+        //     if (query.name.empty())
+        //     {
+        //         ARMARX_INFO << "querying all entities";
+        //         return sel.entities().all();
+        //     }
+        //     return sel.entities().withName(query.name);
+        // }();
+
+        // entitySel.snapshots().beforeOrAtTime(query.timestamp);
+
+        return qb;
+    }
+
+    std::vector<LaserScannerFeatures>
+    asFeaturesList(const wm::ProviderSegment& providerSegment)
+    {
+        if (providerSegment.empty())
+        {
+            ARMARX_WARNING << "No entities!";
+            return {};
+        }
+
+        // const auto convert = [](const auto& aronLaserScanStamped,
+        //                         const wm::EntityInstance& ei) -> LaserScanStamped
+        // {
+        //     LaserScanStamped laserScanStamped;
+        //     fromAron(aronLaserScanStamped, laserScanStamped);
+
+        //     const auto ndArrayNavigator =
+        //         aron::data::NDArray::DynamicCast(ei.data()->getElement("scan"));
+
+        //     ARMARX_CHECK_NOT_NULL(ndArrayNavigator);
+
+        //     laserScanStamped.data = fromAron<LaserScanStep>(ndArrayNavigator);
+        //     ARMARX_IMPORTANT << "4";
+
+        //     return laserScanStamped;
+        // };
+
+        std::vector<LaserScannerFeatures> laserScannerFeatures;
+
+        // loop over all entities and their snapshots
+        providerSegment.forEachEntity(
+            [&](const wm::Entity& entity)
+            {
+                // If we don't need this warning, we could directly iterate over the snapshots.
+                if (entity.empty())
+                {
+                    ARMARX_WARNING << "Empty history for " << entity.id();
+                }
+                ARMARX_DEBUG << "History size: " << entity.size();
+
+                entity.forEachInstance(
+                    [&](const wm::EntityInstance& entityInstance)
+                    {
+                        if (const auto o = tryCast<arondto::LaserScannerFeatures>(entityInstance))
+                        {
+                            LaserScannerFeatures& f = laserScannerFeatures.emplace_back();
+                            fromAron(o.value(), f);
+                        }
+                        return true;
+                    });
+                return true;
+            });
+
+        return laserScannerFeatures;
+    }
+
+    Reader::Result
+    Reader::queryData(const Query& query) const
+    {
+        const auto qb = buildQuery(query);
+
+        ARMARX_DEBUG << "[MappingDataReader] query ... ";
+
+        const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
+
+        ARMARX_DEBUG << "[MappingDataReader] result: " << qResult;
+
+        if (not qResult.success)
+        {
+            ARMARX_WARNING << "Failed to query data from memory: " << qResult.errorMessage;
+            return {.features = {},
+                    .status = Result::Status::Error,
+                    .errorMessage = qResult.errorMessage};
+        }
+
+        // now create result from memory
+        const wm::ProviderSegment& providerSegment =
+            qResult.memory.getCoreSegment(properties.coreSegmentName)
+                .getProviderSegment(query.providerName);
+
+        const auto features = asFeaturesList(providerSegment);
+
+        // const auto laserScans = asLaserScans(providerSegment);
+        // std::vector<std::string> sensors;
+        // providerSegment.forEachEntity(
+        //     [&sensors](const wm::Entity& entity)
+        //     {
+        //         sensors.push_back(entity.name());
+        //         return true;
+        //     });
+
+        return {.features = features,
+                // .sensors = sensors,
+                .status = Result::Status::Success,
+                .errorMessage = ""};
+    }
+
+} // namespace armarx::armem::vision::laser_scanner_features::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.h b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.h
new file mode 100644
index 0000000000000000000000000000000000000000..4752ca85cf3df286b3d1378c2a0526f5a89f1a31
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Reader.h
@@ -0,0 +1,113 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/time/DateTime.h>
+
+#include <RobotAPI/libraries/armem/client.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem_vision/types.h>
+
+
+namespace armarx
+{
+    class ManagedIceObject;
+}
+
+namespace armarx::armem::vision::laser_scanner_features::client
+{
+
+
+    /**
+    * @defgroup Component-ExampleClient ExampleClient
+    * @ingroup RobotAPI-Components
+    * A description of the component ExampleClient.
+    *
+    * @class ExampleClient
+    * @ingroup Component-ExampleClient
+    * @brief Brief description of class ExampleClient.
+    *
+    * Detailed description of class ExampleClient.
+    */
+    class Reader
+    {
+    public:
+        Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+        virtual ~Reader();
+
+        void connect();
+
+        struct Query
+        {
+            std::string providerName;
+
+            std::string name; // sensor name
+
+            armarx::core::time::DateTime timestamp;
+
+            // std::vector<std::string> sensorList;
+        };
+
+        struct Result
+        {
+            std::vector<LaserScannerFeatures> features;
+
+            // std::vector<std::string> sensors;
+
+            enum Status
+            {
+                Error,
+                Success
+            } status;
+
+            std::string errorMessage;
+        };
+
+        Result queryData(const Query& query) const;
+
+        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
+
+
+    protected:
+        armarx::armem::client::query::Builder buildQuery(const Query& query) const;
+
+    private:
+        armem::client::MemoryNameSystem& memoryNameSystem;
+        armem::client::Reader memoryReader;
+
+        // Properties
+        struct Properties
+        {
+            std::string memoryName = "Vision";
+            std::string coreSegmentName = "LaserScannerFeatures";
+        } properties;
+
+        const std::string propertyPrefix = "mem.vision.laser_scanner_features.";
+    };
+
+} // namespace armarx::armem::vision::laser_scanner_features::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5746bffa1880c3031e183acf5cecd74f2d6d515a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.cpp
@@ -0,0 +1,111 @@
+#include "Writer.h"
+
+#include "RobotAPI/libraries/armem_vision/constants.h"
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem_vision/aron/LaserScannerFeatures.aron.generated.h>
+#include <RobotAPI/libraries/armem_vision/aron_conversions.h>
+
+
+namespace armarx::armem::vision::laser_scanner_features::client
+{
+
+    Writer::Writer(armem::client::MemoryNameSystem& memoryNameSystem) :
+        memoryNameSystem(memoryNameSystem)
+    {
+    }
+    Writer::~Writer() = default;
+
+
+    void
+    Writer::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
+    {
+        ARMARX_DEBUG << "LaserScansWriter: registerPropertyDefinitions";
+
+        const std::string prefix = propertyPrefix;
+
+        // def->optional(properties.coreSegmentName,
+        //               prefix + "CoreSegment",
+        //               "Name of the mapping memory core segment to use.");
+
+        // def->optional(properties.memoryName, prefix + "MemoryName");
+    }
+
+    void
+    Writer::connect()
+    {
+        // Wait for the memory to become available and add it as dependency.
+        ARMARX_IMPORTANT << "LaserScansWriter: Waiting for memory '" << constants::memoryName
+                         << "' ...";
+        try
+        {
+            memoryWriter =
+                memoryNameSystem.useWriter(MemoryID().withMemoryName(constants::memoryName));
+            ARMARX_IMPORTANT << "MappingDataWriter: Connected to memory '" << constants::memoryName
+                             << "'";
+        }
+        catch (const armem::error::CouldNotResolveMemoryServer& e)
+        {
+            ARMARX_ERROR << e.what();
+            return;
+        }
+
+        ARMARX_IMPORTANT << "LaserScansWriter: Connected to memory '" << constants::memoryName;
+    }
+
+    bool
+    Writer::store(const LaserScannerFeatures& features,
+                  const std::string& providerName,
+                  const Time& timestamp)
+    {
+        std::lock_guard g{memoryWriterMutex};
+
+        // const auto result = memoryWriter.addSegment(constants::memoryName,
+        //                                             constants::laserScannerFeaturesCoreSegment);
+
+        // if (not result.success)
+        // {
+        //     ARMARX_ERROR << result.errorMessage;
+
+        //     // TODO(fabian.reister): message
+        //     return false;
+        // }
+
+        const auto entityID = armem::MemoryID()
+                                    .withMemoryName(constants::memoryName)
+                                    .withCoreSegmentName(constants::laserScannerFeaturesCoreSegment)
+                                    .withProviderSegmentName(providerName)
+                                    .withEntityName(features.frame)
+                                    .withTimestamp(timestamp);
+
+        ARMARX_VERBOSE << "Memory id is " << entityID.str();
+
+        armem::EntityUpdate update;
+        update.entityID = entityID;
+
+        ARMARX_TRACE;
+
+        arondto::LaserScannerFeatures dto;
+        toAron(dto, features);
+
+        ARMARX_TRACE;
+
+        update.instancesData = {dto.toAron()};
+        update.timeCreated = timestamp;
+
+        ARMARX_DEBUG << "Committing " << update << " at time " << timestamp;
+
+        ARMARX_TRACE;
+        armem::EntityUpdateResult updateResult = memoryWriter.commit(update);
+
+        ARMARX_DEBUG << updateResult;
+
+        if (not updateResult.success)
+        {
+            ARMARX_ERROR << updateResult.errorMessage;
+        }
+
+        return updateResult.success;
+    }
+
+} // namespace armarx::armem::vision::laser_scanner_features::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.h b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.h
new file mode 100644
index 0000000000000000000000000000000000000000..ca58005772268d70f7eedf06189c02250c75fef6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scanner_features/Writer.h
@@ -0,0 +1,85 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+#include "RobotAPI/libraries/armem_vision/types.h"
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+
+
+namespace armarx::armem::vision::laser_scanner_features::client
+{
+
+    /**
+    * @defgroup Component-ExampleClient ExampleClient
+    * @ingroup RobotAPI-Components
+    * A description of the component ExampleClient.
+    *
+    * @class ExampleClient
+    * @ingroup Component-ExampleClient
+    * @brief Brief description of class ExampleClient.
+    *
+    * Detailed description of class ExampleClient.
+    */
+    class Writer
+    {
+    public:
+        Writer(armem::client::MemoryNameSystem& memoryNameSystem);
+        virtual ~Writer();
+
+
+        void connect();
+
+        // MappingDataWriterInterface
+        /// to be called in Component::onConnectComponent
+        // void connect() override;
+
+        /// to be called in Component::addPropertyDefinitions
+        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def) /*override*/;
+
+        bool store(const LaserScannerFeatures& features,
+                   const std::string& providerName,
+                   const Time& timestamp);
+
+    private:
+        armem::client::MemoryNameSystem& memoryNameSystem;
+        armem::client::Writer memoryWriter;
+
+        // Properties
+        struct Properties
+        {
+            // std::string memoryName = "Vision";
+            // std::string coreSegmentName = "LaserScannerFeatures";
+        } properties;
+
+        std::mutex memoryWriterMutex;
+
+        const std::string propertyPrefix = "mem.vision.laser_scanner_features.";
+    };
+
+} // namespace armarx::armem::vision::laser_scanner_features::client
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
index 5faf563cfab3c4c380258268671f5c7268fe9dd1..396dd1bd8b4f40cfef062fa963e87c97f52f45b4 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.cpp
@@ -131,7 +131,7 @@ namespace armarx::armem::vision::laser_scans::client
         }
 
         const auto convert =
-            [](const arondto::LaserScanStamped & aronLaserScanStamped,
+            [](const auto& aronLaserScanStamped,
                const wm::EntityInstance & ei) -> LaserScanStamped
         {
             LaserScanStamped laserScanStamped;
@@ -177,7 +177,7 @@ namespace armarx::armem::vision::laser_scans::client
     {
         const auto qb = buildQuery(query);
 
-        ARMARX_IMPORTANT << "[MappingDataReader] query ... ";
+        ARMARX_DEBUG << "[MappingDataReader] query ... ";
 
         const armem::client::QueryResult qResult =
             memoryReader.query(qb.buildQueryInput());
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.h b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.h
index 138717c42257e02275a15785940783330126ee4d..349b65a5af3bea2fc6acb17324a42b87fbb3bf8d 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.h
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Reader.h
@@ -113,7 +113,7 @@ namespace armarx::armem::vision::laser_scans::client
             std::string coreSegmentName = "LaserScans";
         } properties;
 
-        const std::string propertyPrefix = "mem.vision.";
+        const std::string propertyPrefix = "mem.vision.laser_scans.";
 
     };
 
diff --git a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.h b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.h
index afc383634b87a31fc84a841a5658f83ec845ee27..b4f7502ef9493692fc82bf79740d2367fe165d4a 100644
--- a/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.h
+++ b/source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.h
@@ -81,7 +81,7 @@ namespace armarx::armem::vision::laser_scans::client
 
         std::mutex memoryWriterMutex;
 
-        const std::string propertyPrefix = "mem.vision.";
+        const std::string propertyPrefix = "mem.vision.laser_scans.";
 
     };
 
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
index bb3bdf5546650f2bb8c45db39b092c0f601c2c9a..91505d40e5ea0046fc2419ac532db85010062011 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Reader.cpp
@@ -115,7 +115,7 @@ namespace armarx::armem::vision::occupancy_grid::client
     {
         const auto qb = buildQuery(query);
 
-        ARMARX_IMPORTANT << "[MappingDataReader] query ... ";
+        ARMARX_DEBUG << "[MappingDataReader] query ... ";
 
         const armem::client::QueryResult qResult =
             memoryReader().query(qb.buildQueryInput());
diff --git a/source/RobotAPI/libraries/armem_vision/constants.h b/source/RobotAPI/libraries/armem_vision/constants.h
new file mode 100644
index 0000000000000000000000000000000000000000..653d6fda6fc9e787d00f570af5440a6c81c6108b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_vision/constants.h
@@ -0,0 +1,33 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <string>
+
+namespace armarx::armem::vision::constants
+{
+    const inline std::string memoryName = "Vision";
+
+    // core segments
+    const inline std::string laserScannerFeaturesCoreSegment = "LaserScannerFeatures";
+
+} // namespace armarx::armem::vision::constants
diff --git a/source/RobotAPI/libraries/armem_vision/types.h b/source/RobotAPI/libraries/armem_vision/types.h
index 00fb545a104afb19c38c9d7b01fd864ed6ba1fe6..85322d188ce8fdbd9b065ce476e281408d38f254 100644
--- a/source/RobotAPI/libraries/armem_vision/types.h
+++ b/source/RobotAPI/libraries/armem_vision/types.h
@@ -23,10 +23,12 @@
 
 #include <vector>
 
+#include <VirtualRobot/MathTools.h>
+
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/armem/core/Time.h>
 
-namespace armarx::armem
+namespace armarx::armem::vision
 {
 
     struct SensorHeader
@@ -52,10 +54,50 @@ namespace armarx::armem
 
         // using ValueType = _ValueT;
         using CellType = float;
-        using Grid     = Eigen::Array<CellType, Eigen::Dynamic, Eigen::Dynamic>;
+        using Grid = Eigen::Array<CellType, Eigen::Dynamic, Eigen::Dynamic>;
 
         Grid grid;
     };
 
+    struct Ellipsoid
+    {
+        Eigen::Isometry3f pose = Eigen::Isometry3f::Identity();
+
+        Eigen::Vector2f radii = Eigen::Vector2f::Zero();
+    };
+
+    struct Circle
+    {
+        Eigen::Vector2f center = Eigen::Vector2f::Zero();
+        float radius = 0.F;
+    };
+
+    struct LaserScannerFeature
+    {
+        using Points = std::vector<Eigen::Vector2f>;
+        using Chain = Points;
+
+        Points convexHull;
+
+        Circle circle;
+        Ellipsoid ellipsoid;
+
+        Chain chain;
+
+        Points points;
+    };
+
+    struct LaserScannerFeatures
+    {
+        // TODO(fabian.reister): framed pose
+        std::string frame;
+        Eigen::Isometry3f frameGlobalPose;
+
+        std::vector<LaserScannerFeature> features;
+
+
+        // std::vector<Ellipsoid> linesAsEllipsoids(float axisLength) const;
+    };
+
 
-} // namespace armarx::armem
+} // namespace armarx::armem::vision
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
index 0bf14ec90439e50a4869234b81449adaf068d173..8b738d098d56b40796fc427f6d69dd744beab9cc 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.cpp
@@ -14,4 +14,25 @@ namespace armarx::aron
         dto = bo.matrix();
     }
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3f& bo)
+    {
+        bo.matrix() = dto;
+    }
+
+    void toAron(AronPose& dto, const Eigen::Isometry3f& bo)
+    {
+        dto = bo.matrix();
+    }
+
+    void fromAron(const AronPose& dto, Eigen::Isometry3d& bo)
+    {
+        bo.matrix() = dto.cast<double>();
+    }
+
+    void toAron(AronPose& dto, const Eigen::Isometry3d& bo)
+    {
+        dto = bo.matrix().cast<float>();
+    }
+
+
 }  // namespace armarx::aron
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
index 3f091dbfc40ee8e91b8d2922687273269ce790a8..3ace8f400192823bd7c59cce605ef50e77dfdbff 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/eigen.h
@@ -9,4 +9,10 @@ namespace armarx::aron
     void fromAron(const AronPose& dto, Eigen::Affine3f& bo);
     void toAron(AronPose& dto, const Eigen::Affine3f& bo);
 
+    void fromAron(const AronPose& dto, Eigen::Isometry3f& bo);
+    void toAron(AronPose& dto, const Eigen::Isometry3f& bo);
+
+    void fromAron(const AronPose& dto, Eigen::Isometry3d& bo);
+    void toAron(AronPose& dto, const Eigen::Isometry3d& bo);
+
 }  // namespace armarx
diff --git a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
index e1213b86b1f2f6386fb22d318f4ed798a72eb040..8d6ccf594f8d0adcd168a066111b1ad2fecdcf39 100644
--- a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
@@ -111,8 +111,9 @@ namespace armarx::aron::converter
 
             using MatrixT = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
 
-            MatrixT ret;
-            memcpy(reinterpret_cast<unsigned char*>(ret.data()), nav.getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<>()));
+            ARMARX_CHECK_EQUAL(dims.size(), 2); // for now ...
+            MatrixT ret(dims.at(0), dims.at(1));
+            memcpy(reinterpret_cast<unsigned char*>(ret.data()), nav.getData(), std::accumulate(std::begin(dims), std::end(dims), sizeof(T), std::multiplies<>()));
             return ret;
         }
 
@@ -128,7 +129,7 @@ namespace armarx::aron::converter
             auto dims = nav.getShape();
 
             Eigen::Matrix<T, Rows, Cols> ret;
-            memcpy(reinterpret_cast<unsigned char*>(ret.data()), nav.getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+            memcpy(reinterpret_cast<unsigned char*>(ret.data()), nav.getData(), std::accumulate(std::begin(dims), std::end(dims), sizeof(T), std::multiplies<int>()));
             return ret;
         }
 
diff --git a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
index e62f3d3d786bdd232631daa00d28f4724d03bd01..392739b2d4de4681cbfda63abbd41b93a10ff692 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
@@ -61,6 +61,16 @@
 using namespace armarx;
 using namespace aron;
 
+
+namespace std
+{
+    ostream& operator<<(ostream& os, const type_info& i)
+    {
+        return os << "'" << i.name() << "'";
+    }
+}
+
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationAnyTest)
 {
     std::cout << "Running Code Gen Any test" << std::endl;
@@ -84,6 +94,7 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationAnyTest)
     BOOST_CHECK_EQUAL(int_var2->getValue(), 5);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationTemplateTest)
 {
     std::cout << "Running Code Gen Tmpl test" << std::endl;
@@ -136,148 +147,156 @@ BOOST_AUTO_TEST_CASE(AronCodeGenerationTemplateTest)
     BOOST_CHECK_EQUAL(tt_daimpl_dablarg->getTemplateInstantiations(), std::vector<std::string>{});
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationListTest)
 {
     std::cout << "Running Code Gen List test" << std::endl;
     ListTest p_tmp;
     ListTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
-
-    BOOST_CHECK_EQUAL(typeid(p.intList) == typeid(std::vector<int>), true);
-    BOOST_CHECK_EQUAL(typeid(p.longList) == typeid(std::vector<long>), true);
-    BOOST_CHECK_EQUAL(typeid(p.floatList) == typeid(std::vector<float>), true);
-    BOOST_CHECK_EQUAL(typeid(p.doubleList) == typeid(std::vector<double>), true);
-    BOOST_CHECK_EQUAL(typeid(p.stringList) == typeid(std::vector<std::string>), true);
-    BOOST_CHECK_EQUAL(typeid(p.boolList) == typeid(std::vector<bool>), true);
-    //BOOST_CHECK_EQUAL(typeid(p.objectList) == typeid(std::vector<ListTest::ListClass>), true);
-
-    BOOST_CHECK_EQUAL(p.intList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.longList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.floatList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.doubleList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.stringList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.boolList.size() == 0, true);
-    BOOST_CHECK_EQUAL(p.objectList.size() == 0, true);
+    BOOST_CHECK(p_tmp == p);
+
+    BOOST_CHECK_EQUAL(typeid(p.intList), typeid(std::vector<int>));
+    BOOST_CHECK_EQUAL(typeid(p.longList), typeid(std::vector<long>));
+    BOOST_CHECK_EQUAL(typeid(p.floatList), typeid(std::vector<float>));
+    BOOST_CHECK_EQUAL(typeid(p.doubleList), typeid(std::vector<double>));
+    BOOST_CHECK_EQUAL(typeid(p.stringList), typeid(std::vector<std::string>));
+    BOOST_CHECK_EQUAL(typeid(p.boolList), typeid(std::vector<bool>));
+    //BOOST_CHECK_EQUAL(typeid(p.objectList), typeid(std::vector<ListTest::ListClass>));
+
+    BOOST_CHECK_EQUAL(p.intList.size(), 0);
+    BOOST_CHECK_EQUAL(p.longList.size(), 0);
+    BOOST_CHECK_EQUAL(p.floatList.size(), 0);
+    BOOST_CHECK_EQUAL(p.doubleList.size(), 0);
+    BOOST_CHECK_EQUAL(p.stringList.size(), 0);
+    BOOST_CHECK_EQUAL(p.boolList.size(), 0);
+    BOOST_CHECK_EQUAL(p.objectList.size(), 0);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationDictTest)
 {
     std::cout << "Running Code Gen Dict test" << std::endl;
     DictTest p_tmp;
     DictTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
+    BOOST_CHECK(p_tmp == p);
 
-    BOOST_CHECK_EQUAL(p.dict.size() == 0, true);
+    BOOST_CHECK_EQUAL(p.dict.size(), 0);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationEigenMatrixTest)
 {
     std::cout << "Running Code Gen EigenMatrix test" << std::endl;
     EigenMatrixTest p_tmp;
     EigenMatrixTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
-
-    BOOST_CHECK_EQUAL(p.the_short_eigen_matrix.rows() == 5, true);
-    BOOST_CHECK_EQUAL(p.the_short_eigen_matrix.cols() == 7, true);
-    BOOST_CHECK_EQUAL(p.the_int_eigen_matrix.rows() == 7, true);
-    BOOST_CHECK_EQUAL(p.the_int_eigen_matrix.cols() == 7, true);
-    BOOST_CHECK_EQUAL(p.the_long_eigen_matrix.rows() == 7, true);
-    BOOST_CHECK_EQUAL(p.the_long_eigen_matrix.cols() == 5, true);
-    BOOST_CHECK_EQUAL(p.the_float_eigen_matrix.rows() == 1, true);
-    BOOST_CHECK_EQUAL(p.the_float_eigen_matrix.cols() == 9, true);
-    BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.rows() == 25, true);
-    BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.cols() == 1, true);
+    BOOST_CHECK(p_tmp == p);
+
+    BOOST_CHECK_EQUAL(p.the_short_eigen_matrix.rows(), 5);
+    BOOST_CHECK_EQUAL(p.the_short_eigen_matrix.cols(), 7);
+    BOOST_CHECK_EQUAL(p.the_int_eigen_matrix.rows(), 7);
+    BOOST_CHECK_EQUAL(p.the_int_eigen_matrix.cols(), 7);
+    BOOST_CHECK_EQUAL(p.the_long_eigen_matrix.rows(), 7);
+    BOOST_CHECK_EQUAL(p.the_long_eigen_matrix.cols(), 5);
+    BOOST_CHECK_EQUAL(p.the_float_eigen_matrix.rows(), 1);
+    BOOST_CHECK_EQUAL(p.the_float_eigen_matrix.cols(), 9);
+    BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.rows(), 5);
+    BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.cols(), 1);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationEigenQuaternionTest)
 {
     std::cout << "Running Code Gen EigenQuaternion test" << std::endl;
     EigenQuaternionTest p_tmp;
     EigenQuaternionTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
+    BOOST_CHECK(p_tmp == p);
 
-    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.w() == 0, true);
-    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.x() == 0, true);
-    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.y() == 0, true);
-    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.z() == 0, true);
+    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.w(), 0);
+    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.x(), 0);
+    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.y(), 0);
+    //BOOST_CHECK_EQUAL(p.the_double_eigen_matrix.z(), 0);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationEigenPositionTest)
 {
     std::cout << "Running Code Gen EigenPosition test" << std::endl;
     PositionTest p_tmp;
     PositionTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
+    BOOST_CHECK(p_tmp == p);
 
-    BOOST_CHECK_EQUAL(p.position.rows() == 3, true);
-    BOOST_CHECK_EQUAL(p.position.cols() == 1, true);
+    BOOST_CHECK_EQUAL(p.position.rows(), 3);
+    BOOST_CHECK_EQUAL(p.position.cols(), 1);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationEigenPoseTest)
 {
     std::cout << "Running Code Gen EigenPose test" << std::endl;
     PoseTest p_tmp;
     PoseTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
+    BOOST_CHECK(p_tmp == p);
 
-    BOOST_CHECK_EQUAL(p.pose.rows() == 4, true);
-    BOOST_CHECK_EQUAL(p.pose.cols() == 4, true);
+    BOOST_CHECK_EQUAL(p.pose.rows(), 4);
+    BOOST_CHECK_EQUAL(p.pose.cols(), 4);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationIntEnumTest)
 {
     std::cout << "Running Code Gen IntEnum test" << std::endl;
     TheObjectThatUsesTheIntEnum p_tmp;
     TheObjectThatUsesTheIntEnum p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
+    BOOST_CHECK(p_tmp == p);
 
-    BOOST_CHECK_EQUAL(p.the_int_enum.value == TheIntEnum::INT_ENUM_VALUE_0, true);
+    BOOST_CHECK(p.the_int_enum.value == TheIntEnum::INT_ENUM_VALUE_0);
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationPrimitiveTest)
 {
     std::cout << "Running Code Gen Primitive test" << std::endl;
     PrimitiveTest p_tmp;
     PrimitiveTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
-
-    BOOST_CHECK_EQUAL(p.the_bool == false, true);
-    BOOST_CHECK_EQUAL(p.the_double == 0.0, true);
-    BOOST_CHECK_EQUAL(p.the_float == 0.0, true);
-    BOOST_CHECK_EQUAL(p.the_int == 0, true);
-    BOOST_CHECK_EQUAL(p.the_long == 0, true);
-    BOOST_CHECK_EQUAL(p.the_string == "", true);
-    BOOST_CHECK_EQUAL(p.the_time == IceUtil::Time(), true);
+    BOOST_CHECK(p_tmp == p);
+
+    BOOST_CHECK_EQUAL(p.the_bool, false);
+    BOOST_CHECK_EQUAL(p.the_double, 0.0);
+    BOOST_CHECK_EQUAL(p.the_float, 0.0);
+    BOOST_CHECK_EQUAL(p.the_int, 0);
+    BOOST_CHECK_EQUAL(p.the_long, 0);
+    BOOST_CHECK_EQUAL(p.the_string, "");
+    BOOST_CHECK(p.the_time == IceUtil::Time());
 }
 
+
 BOOST_AUTO_TEST_CASE(AronCodeGenerationOptionalTest)
 {
     std::cout << "Running Code Gen Optional test" << std::endl;
     OptionalTest p_tmp;
     OptionalTest p = p_tmp; // test assignment
-    BOOST_CHECK_EQUAL(p_tmp == p, true);
-
-    BOOST_CHECK_EQUAL(typeid(p.some_dict) == typeid(std::optional<std::map<std::string, float>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_dict_with_optional_type) == typeid(std::map<std::string, std::optional<float>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_eigen_matrix) == typeid(std::optional<Eigen::Matrix<long, 25, 10>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_float) == typeid(std::optional<float>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_list) == typeid(std::optional<std::vector<double>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_list_with_optional_list) == typeid(std::optional<std::vector<std::optional<std::vector<std::optional<float>>>>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_list_with_optional_type) == typeid(std::vector<std::optional<double>>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_obj) == typeid(std::optional<armarx::OptionalTestElement>), true);
-    BOOST_CHECK_EQUAL(typeid(p.some_string) == typeid(std::optional<std::string>), true);
-
+    BOOST_CHECK(p_tmp == p);
+
+    BOOST_CHECK_EQUAL(typeid(p.some_dict), typeid(std::optional<std::map<std::string, float>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_dict_with_optional_type), typeid(std::map<std::string, std::optional<float>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_eigen_matrix), typeid(std::optional<Eigen::Matrix<long, 25, 10>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_float), typeid(std::optional<float>));
+    BOOST_CHECK_EQUAL(typeid(p.some_list), typeid(std::optional<std::vector<double>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_list_with_optional_list), typeid(std::optional<std::vector<std::optional<std::vector<std::optional<float>>>>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_list_with_optional_type), typeid(std::vector<std::optional<double>>));
+    BOOST_CHECK_EQUAL(typeid(p.some_obj), typeid(std::optional<armarx::OptionalTestElement>));
+    BOOST_CHECK_EQUAL(typeid(p.some_string), typeid(std::optional<std::string>));
 
     auto aronType = p.ToAronType();
-    BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe() == aron::type::Maybe::eOptional, true);
+    BOOST_CHECK_EQUAL(aronType->getMemberType("some_float")->getMaybe(), aron::type::Maybe::eOptional);
 
-    BOOST_CHECK_EQUAL(p.some_float.has_value() == false, true);
+    BOOST_CHECK(not p.some_float.has_value());
     auto aron = p.toAron();
-    BOOST_CHECK_EQUAL(aron->getElement("some_float") == nullptr, true);
+    BOOST_CHECK(aron->getElement("some_float") == nullptr);
 
     p.some_float = 5.0f;
-    BOOST_CHECK_EQUAL(p.some_float.has_value() == true, true);
+    BOOST_CHECK(p.some_float.has_value());
     aron = p.toAron();
-    BOOST_CHECK_EQUAL(*aron->getElement("some_float") == std::make_shared<armarx::aron::data::Float>(5.0f), true);
-    BOOST_CHECK_EQUAL(*aron->getElement("some_float") == nullptr, false);
+    BOOST_CHECK(aron->getElement("some_float"));
+    BOOST_CHECK(*aron->getElement("some_float") == armarx::aron::data::Float(5.0f));
 }