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>