diff --git a/data/RobotAPI/robots/MMM/mmm.xml b/data/RobotAPI/robots/MMM/mmm.xml
index 97f072597fa41b0c1b71469f7b83cabd29875d81..862cd928ceb24b45ead631aa46099b48f836d8d0 100644
--- a/data/RobotAPI/robots/MMM/mmm.xml
+++ b/data/RobotAPI/robots/MMM/mmm.xml
@@ -25,7 +25,7 @@
 					<row2 c1='0' c2='1' c3='0' c4='-38.9454' />
 					<row3 c1='0' c2='0' c3='1' c4='-0.688374' />
 					<row4 c1='0' c2='0' c3='0' c4='1' />
-				</Matrix4x4>
+                                </Matrix4x4>BLNsegment_joint
 			</Transform>
 		</Sensor>
 		<Sensor type='position' name='MARKER_CLAV'>
@@ -2418,7 +2418,6 @@
 			<File type='inventor'>./models/RWy_joint_visu.wrl</File>
                 <UseAsCollisionModel/></Visualization>
 		<Child name='RightFingerJoint21x_joint'/>
-		<Child name='Hand R TCP'/>
 		<Child name='RightHandSegment_joint'/>
 		<Child name='RightFingerJoint11z_joint'/>
 		<Child name='RightFingerJoint31x_joint'/>
@@ -2577,26 +2576,6 @@
 	</RobotNode>
 
 
-	<RobotNode name='Hand R TCP'>
-		<Transform>
-			<Matrix4x4 units='mm'>
-				<row1 c1='7.54979e-08' c2='1' c3='-8.74228e-08' c4='0' />
-				<row2 c1='1' c2='-7.54979e-08' c3='8.74228e-08' c4='13.554' />
-				<row3 c1='8.74228e-08' c2='-8.74228e-08' c3='-1' c4='-48.3' />
-				<row4 c1='0' c2='0' c3='0' c4='1' />
-			</Matrix4x4>
-		</Transform>
-		<Joint type='revolute'>
-			<axis x='0' y='1' z='0'/>
-			<limits lo='-0.785398' hi='0.785398' units='radian'/>
-			<MaxAcceleration value='-1'/>
-			<MaxVelocity value='-1'/>
-			<MaxTorque value='-1'/>
-		</Joint>
-		<Child name='RightFingerJoint21y_joint'/>
-	</RobotNode>
-
-
 	<RobotNode name='RightFingerJoint21y_joint'>
 		<Joint type='revolute'>
 			<axis x='1' y='0' z='0'/>