diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 12a22e5a6776cc9bf98e540065b18a469c2f46f8..1fa5e30d4c0bc0f881b60a7c9a79a105739f1b93 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -114,6 +114,15 @@
         <CollisionModel>
             <File type="Inventor">convexModel/neck_yaw_link.wrl</File>
         </CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Sphere radius="140">
+                    <Transform>
+                        <Translation x="40" y="0" z="180" />
+                    </Transform>
+                </Sphere>
+            </Primitives>
+        </PrimitiveModel>
 
         <Child name="Head_Tilt"/>
     </RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index ecf4546927d69f887db438d0a00d3a483ffa247d..2b1f340f2e9edf79fcd7faf9f0faecf808a04804 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -33,6 +33,16 @@
     <CollisionModel>
       <File type="Inventor">convexModel/shoulder_l.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="80" radius="120">
+                <Transform>
+                    <Translation x="0" y="0" z="-90" />
+                    <rpy roll="90" pitch="0" yaw="00" unit="degree"/>
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Child name="Shoulder 2 L"/>
   </RobotNode>
 
@@ -60,6 +70,15 @@
     <CollisionModel>
       <File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="310" radius="50">
+                <Transform>
+                    <Translation x="0" y="150" z="0" />
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Child name="Upperarm L"/>
   </RobotNode>
 
@@ -138,6 +157,16 @@
     <CollisionModel>
       <File type="Inventor">convexModel/underarm_l.wrl</File>
     </CollisionModel>
+    <PrimitiveModel>
+        <Primitives>
+            <Capsule height="240" radius="50">
+                <Transform>
+                    <Translation x="0" y="0" z="-110" />
+                    <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                </Transform>
+            </Capsule>
+        </Primitives>
+    </PrimitiveModel>
     <Physics>
       <CoM location="VisualizationBBoxCenter"/>
       <Mass value="2.26566087" units="kg" />
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index d311a2e63fde6cf2f82eed5c12e904e131ffe08a..8f4c401573a3e238383431a1143f319b7f286c68 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -34,6 +34,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/shoulder_r.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="80" radius="120">
+                    <Transform>
+                        <Translation x="0" y="0" z="90" />
+                        <rpy roll="90" pitch="0" yaw="00" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Shoulder 2 R"/>
 	</RobotNode>
 	
@@ -59,6 +69,15 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="310" radius="50">
+                    <Transform>
+                        <Translation x="0" y="150" z="0" />
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Upperarm R"/>
 	</RobotNode>
 	
@@ -133,6 +152,16 @@
  		<CollisionModel>
 			<File type="Inventor">convexModel/underarm_r.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="240" radius="50">
+                    <Transform>
+                        <Translation x="0" y="0" z="-110" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Physics>
             <CoM location="VisualizationBBoxCenter"/>
             <Mass value="2.26566087" units="kg" />
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
index 0d089db9f076105390f9d5d9ae198189acd23d5b..3668928088271ddfc5ba8bcd2bbaa201512d930d 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -70,6 +70,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/platform.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="400" radius="390">
+                    <Transform>
+                        <Translation x="0" y="0" z="380" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Laser Scanner Front"/>
 		<Child name="Laser Scanner Back Left"/>
 		<Child name="Laser Scanner Back Right"/>
@@ -175,6 +185,16 @@
 		<CollisionModel>
 			<File type="Inventor">convexModel/torso.wrl</File>
 		</CollisionModel>
+        <PrimitiveModel>
+            <Primitives>
+                <Capsule height="400" radius="210">
+                    <Transform>
+                        <Translation x="0" y="-40" z="225" />
+                        <rpy roll="90" pitch="0" yaw="0" unit="degree"/>
+                    </Transform>
+                </Capsule>
+            </Primitives>
+        </PrimitiveModel>
 		<Child name="Center of Arms"/>
 	</RobotNode>