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/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_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_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_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/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_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_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_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/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_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/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_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/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_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_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_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/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/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_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_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_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/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_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/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_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_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_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/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/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_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/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_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/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
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+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
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+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
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+v -42.172298 2.250120 -4.972200 0.898039 0.898039 0.898039
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+v 2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
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+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
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+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
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+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
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+v -2.400000 2.250000 -5.000000 0.898039 0.898039 0.898039
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+vn -1.164947 1.027596 1.641936
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+v 42.450001 -2.250000 75.300003 0.898039 0.898039 0.898039
+vn 1.112291 0.830480 1.377228
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+vn 1.954190 1.608573 -1.478094
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+vn 3.352631 -2.636638 -1.007479
+v 42.250000 -2.250100 -2.501020 0.898039 0.898039 0.898039
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+v 7.800000 -4.250000 75.500000 0.898039 0.898039 0.898039
+vn -0.390953 -0.781002 -1.862672
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+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
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+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
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+vn 0.686393 -5.767399 1.256927
+v -7.093470 -3.750420 3.906760 0.898039 0.898039 0.898039
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+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
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+vn 0.627160 4.983206 -2.082303
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+v -25.750000 12.750000 3.000000 0.898039 0.898039 0.898039
+vn 2.329035 1.055178 1.567076
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+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
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+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
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+f 18//18 14//14 1//1
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+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
+#
+####
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+vn -2.855670 1.801973 1.249255
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+v 5.494070 -0.325212 4.657100 0.898039 0.898039 0.898039
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+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
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+v -31.750000 -4.250000 7.000000 0.898039 0.898039 0.898039
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+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
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+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
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+f 8//8 18//18 17//17
+f 2//2 8//8 17//17
+f 12//12 6//6 11//11
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+f 16//16 1//1 17//17
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+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
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+vn -0.858241 5.008230 0.938617
+v -28.250000 12.750000 1.263520 0.898039 0.898039 0.898039
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+v -49.646198 1.744250 8.407410 0.898039 0.898039 0.898039
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+v -39.250000 -4.250000 7.000000 0.898039 0.898039 0.898039
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+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
+#
+####
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+v -41.103901 43.760201 617.778992 0.898039 0.898039 0.898039
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+vn -1.124299 -1.994785 2.354397
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+v -47.000000 42.500000 596.000000 0.898039 0.898039 0.898039
+vn -1.796206 0.849939 -0.910044
+v -99.824898 17.959801 540.030029 0.898039 0.898039 0.898039
+vn -1.965528 -0.830919 -1.023686
+v -99.288803 -17.476400 540.036987 0.898039 0.898039 0.898039
+vn 2.450243 -0.813319 -1.571846
+v 29.146799 -17.277399 540.005981 0.898039 0.898039 0.898039
+vn -2.011121 -5.505747 0.320855
+v -56.756802 -42.500000 580.598022 0.898039 0.898039 0.898039
+# 14 vertices, 0 vertices normals
+
+f 3//3 1//1 11//11
+f 10//10 6//6 11//11
+f 14//14 12//12 9//9
+f 3//3 12//12 14//14
+f 3//3 2//2 1//1
+f 1//1 2//2 4//4
+f 4//4 2//2 5//5
+f 5//5 2//2 13//13
+f 7//7 4//4 5//5
+f 3//3 11//11 12//12
+f 10//10 1//1 4//4
+f 10//10 4//4 7//7
+f 6//6 10//10 7//7
+f 11//11 1//1 10//10
+f 11//11 6//6 13//13
+f 13//13 6//6 7//7
+f 13//13 7//7 5//5
+f 13//13 8//8 9//9
+f 9//9 12//12 13//13
+f 13//13 12//12 11//11
+f 13//13 2//2 8//8
+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
+#
+####
+vn 2.335391 1.770702 -4.001232
+v 76.228401 111.549004 -41.780499 0.898039 0.898039 0.898039
+vn 4.010661 1.003585 3.819799
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+vn 4.406943 3.955028 0.439158
+v 71.174202 143.949997 28.098499 0.898039 0.898039 0.898039
+vn -2.905888 -1.797727 4.410124
+v -56.843800 -28.773199 121.064003 0.898039 0.898039 0.898039
+vn 4.445033 -1.833196 2.454024
+v 78.813202 -27.174999 99.005600 0.898039 0.898039 0.898039
+vn -1.269959 4.868670 1.755684
+v -27.991800 166.733002 68.459801 0.898039 0.898039 0.898039
+vn -2.343095 3.934970 -1.690955
+v -62.034000 151.966995 -18.486099 0.898039 0.898039 0.898039
+vn -4.871680 0.916776 3.358603
+v -71.329201 78.546501 106.783997 0.898039 0.898039 0.898039
+vn 1.009944 5.216994 0.200033
+v 24.138800 174.416000 34.911301 0.898039 0.898039 0.898039
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+vn -2.120261 -3.552055 -2.343119
+v -74.402199 -38.250500 -7.249990 0.898039 0.898039 0.898039
+vn -2.319895 -3.623139 0.603903
+v -69.463997 -63.303699 75.238800 0.898039 0.898039 0.898039
+vn -4.798900 -1.204676 2.800598
+v -77.759598 -21.560699 101.948997 0.898039 0.898039 0.898039
+vn -5.104106 0.798156 -0.240404
+v -118.271004 61.995399 -3.852120 0.898039 0.898039 0.898039
+vn 1.378455 1.557042 5.407063
+v 47.484100 88.004097 124.110001 0.898039 0.898039 0.898039
+vn -2.149343 1.528695 4.670607
+v -52.792702 89.271400 123.580002 0.898039 0.898039 0.898039
+vn -0.032470 -2.301500 3.782105
+v -2.740270 -42.138802 139.664993 0.898039 0.898039 0.898039
+vn 2.142899 3.590501 -2.385211
+v 61.633900 149.481995 -22.072001 0.898039 0.898039 0.898039
+vn -0.927359 -0.030870 -6.058115
+v -77.588997 65.114998 -43.131500 0.898039 0.898039 0.898039
+vn 0.917480 -0.287240 -6.042340
+v 78.405998 65.185799 -43.165001 0.898039 0.898039 0.898039
+vn 5.197048 0.925303 -0.146928
+v 118.327003 62.416000 -3.988680 0.898039 0.898039 0.898039
+# 32 vertices, 0 vertices normals
+
+f 6//6 4//4 26//26
+f 31//31 11//11 10//10
+f 18//18 29//29 7//7
+f 14//14 32//32 29//29
+f 32//32 6//6 2//2
+f 4//4 27//27 26//26
+f 4//4 6//6 17//17
+f 4//4 17//17 3//3
+f 7//7 30//30 5//5
+f 30//30 31//31 10//10
+f 30//30 10//10 5//5
+f 31//31 8//8 11//11
+f 25//25 7//7 5//5
+f 25//25 18//18 7//7
+f 29//29 1//1 7//7
+f 32//32 8//8 1//1
+f 29//29 32//32 1//1
+f 16//16 32//32 2//2
+f 3//3 27//27 4//4
+f 22//22 5//5 10//10
+f 31//31 1//1 8//8
+f 8//8 16//16 13//13
+f 23//23 21//21 28//28
+f 21//21 9//9 28//28
+f 14//14 20//20 6//6
+f 14//14 29//29 20//20
+f 6//6 32//32 14//14
+f 28//28 27//27 15//15
+f 3//3 25//25 19//19
+f 15//15 27//27 24//24
+f 2//2 6//6 26//26
+f 26//26 9//9 2//2
+f 17//17 6//6 20//20
+f 17//17 18//18 3//3
+f 17//17 20//20 18//18
+f 9//9 16//16 2//2
+f 23//23 28//28 15//15
+f 13//13 12//12 8//8
+f 22//22 12//12 13//13
+f 13//13 23//23 22//22
+f 13//13 16//16 21//21
+f 16//16 9//9 21//21
+f 12//12 22//22 10//10
+f 12//12 10//10 11//11
+f 12//12 11//11 8//8
+f 3//3 18//18 25//25
+f 16//16 8//8 32//32
+f 26//26 28//28 9//9
+f 23//23 24//24 25//25
+f 27//27 3//3 19//19
+f 19//19 24//24 27//27
+f 13//13 21//21 23//23
+f 25//25 24//24 19//19
+f 23//23 25//25 5//5
+f 23//23 5//5 22//22
+f 23//23 15//15 24//24
+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
+#
+####
+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
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+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/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
+#
+####
+vn 0.934390 2.728908 2.299276
+v 73.225601 82.469803 87.751297 0.898039 0.898039 0.898039
+vn 2.597177 1.310876 -2.369063
+v 141.682007 16.222900 -86.998497 0.898039 0.898039 0.898039
+vn 2.029124 -2.262199 2.640185
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+vn 1.946658 -5.856672 0.157898
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+vn 2.003586 -2.248576 -2.602962
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+# 19 vertices, 0 vertices normals
+
+f 12//12 3//3 13//13
+f 8//8 6//6 7//7
+f 6//6 2//2 5//5
+f 18//18 8//8 10//10
+f 18//18 9//9 13//13
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+f 9//9 7//7 13//13
+f 11//11 7//7 9//9
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+f 11//11 8//8 7//7
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+f 1//1 18//18 16//16
+f 4//4 3//3 12//12
+f 18//18 17//17 8//8
+f 1//1 17//17 18//18
+f 17//17 6//6 8//8
+f 6//6 14//14 2//2
+f 6//6 17//17 14//14
+f 1//1 14//14 17//17
+f 19//19 2//2 15//15
+f 2//2 19//19 5//5
+f 16//16 19//19 15//15
+f 3//3 19//19 16//16
+f 3//3 4//4 19//19
+f 5//5 19//19 4//4
+f 6//6 5//5 7//7
+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
+#
+####
+vn 2.523009 -0.889779 3.603026
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+v 60.315102 -33.854500 -51.898701 0.898039 0.898039 0.898039
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+v -30.000000 -38.000000 -51.000000 0.898039 0.898039 0.898039
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+v -41.209202 -35.869301 0.060458 0.898039 0.898039 0.898039
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+vn 2.050784 1.835150 2.407194
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+vn -0.893702 2.375572 1.954115
+v -12.060500 29.146200 50.050400 0.898039 0.898039 0.898039
+vn -2.111273 1.783248 -2.263698
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+vn 0.502691 2.736092 -2.154054
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+vn 2.567385 1.430738 -2.147363
+v 53.826599 -8.209590 -50.977001 0.898039 0.898039 0.898039
+vn 1.641525 -4.023690 -1.828948
+v 28.814699 -74.907997 -26.163900 0.898039 0.898039 0.898039
+# 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 -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
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+v 34.733700 34.733700 166.000000 0.898039 0.898039 0.898039
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+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
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+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
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+f 5//5 21//21 15//15
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+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
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+f 13//13 14//14 15//15
+f 13//13 15//15 16//16
+f 2//2 17//17 3//3
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+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
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+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
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+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
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+v -69.265404 -6.717790 -41.343201 0.898039 0.898039 0.898039
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+vn -0.829723 -4.195389 3.368506
+v -233.270996 -33.225800 21.160400 0.898039 0.898039 0.898039
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+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
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+f 5//5 14//14 17//17
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+f 3//3 2//2 10//10
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+f 20//20 13//13 6//6
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+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
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+v 24.500000 -36.000000 -5.000000 0.898039 0.898039 0.898039
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+vn -2.730805 0.015398 -3.101034
+v -25.002100 0.128458 -14.922400 0.898039 0.898039 0.898039
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+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
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+f 17//17 5//5 16//16
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+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
+v -32.172600 -7.343030 -77.800003 0.898039 0.898039 0.898039
+vn -3.006775 0.719414 -3.240811
+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
+v 2.392100 188.000000 42.191399 0.898039 0.898039 0.898039
+vn -3.388428 1.101186 3.111156
+v -45.500000 157.000000 40.500000 0.898039 0.898039 0.898039
+vn -3.439431 -1.905423 2.619828
+v -45.500000 -162.000000 40.500000 0.898039 0.898039 0.898039
+vn -5.003917 -0.025912 0.802233
+v -70.697998 -0.566364 11.651800 0.898039 0.898039 0.898039
+vn 2.887208 -0.727398 -3.508027
+v 41.207100 -137.701004 -44.764599 0.898039 0.898039 0.898039
+vn 3.120827 0.887389 -3.022086
+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
+vn -2.780399 -1.373060 -2.833904
+v -45.500000 -162.000000 -40.500000 0.898039 0.898039 0.898039
+vn 0.259705 -0.395992 4.173015
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+v -45.500000 157.000000 -40.500000 0.898039 0.898039 0.898039
+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
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+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
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+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
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+f 11//11 6//6 9//9
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+f 2//2 20//20 17//17
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+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
+#
+####
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+
+f 7//7 17//17 1//1
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+f 12//12 7//7 1//1
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+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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+vn 0.498962 2.723076 2.154345
+v 6.985050 30.639400 50.978100 0.898039 0.898039 0.898039
+# 15 vertices, 0 vertices normals
+
+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 1//1 7//7
+f 14//14 11//11 15//15
+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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+v -87.009201 -15.875200 144.141998 0.898039 0.898039 0.898039
+vn 2.144553 -3.831808 1.519103
+v 76.173302 -82.500198 72.999603 0.898039 0.898039 0.898039
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+v -86.911797 -82.385597 0.156916 0.898039 0.898039 0.898039
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+v 87.923302 -82.455704 0.403558 0.898039 0.898039 0.898039
+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
+f 2//2 3//3 1//1
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+f 1//1 11//11 4//4
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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
+f 17//17 18//18 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 2.692684 -0.999661 -3.182602
+v 0.703255 -4.347220 -15.393800 0.898039 0.898039 0.898039
+vn 2.335918 1.657698 0.080963
+v 8.876910 14.485500 0.000000 0.898039 0.898039 0.898039
+vn 2.248107 -1.204580 1.027730
+v 9.124510 -11.467200 9.318070 0.898039 0.898039 0.898039
+# 19 vertices, 0 vertices normals
+
+f 16//16 12//12 2//2
+f 15//15 2//2 1//1
+f 4//4 15//15 1//1
+f 18//18 4//4 1//1
+f 19//19 1//1 12//12
+f 12//12 1//1 2//2
+f 16//16 2//2 15//15
+f 11//11 10//10 12//12
+f 19//19 12//12 10//10
+f 7//7 13//13 5//5
+f 14//14 13//13 9//9
+f 14//14 9//9 8//8
+f 19//19 18//18 1//1
+f 10//10 11//11 8//8
+f 14//14 8//8 11//11
+f 5//5 18//18 7//7
+f 14//14 11//11 16//16
+f 13//13 7//7 9//9
+f 17//17 19//19 10//10
+f 7//7 18//18 17//17
+f 13//13 3//3 5//5
+f 15//15 5//5 3//3
+f 4//4 5//5 15//15
+f 5//5 4//4 18//18
+f 10//10 8//8 6//6
+f 17//17 10//10 6//6
+f 6//6 7//7 17//17
+f 8//8 9//9 6//6
+f 7//7 6//6 9//9
+f 12//12 16//16 11//11
+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
+#
+####
+vn -4.055859 1.364359 -3.105032
+v -164.033997 117.722000 126.042000 0.898039 0.898039 0.898039
+vn -1.801877 3.327574 -2.028513
+v -131.908005 176.891006 131.016998 0.898039 0.898039 0.898039
+vn 1.733941 3.601297 -2.063367
+v 58.061798 176.983002 131.042999 0.898039 0.898039 0.898039
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+vn -4.129954 -1.271847 -2.493815
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+vn -2.416065 4.602523 0.731819
+v -130.867996 178.880997 365.246002 0.898039 0.898039 0.898039
+vn 2.695339 -3.931783 0.497140
+v 75.029404 -180.710999 358.223999 0.898039 0.898039 0.898039
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+v -141.501999 -115.748001 564.570007 0.898039 0.898039 0.898039
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+vn 2.858717 -0.020738 -4.479457
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+v -0.697823 -0.000448 21.410999 0.898039 0.898039 0.898039
+vn 0.528321 -0.014210 4.614349
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+vn -2.637366 -4.107250 0.594530
+v -129.464996 -180.725998 358.937988 0.898039 0.898039 0.898039
+vn 3.991315 -1.870527 -2.119777
+v 82.419296 -146.794006 129.936996 0.898039 0.898039 0.898039
+vn 2.683456 3.921686 0.487902
+v 75.026001 180.654007 358.769989 0.898039 0.898039 0.898039
+vn -1.942335 -3.072235 -1.826813
+v -135.774002 -176.897003 131.261002 0.898039 0.898039 0.898039
+vn 1.485620 -3.937262 -2.233393
+v 51.555500 -176.988998 131.011993 0.898039 0.898039 0.898039
+vn -5.428247 1.207001 -0.234974
+v -199.067001 91.164497 233.033997 0.898039 0.898039 0.898039
+vn 2.216778 -2.383259 2.634224
+v 49.206501 -115.050003 566.888977 0.898039 0.898039 0.898039
+vn 2.222642 2.383965 2.633043
+v 49.284801 115.078003 566.784973 0.898039 0.898039 0.898039
+vn 5.368162 1.569262 1.144174
+v 95.726303 114.994003 446.347992 0.898039 0.898039 0.898039
+vn 5.364741 -1.572413 1.144847
+v 95.727898 -114.991997 446.343994 0.898039 0.898039 0.898039
+# 22 vertices, 0 vertices normals
+
+f 1//1 5//5 18//18
+f 11//11 2//2 3//3
+f 4//4 15//15 21//21
+f 18//18 2//2 1//1
+f 1//1 2//2 11//11
+f 1//1 11//11 5//5
+f 3//3 10//10 11//11
+f 10//10 14//14 17//17
+f 10//10 17//17 11//11
+f 8//8 19//19 12//12
+f 15//15 20//20 21//21
+f 2//2 18//18 6//6
+f 5//5 11//11 16//16
+f 3//3 4//4 10//10
+f 14//14 4//4 22//22
+f 8//8 5//5 13//13
+f 16//16 13//13 5//5
+f 19//19 8//8 13//13
+f 6//6 9//9 15//15
+f 22//22 7//7 14//14
+f 21//21 20//20 22//22
+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
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+v -0.027515 -0.046515 -0.018832 0.898039 0.898039 0.898039
+vn -2.649938 -0.957842 -2.789772
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+vn -2.653527 -0.691151 2.709127
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+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_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/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
+#
+####
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+v 0.124148 0.088004 -0.047385 0.898039 0.898039 0.898039
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+vn -5.340119 -2.226144 1.034240
+v -0.035264 0.005099 0.074965 0.898039 0.898039 0.898039
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+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
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+v 0.028155 0.143950 -0.071152 0.898039 0.898039 0.898039
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+vn 1.980171 3.163377 4.152949
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+vn -6.058851 -0.030870 0.922536
+v -0.043193 0.065115 0.077555 0.898039 0.898039 0.898039
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+v -0.034391 0.036278 0.111444 0.898039 0.898039 0.898039
+vn -2.433535 -0.848975 -3.249749
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+v -0.003946 0.061995 0.118268 0.898039 0.898039 0.898039
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+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
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+vn 4.407809 -1.797727 2.909399
+v 0.121019 -0.028773 0.056940 0.898039 0.898039 0.898039
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+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
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+f 4//4 18//18 5//5
+f 19//19 9//9 17//17
+f 19//19 7//7 9//9
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+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_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/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_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_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_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
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+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
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+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_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_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
+#
+####
+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_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_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/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_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_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/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_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/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_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/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_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_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_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/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_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_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/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_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_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_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/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_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/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_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/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_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_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
+#
+####
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+v -0.037600 0.005002 -0.002246 0.898039 0.898039 0.898039
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+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_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
+#
+####
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+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
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+vn -2.007503 1.707305 0.299002
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+v -0.046750 -0.009998 -0.001947 0.898039 0.898039 0.898039
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+v -0.046750 0.009999 0.001258 0.898039 0.898039 0.898039
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+v 0.001040 0.005043 0.002032 0.898039 0.898039 0.898039
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+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
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+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
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+f 19//19 12//12 13//13
+f 6//6 16//16 14//14
+f 20//20 21//21 22//22
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+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/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
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+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
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+vn 0.023014 2.858699 -4.479457
+v 0.000016 0.019562 0.028917 0.898039 0.898039 0.898039
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+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/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
+#
+####
+vn 1.569359 2.001644 -4.054631
+v 0.008613 0.022507 -0.249987 0.898039 0.898039 0.898039
+vn -1.627949 1.978670 -3.960093
+v -0.008000 0.022493 -0.250013 0.898039 0.898039 0.898039
+vn 0.012965 5.105476 -1.352996
+v 0.001726 0.048501 -0.212497 0.898039 0.898039 0.898039
+vn -3.603403 3.494406 -1.445791
+v -0.031497 0.034708 -0.212550 0.898039 0.898039 0.898039
+vn 3.559864 3.438872 -1.508343
+v 0.034970 0.034761 -0.212445 0.898039 0.898039 0.898039
+vn 4.782223 0.013132 -1.669839
+v 0.048763 0.001539 -0.212423 0.898039 0.898039 0.898039
+vn 1.731325 1.741328 4.542627
+v 0.022482 0.022518 -0.046464 0.898039 0.898039 0.898039
+vn 0.005196 4.641753 1.792732
+v 0.001493 0.048501 -0.066498 0.898039 0.898039 0.898039
+vn -1.879810 1.737849 4.326906
+v -0.022518 0.022482 -0.046536 0.898039 0.898039 0.898039
+vn 1.551739 -2.072894 -3.900847
+v 0.008649 -0.022493 -0.249986 0.898039 0.898039 0.898039
+vn 3.625842 -3.458668 -1.446520
+v 0.035023 -0.031706 -0.212444 0.898039 0.898039 0.898039
+vn 0.022430 -5.207568 -1.232093
+v 0.001801 -0.045499 -0.212497 0.898039 0.898039 0.898039
+vn -3.462508 3.502847 1.532047
+v -0.031729 0.034708 -0.066551 0.898039 0.898039 0.898039
+vn -1.602122 -2.052357 -3.805245
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+vn 1.733931 -1.870148 4.332661
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+vn 0.014351 -4.790120 1.680629
+v 0.001568 -0.045499 -0.066498 0.898039 0.898039 0.898039
+vn 3.505899 -3.454482 1.543145
+v 0.034791 -0.031706 -0.066445 0.898039 0.898039 0.898039
+vn -1.868432 -1.864860 4.104808
+v -0.022482 -0.022518 -0.046536 0.898039 0.898039 0.898039
+vn 4.638874 0.015443 1.800112
+v 0.048531 0.001539 -0.066423 0.898039 0.898039 0.898039
+vn -4.864822 0.006247 -1.610708
+v -0.045237 0.001464 -0.212572 0.898039 0.898039 0.898039
+vn 3.391986 3.400020 1.650791
+v 0.034738 0.034761 -0.066445 0.898039 0.898039 0.898039
+vn -4.792812 0.009400 1.672973
+v -0.045469 0.001464 -0.066572 0.898039 0.898039 0.898039
+vn -3.661283 -3.527149 -1.376509
+v -0.031444 -0.031759 -0.212550 0.898039 0.898039 0.898039
+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 15//15 18//18 16//16
+f 7//7 15//15 19//19
+f 19//19 15//15 17//17
+f 2//2 14//14 20//20
+f 20//20 4//4 2//2
+f 8//8 7//7 21//21
+f 7//7 19//19 21//21
+f 22//22 18//18 9//9
+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_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
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+v 0.008289 -0.022507 -0.250000 0.898039 0.898039 0.898039
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+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/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_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
+#
+####
+vn 1.370678 1.371438 -1.925156
+v 0.028937 0.022281 -0.320437 0.898039 0.898039 0.898039
+vn 3.114114 4.220548 0.809894
+v 0.023903 0.033254 -0.096866 0.898039 0.898039 0.898039
+vn 5.824685 0.769999 -0.085917
+v 0.041451 0.000056 -0.161634 0.898039 0.898039 0.898039
+vn 1.363758 -1.497060 -1.695536
+v 0.029117 -0.037777 -0.319096 0.898039 0.898039 0.898039
+vn 5.030154 -0.363211 0.983651
+v 0.041924 -0.004231 -0.094915 0.898039 0.898039 0.898039
+vn 3.134770 -4.479453 0.993716
+v 0.022548 -0.033943 -0.095785 0.898039 0.898039 0.898039
+vn 0.080182 -1.657824 2.335855
+v -0.000036 -0.014485 -0.016423 0.898039 0.898039 0.898039
+vn 1.031436 1.202942 2.247286
+v 0.009323 0.011452 -0.016183 0.898039 0.898039 0.898039
+vn -0.349820 5.330506 -0.478549
+v -0.003197 0.041271 -0.251493 0.898039 0.898039 0.898039
+vn -1.681540 4.902881 0.946432
+v -0.012860 0.038612 -0.093735 0.898039 0.898039 0.898039
+vn -4.500146 -3.017710 1.037254
+v -0.033631 -0.022348 -0.092277 0.898039 0.898039 0.898039
+vn -3.026204 -2.865602 -1.427389
+v -0.022573 -0.037810 -0.293328 0.898039 0.898039 0.898039
+vn -0.977351 -5.366152 0.951104
+v -0.006784 -0.040216 -0.093999 0.898039 0.898039 0.898039
+vn -2.267817 2.196701 -2.737375
+v -0.014313 0.022706 -0.308931 0.898039 0.898039 0.898039
+vn -5.584542 -0.855935 -0.929410
+v -0.039002 -0.009953 -0.258406 0.898039 0.898039 0.898039
+vn -4.585008 2.808545 -0.863448
+v -0.035069 0.020689 -0.256420 0.898039 0.898039 0.898039
+vn -3.178861 1.004729 2.695216
+v -0.015406 0.004372 -0.024584 0.898039 0.898039 0.898039
+vn -1.381469 -2.564165 -2.534908
+v -0.005804 -0.039441 -0.312610 0.898039 0.898039 0.898039
+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/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_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
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+f 5//5 2//2 14//14
+f 14//14 2//2 1//1
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+# 28 faces, 0 coords texture
+
+# End of File
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
+#
+####
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+f 14//14 17//17 16//16
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+
+# End of File
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
+#
+####
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+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/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
+#
+####
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+#
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+# Faces: 208
+#
+####
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+
+# End of File
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
+#
+####
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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
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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
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+++ b/data/RobotAPI/robots/Armar3/fullmodel/jaw.obj
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.obj b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.obj
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index 0000000000000000000000000000000000000000..8caaa63cf23b093a9ad799d96c85c99f689aed6f
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/middle_l2.obj
@@ -0,0 +1,656 @@
+####
+#
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+#
+####
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+#
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.obj b/data/RobotAPI/robots/Armar3/fullmodel/neck_pitch_link.obj
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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_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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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.obj b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c629ab4db55f62fc179f2698fbd5dc53b1202e
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/palm1_r.obj
@@ -0,0 +1,1392 @@
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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
new file mode 100644
index 0000000000000000000000000000000000000000..cf2d8cde5a489199802d8553bac197ee1b1821d7
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/platform_pitch_link.obj
@@ -0,0 +1,6680 @@
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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 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.obj b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2ced67abf20d380deed3f1cbdee054272402652
--- /dev/null
+++ b/data/RobotAPI/robots/Armar3/fullmodel/ring_l1.obj
@@ -0,0 +1,688 @@
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.obj b/data/RobotAPI/robots/Armar3/fullmodel/ring_r2.obj
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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_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 @@
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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
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/torso.obj b/data/RobotAPI/robots/Armar3/fullmodel/torso.obj
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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 @@
+####
+#
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+#
+####
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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
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist1_l.obj
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diff --git a/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.obj b/data/RobotAPI/robots/Armar3/fullmodel/wrist2_l.obj
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index 0000000000000000000000000000000000000000..df67cf29790280448e27f3aaf1a566ad1f5fce31
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